tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm Class Reference

Supports collision between two btCompoundCollisionShape shapes. More...

#include <tesseract_compound_compound_collision_algorithm.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm:

Collaboration diagram for tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm:

Classes
struct	CreateFunc
struct	SwappedCreateFunc

Public Member Functions
	TesseractCompoundCompoundCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
	~TesseractCompoundCompoundCollisionAlgorithm () override
	TesseractCompoundCompoundCollisionAlgorithm (const TesseractCompoundCompoundCollisionAlgorithm &)=default
TesseractCompoundCompoundCollisionAlgorithm &	operator= (const TesseractCompoundCompoundCollisionAlgorithm &)=default
	TesseractCompoundCompoundCollisionAlgorithm (TesseractCompoundCompoundCollisionAlgorithm &&)=default
TesseractCompoundCompoundCollisionAlgorithm &	operator= (TesseractCompoundCompoundCollisionAlgorithm &&)=default
void	processCollision (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override
btScalar	calculateTimeOfImpact (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override
void	getAllContactManifolds (btManifoldArray &manifoldArray) override
Public Member Functions inherited from tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm
	TesseractCompoundCollisionAlgorithm (const btCollisionAlgorithmConstructionInfo &ci, const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, bool isSwapped)
	~TesseractCompoundCollisionAlgorithm () override
	TesseractCompoundCollisionAlgorithm (const TesseractCompoundCollisionAlgorithm &)=default
TesseractCompoundCollisionAlgorithm &	operator= (const TesseractCompoundCollisionAlgorithm &)=default
	TesseractCompoundCollisionAlgorithm (TesseractCompoundCollisionAlgorithm &&)=default
TesseractCompoundCollisionAlgorithm &	operator= (TesseractCompoundCollisionAlgorithm &&)=default
btCollisionAlgorithm *	getChildAlgorithm (int n) const
void	processCollision (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override
btScalar	calculateTimeOfImpact (btCollisionObject *body0, btCollisionObject *body1, const btDispatcherInfo &dispatchInfo, btManifoldResult *resultOut) override
void	getAllContactManifolds (btManifoldArray &manifoldArray) override

Private Member Functions
void	removeChildAlgorithms ()

Private Attributes
class btHashedSimplePairCache *	m_childCollisionAlgorithmCache
btSimplePairArray	m_removePairs
int	m_compoundShapeRevision0
int	m_compoundShapeRevision1

Additional Inherited Members
Protected Member Functions inherited from tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm
void	removeChildAlgorithms ()
void	preallocateChildAlgorithms (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)
Protected Attributes inherited from tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm
btAlignedObjectArray< btCollisionAlgorithm * >	m_childCollisionAlgorithms
bool	m_isSwapped
class btPersistentManifold *	m_sharedManifold
bool	m_ownsManifold { false }
int	m_compoundShapeRevision

Detailed Description

Supports collision between two btCompoundCollisionShape shapes.

The original implementation would check all collision objects before exiting the bvh of the compound shape. The original code had a callback, but it only passed in the collision shape and no the collision object which is where the user data is located. This was modifed to check if collision is done for the contact test type FIRST during the internal broadphase of the compound shapes and exit early.

Note: This could be removed in the future but the callback need to be modifed to accept the collision object along with the collision shape. I don't believe this will be an issue since all of the other callback in Bullet accept both.

Constructor & Destructor Documentation

TesseractCompoundCompoundCollisionAlgorithm() [1/3]

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::TesseractCompoundCompoundCollisionAlgorithm	(	const btCollisionAlgorithmConstructionInfo &	ci,
		const btCollisionObjectWrapper *	body0Wrap,
		const btCollisionObjectWrapper *	body1Wrap,
		bool	isSwapped
	)

~TesseractCompoundCompoundCollisionAlgorithm()

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::~TesseractCompoundCompoundCollisionAlgorithm ( )

override

TesseractCompoundCompoundCollisionAlgorithm() [2/3]

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::TesseractCompoundCompoundCollisionAlgorithm ( const TesseractCompoundCompoundCollisionAlgorithm &  )

default

TesseractCompoundCompoundCollisionAlgorithm() [3/3]

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::TesseractCompoundCompoundCollisionAlgorithm ( TesseractCompoundCompoundCollisionAlgorithm &&  )

default

Member Function Documentation

calculateTimeOfImpact()

btScalar tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::calculateTimeOfImpact ( btCollisionObject *  body0, btCollisionObject *  body1, const btDispatcherInfo &  dispatchInfo, btManifoldResult *  resultOut  )

override

getAllContactManifolds()

void tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::getAllContactManifolds ( btManifoldArray &  manifoldArray )

override

operator=() [1/2]

TesseractCompoundCompoundCollisionAlgorithm & tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::operator= ( const TesseractCompoundCompoundCollisionAlgorithm &  )

default

operator=() [2/2]

TesseractCompoundCompoundCollisionAlgorithm & tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::operator= ( TesseractCompoundCompoundCollisionAlgorithm &&  )

default

processCollision()

void tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::processCollision ( const btCollisionObjectWrapper *  body0Wrap, const btCollisionObjectWrapper *  body1Wrap, const btDispatcherInfo &  dispatchInfo, btManifoldResult *  resultOut  )

override

btCompoundShape might have changed: /make sure the internal child collision algorithm caches are still valid

clear all

we need to refresh all contact manifolds note that we should actually recursively traverse all children, btCompoundShape can nested more then 1 level deep so we should add a 'refreshManifolds' in the btCollisionAlgorithm

removeChildAlgorithms()

void tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::removeChildAlgorithms ( )

private

Member Data Documentation

m_childCollisionAlgorithmCache

class btHashedSimplePairCache* tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_childCollisionAlgorithmCache

private

m_compoundShapeRevision0

int tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision0

private

m_compoundShapeRevision1

int tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision1

private

m_removePairs

btSimplePairArray tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_removePairs

private

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The documentation for this class was generated from the following files:

• tesseract_collision/bullet/include/tesseract_collision/bullet/tesseract_compound_compound_collision_algorithm.h
• tesseract_collision/bullet/src/tesseract_compound_compound_collision_algorithm.cpp