Classes
struct	BroadphaseContactResultCallback
	The BroadphaseContactResultCallback is used to report contact points. More...

struct	btPerturbedContactResult

struct	btSimplex

struct	btSupportVector

class	BulletCastBVHManager
	A BVH implementation of a tesseract contact manager. More...

class	BulletCastBVHManagerFactory

class	BulletCastSimpleManager
	A simple implementation of a tesseract manager which does not use BHV. More...

class	BulletCastSimpleManagerFactory

class	BulletDiscreteBVHManager
	A BVH implementation of a bullet manager. More...

class	BulletDiscreteBVHManagerFactory
	The yaml config for each of the factories below is the same. More...

class	BulletDiscreteSimpleManager
	A simple implementation of a bullet manager which does not use BHV. More...

class	BulletDiscreteSimpleManagerFactory

struct	CastBroadphaseContactResultCallback

struct	CastCollisionCollector

struct	CastHullShape
	This is a casted collision shape used for checking if an object is collision free between two transforms. More...

class	CollisionObjectWrapper
	This is a tesseract bullet collsion object. More...

struct	DiscreteBroadphaseContactResultCallback

struct	DiscreteCollisionCollector

struct	TesseractBridgedManifoldResult
	This is copied directly out of BulletWorld. More...

struct	TesseractBroadphaseBridgedManifoldResult

class	TesseractCollisionConfiguration
	This is a modified configuration that included the modified Bullet algorithms. More...

struct	TesseractCollisionConfigurationInfo

class	TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...

class	TesseractCompoundCollisionAlgorithm
	Supports collision between CompoundCollisionShapes and other collision shapes. More...

class	TesseractCompoundCompoundCollisionAlgorithm
	Supports collision between two btCompoundCollisionShape shapes. More...

struct	TesseractCompoundCompoundLeafCallback

struct	TesseractCompoundLeafCallback

class	TesseractConvexConvexAlgorithm
	This is a modifed Convex to Convex collision algorithm. More...

class	TesseractGjkPairDetector
	This is a modifed Convex to Convex collision algorithm. More...

class	TesseractOverlapFilterCallback
	This class is used to filter broadphase. More...

Typedefs
using	COW = CollisionObjectWrapper

using	Link2Cow = std::map< std::string, COW::Ptr >

using	Link2ConstCow = std::map< std::string, COW::ConstPtr >

Functions
btVector3	convertEigenToBt (const Eigen::Vector3d &v)

Eigen::Vector3d	convertBtToEigen (const btVector3 &v)

btQuaternion	convertEigenToBt (const Eigen::Quaterniond &q)

btMatrix3x3	convertEigenToBt (const Eigen::Matrix3d &r)

Eigen::Matrix3d	convertBtToEigen (const btMatrix3x3 &r)

btTransform	convertEigenToBt (const Eigen::Isometry3d &t)

Eigen::Isometry3d	convertBtToEigen (const btTransform &t)

void	GetAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, btScalar &outsupport, btVector3 &outpt)

btTransform	getLinkTransformFromCOW (const btCollisionObjectWrapper *cow)
	This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max. More...

bool	needsCollisionCheck (const COW &cow1, const COW &cow2, const IsContactAllowedFn &acm, bool verbose=false)
	This is used to check if a collision check is required between the provided two collision objects. More...

btScalar	addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, const btCollisionObjectWrapper colObj1Wrap, ContactTestData &collisions)

void	calculateContinuousData (ContactResult col, const btCollisionObjectWrapper cow, const btVector3 &pt_world, const btVector3 &normal_world, const btTransform &link_tf_inv, size_t link_index)
	Calculate the continuous contact data for casted collision shape. More...

btScalar	addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, int index0, const btCollisionObjectWrapper colObj1Wrap, int index1, ContactTestData &collisions)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const CollisionShapeConstPtr &geom, CollisionObjectWrapper *cow, int shape_index)
	Create a bullet collision shape from tesseract collision shape. More...

void	updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow)
	Update a collision objects filters. More...

COW::Ptr	createCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true)

COW::Ptr	makeCastCollisionObject (const COW::Ptr &cow)

void	updateBroadphaseAABB (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object. More...

void	removeCollisionObjectFromBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase. More...

void	addCollisionObjectToBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase. More...

void	updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update a collision objects filters for broadphase. More...

void	refreshBroadphaseProxy (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Refresh the broadphase data structure. More...

TesseractCollisionConfigurationInfo	getConfigInfo (const YAML::Node &config)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Box::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Sphere::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Cylinder::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Cone::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Capsule::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Mesh::ConstPtr &geom, CollisionObjectWrapper *cow, int shape_index)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::ConvexMesh::ConstPtr &geom)

std::shared_ptr< btCollisionShape >	createShapePrimitive (const tesseract_geometry::Octree::ConstPtr &geom, CollisionObjectWrapper *cow, int shape_index)

static DBVT_INLINE bool	MyIntersect (const btDbvtAabbMm &a, const btDbvtAabbMm &b, const btTransform &xform, btScalar distanceThreshold)

static void	MycollideTT (const btDbvtNode root0, const btDbvtNode root1, const btTransform &xform, TesseractCompoundCompoundLeafCallback *callback, btScalar distanceThreshold)

static SIMD_FORCE_INLINE void	segmentsClosestPoints (btVector3 &ptsVector, btVector3 &offsetA, btVector3 &offsetB, btScalar &tA, btScalar &tB, const btVector3 &translation, const btVector3 &dirA, btScalar hlenA, const btVector3 &dirB, btScalar hlenB)

static SIMD_FORCE_INLINE btScalar	capsuleCapsuleDistance (btVector3 &normalOnB, btVector3 &pointOnB, btScalar capsuleLengthA, btScalar capsuleRadiusA, btScalar capsuleLengthB, btScalar capsuleRadiusB, int capsuleAxisA, int capsuleAxisB, const btTransform &transformA, const btTransform &transformB, btScalar distanceThreshold)

static void	btComputeSupport (const btConvexShape convexA, const btTransform &localTransA, const btConvexShape convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)

static const btVector3	ccd_vec3_origin (0, 0, 0)

void	btSimplexInit (btSimplex *s)

int	btSimplexSize (const btSimplex *s)

const btSupportVector *	btSimplexPoint (const btSimplex *s, int idx)

void	btSupportCopy (btSupportVector d, const btSupportVector s)

void	btVec3Copy (btVector3 v, const btVector3 w)

void	ccdVec3Add (btVector3 v, const btVector3 w)

void	ccdVec3Sub (btVector3 v, const btVector3 w)

void	btVec3Sub2 (btVector3 d, const btVector3 v, const btVector3 *w)

btScalar	btVec3Dot (const btVector3 a, const btVector3 b)

btScalar	ccdVec3Dist2 (const btVector3 a, const btVector3 b)

void	btVec3Scale (btVector3 *d, btScalar k)

void	btVec3Cross (btVector3 d, const btVector3 a, const btVector3 *b)

void	btTripleCross (const btVector3 a, const btVector3 b, const btVector3 c, btVector3 d)

int	ccdEq (btScalar _a, btScalar _b)

btScalar	ccdVec3X (const btVector3 *v)

btScalar	ccdVec3Y (const btVector3 *v)

btScalar	ccdVec3Z (const btVector3 *v)

int	btVec3Eq (const btVector3 a, const btVector3 b)

void	btSimplexAdd (btSimplex s, const btSupportVector v)

void	btSimplexSet (btSimplex s, size_t pos, const btSupportVector a)

void	btSimplexSetSize (btSimplex *s, int size)

const btSupportVector *	ccdSimplexLast (const btSimplex *s)

int	ccdSign (btScalar val)

btScalar	btVec3PointSegmentDist2 (const btVector3 P, const btVector3 x0, const btVector3 b, btVector3 witness)

btScalar	btVec3PointTriDist2 (const btVector3 P, const btVector3 x0, const btVector3 B, const btVector3 C, btVector3 *witness)

static int	btDoSimplex2 (btSimplex simplex, btVector3 dir)

static int	btDoSimplex3 (btSimplex simplex, btVector3 dir)

static int	btDoSimplex4 (btSimplex simplex, btVector3 dir)

static int	btDoSimplex (btSimplex simplex, btVector3 dir)

Variables
const btScalar	BULLET_MARGIN = btScalar(0.0)

const btScalar	BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS

const btScalar	BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS

const btScalar	BULLET_EPSILON = btScalar(1e-3)

const btScalar	BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)

const bool	BULLET_COMPOUND_USE_DYNAMIC_AABB = true

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const bool	disableCcd = false

Typedef Documentation

◆ COW

using tesseract_collision::tesseract_collision_bullet::COW = typedef CollisionObjectWrapper

◆ Link2ConstCow

using tesseract_collision::tesseract_collision_bullet::Link2ConstCow = typedef std::map<std::string, COW::ConstPtr>

◆ Link2Cow

using tesseract_collision::tesseract_collision_bullet::Link2Cow = typedef std::map<std::string, COW::Ptr>

Function Documentation

◆ addCastSingleResult()

btScalar tesseract_collision::tesseract_collision_bullet::addCastSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		int	index0,
		const btCollisionObjectWrapper *	colObj1Wrap,
		int	index1,
		ContactTestData &	collisions
	)

◆ addCollisionObjectToBroadphase()

void tesseract_collision::tesseract_collision_bullet::addCollisionObjectToBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Add the collision object to broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

◆ addDiscreteSingleResult()

btScalar tesseract_collision::tesseract_collision_bullet::addDiscreteSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		const btCollisionObjectWrapper *	colObj1Wrap,
		ContactTestData &	collisions
	)

◆ btComputeSupport()

static void tesseract_collision::tesseract_collision_bullet::btComputeSupport	(	const btConvexShape *	convexA,
		const btTransform &	localTransA,
		const btConvexShape *	convexB,
		const btTransform &	localTransB,
		const btVector3 &	dir,
		bool	check2d,
		btVector3 &	supAworld,
		btVector3 &	supBworld,
		btVector3 &	aMinb
	)

static

◆ btDoSimplex()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

◆ btDoSimplex2()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex2	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

◆ btDoSimplex3()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex3	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

◆ btDoSimplex4()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex4	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

◆ btSimplexAdd()

void tesseract_collision::tesseract_collision_bullet::btSimplexAdd	(	btSimplex *	s,
		const btSupportVector *	v
	)

inline

◆ btSimplexInit()

void tesseract_collision::tesseract_collision_bullet::btSimplexInit ( btSimplex * s )

inline

◆ btSimplexPoint()

const btSupportVector * tesseract_collision::tesseract_collision_bullet::btSimplexPoint	(	const btSimplex *	s,
		int	idx
	)

inline

◆ btSimplexSet()

void tesseract_collision::tesseract_collision_bullet::btSimplexSet	(	btSimplex *	s,
		size_t	pos,
		const btSupportVector *	a
	)

inline

◆ btSimplexSetSize()

void tesseract_collision::tesseract_collision_bullet::btSimplexSetSize	(	btSimplex *	s,
		int	size
	)

inline

◆ btSimplexSize()

int tesseract_collision::tesseract_collision_bullet::btSimplexSize ( const btSimplex * s )

inline

◆ btSupportCopy()

void tesseract_collision::tesseract_collision_bullet::btSupportCopy	(	btSupportVector *	d,
		const btSupportVector *	s
	)

inline

◆ btTripleCross()

void tesseract_collision::tesseract_collision_bullet::btTripleCross	(	const btVector3 *	a,
		const btVector3 *	b,
		const btVector3 *	c,
		btVector3 *	d
	)

inline

◆ btVec3Copy()

void tesseract_collision::tesseract_collision_bullet::btVec3Copy	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

◆ btVec3Cross()

void tesseract_collision::tesseract_collision_bullet::btVec3Cross	(	btVector3 *	d,
		const btVector3 *	a,
		const btVector3 *	b
	)

inline

◆ btVec3Dot()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3Dot	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

◆ btVec3Eq()

int tesseract_collision::tesseract_collision_bullet::btVec3Eq	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

◆ btVec3PointSegmentDist2()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3PointSegmentDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	b,
		btVector3 *	witness
	)

inline

◆ btVec3PointTriDist2()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3PointTriDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	B,
		const btVector3 *	C,
		btVector3 *	witness
	)

◆ btVec3Scale()

void tesseract_collision::tesseract_collision_bullet::btVec3Scale	(	btVector3 *	d,
		btScalar	k
	)

inline

◆ btVec3Sub2()

void tesseract_collision::tesseract_collision_bullet::btVec3Sub2	(	btVector3 *	d,
		const btVector3 *	v,
		const btVector3 *	w
	)

inline

◆ calculateContinuousData()

void tesseract_collision::tesseract_collision_bullet::calculateContinuousData	(	ContactResult *	col,
		const btCollisionObjectWrapper *	cow,
		const btVector3 &	pt_world,
		const btVector3 &	normal_world,
		const btTransform &	link_tf_inv,
		size_t	link_index
	)

Calculate the continuous contact data for casted collision shape.

Parameters

col	Contact results
cow	Bullet Collision Object Wrapper
pt_world	Casted contact point in world coordinates
normal_world	Casted normal to move shape out of collision in world coordinates
link_tf_inv	The links world transform inverse
link_index	The link index in teh ContactResults the shape is associated with

◆ capsuleCapsuleDistance()

static SIMD_FORCE_INLINE btScalar tesseract_collision::tesseract_collision_bullet::capsuleCapsuleDistance	(	btVector3 &	normalOnB,
		btVector3 &	pointOnB,
		btScalar	capsuleLengthA,
		btScalar	capsuleRadiusA,
		btScalar	capsuleLengthB,
		btScalar	capsuleRadiusB,
		int	capsuleAxisA,
		int	capsuleAxisB,
		const btTransform &	transformA,
		const btTransform &	transformB,
		btScalar	distanceThreshold
	)

static

◆ ccd_vec3_origin()

static const btVector3 tesseract_collision::tesseract_collision_bullet::ccd_vec3_origin	(	0	,
		0	,
		0
	)

static

◆ ccdEq()

int tesseract_collision::tesseract_collision_bullet::ccdEq	(	btScalar	_a,
		btScalar	_b
	)

inline

◆ ccdSign()

int tesseract_collision::tesseract_collision_bullet::ccdSign ( btScalar val )

inline

◆ ccdSimplexLast()

const btSupportVector * tesseract_collision::tesseract_collision_bullet::ccdSimplexLast ( const btSimplex * s )

inline

◆ ccdVec3Add()

void tesseract_collision::tesseract_collision_bullet::ccdVec3Add	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

◆ ccdVec3Dist2()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Dist2	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

◆ ccdVec3Sub()

void tesseract_collision::tesseract_collision_bullet::ccdVec3Sub	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

◆ ccdVec3X()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3X ( const btVector3 * v )

◆ ccdVec3Y()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Y ( const btVector3 * v )

◆ ccdVec3Z()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Z ( const btVector3 * v )

◆ convertBtToEigen() [1/3]

Eigen::Matrix3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btMatrix3x3 & r )

◆ convertBtToEigen() [2/3]

Eigen::Isometry3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btTransform & t )

◆ convertBtToEigen() [3/3]

Eigen::Vector3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btVector3 & v )

◆ convertEigenToBt() [1/4]

btTransform tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Isometry3d & t )

◆ convertEigenToBt() [2/4]

btMatrix3x3 tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Matrix3d & r )

◆ convertEigenToBt() [3/4]

btQuaternion tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Quaterniond & q )

◆ convertEigenToBt() [4/4]

btVector3 tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Vector3d & v )

◆ createCollisionObject()

COW::Ptr tesseract_collision::tesseract_collision_bullet::createCollisionObject	(	const std::string &	name,
		const int &	type_id,
		const CollisionShapesConst &	shapes,
		const tesseract_common::VectorIsometry3d &	shape_poses,
		bool	enabled = `true`
	)

◆ createShapePrimitive() [1/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive	(	const CollisionShapeConstPtr &	geom,
		CollisionObjectWrapper *	cow,
		int	shape_index
	)

Create a bullet collision shape from tesseract collision shape.

Parameters

geom	Tesseract collision shape
cow	The collision object wrapper the collision shape is associated with
shape_index	The collision shapes index within the collision shape wrapper. This can be accessed from the bullet collision shape by calling getUserIndex function.

Returns: Bullet collision shape.

◆ createShapePrimitive() [2/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Box::ConstPtr & geom )

◆ createShapePrimitive() [3/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Capsule::ConstPtr & geom )

◆ createShapePrimitive() [4/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Cone::ConstPtr & geom )

◆ createShapePrimitive() [5/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::ConvexMesh::ConstPtr & geom )

◆ createShapePrimitive() [6/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Cylinder::ConstPtr & geom )

◆ createShapePrimitive() [7/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive	(	const tesseract_geometry::Mesh::ConstPtr &	geom,
		CollisionObjectWrapper *	cow,
		int	shape_index
	)

◆ createShapePrimitive() [8/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive	(	const tesseract_geometry::Octree::ConstPtr &	geom,
		CollisionObjectWrapper *	cow,
		int	shape_index
	)

◆ createShapePrimitive() [9/9]

std::shared_ptr< btCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Sphere::ConstPtr & geom )

◆ GetAverageSupport()

void tesseract_collision::tesseract_collision_bullet::GetAverageSupport	(	const btConvexShape *	shape,
		const btVector3 &	localNormal,
		btScalar &	outsupport,
		btVector3 &	outpt
	)

◆ getConfigInfo()

TesseractCollisionConfigurationInfo tesseract_collision::tesseract_collision_bullet::getConfigInfo ( const YAML::Node & config )

◆ getLinkTransformFromCOW()

btTransform tesseract_collision::tesseract_collision_bullet::getLinkTransformFromCOW ( const btCollisionObjectWrapper * cow )

This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max.

Parameters

cow	Bullet collision object wrapper.

Returns: Transform of link in world coordinates

◆ makeCastCollisionObject()

COW::Ptr tesseract_collision::tesseract_collision_bullet::makeCastCollisionObject ( const COW::Ptr & cow )

◆ MycollideTT()

static void tesseract_collision::tesseract_collision_bullet::MycollideTT	(	const btDbvtNode *	root0,
		const btDbvtNode *	root1,
		const btTransform &	xform,
		TesseractCompoundCompoundLeafCallback *	callback,
		btScalar	distanceThreshold
	)

inlinestatic

◆ MyIntersect()

static DBVT_INLINE bool tesseract_collision::tesseract_collision_bullet::MyIntersect	(	const btDbvtAabbMm &	a,
		const btDbvtAabbMm &	b,
		const btTransform &	xform,
		btScalar	distanceThreshold
	)

static

◆ needsCollisionCheck()

bool tesseract_collision::tesseract_collision_bullet::needsCollisionCheck	(	const COW &	cow1,
		const COW &	cow2,
		const IsContactAllowedFn &	acm,
		bool	verbose = `false`
	)

This is used to check if a collision check is required between the provided two collision objects.

Parameters

cow1	The first collision object
cow2	The second collision object
acm	The contact allowed function pointer
verbose	Indicate if verbose information should be printed to the terminal

Returns: True if the two collision objects should be checked for collision, otherwise false

◆ refreshBroadphaseProxy()

void tesseract_collision::tesseract_collision_bullet::refreshBroadphaseProxy	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Refresh the broadphase data structure.

When change certain properties of a collision object the broadphase is not aware so this function can be called to trigger an update. For example, when changing active links this changes internal flags which may require moving a collision object from the static BVH to the dynamic BVH so this function must be called.

Parameters

cow	The collision object to update.
broadphase	The broadphase to update.
dispatcher	The dispatcher.

◆ removeCollisionObjectFromBroadphase()

void tesseract_collision::tesseract_collision_bullet::removeCollisionObjectFromBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Remove the collision object from broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

◆ segmentsClosestPoints()

static SIMD_FORCE_INLINE void tesseract_collision::tesseract_collision_bullet::segmentsClosestPoints	(	btVector3 &	ptsVector,
		btVector3 &	offsetA,
		btVector3 &	offsetB,
		btScalar &	tA,
		btScalar &	tB,
		const btVector3 &	translation,
		const btVector3 &	dirA,
		btScalar	hlenA,
		const btVector3 &	dirB,
		btScalar	hlenB
	)

static

◆ updateBroadphaseAABB()

void tesseract_collision::tesseract_collision_bullet::updateBroadphaseAABB	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update the Broadphase AABB for the input collision object.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

◆ updateCollisionObjectFilters() [1/2]

void tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow
	)

Update a collision objects filters.

Parameters

active	A list of active collision objects
cow	The collision object to update.

◆ updateCollisionObjectFilters() [2/2]

void tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update a collision objects filters for broadphase.

Parameters

active	A list of active collision objects
cow	The collision object to update.
broadphase	The collision object to update.
dispatcher	The collision object to update.

Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

const bool tesseract_collision::tesseract_collision_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

◆ BULLET_DEFAULT_CONTACT_DISTANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)

◆ BULLET_EPSILON

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_EPSILON = btScalar(1e-3)

◆ BULLET_LENGTH_TOLERANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS

◆ BULLET_MARGIN

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_MARGIN = btScalar(0.0)

◆ BULLET_SUPPORT_FUNC_TOLERANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS

◆ disableCcd

const bool tesseract_collision::tesseract_collision_bullet::disableCcd = false

static

◆ EMPTY_COLLISION_SHAPES_CONST [1/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

◆ EMPTY_COLLISION_SHAPES_CONST [2/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

◆ EMPTY_COLLISION_SHAPES_CONST [3/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

◆ EMPTY_COLLISION_SHAPES_CONST [4/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [1/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [2/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [3/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [4/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ COW

◆ Link2ConstCow

◆ Link2Cow

Function Documentation

◆ addCastSingleResult()

◆ addCollisionObjectToBroadphase()

◆ addDiscreteSingleResult()

◆ btComputeSupport()

◆ btDoSimplex()

◆ btDoSimplex2()

◆ btDoSimplex3()

◆ btDoSimplex4()

◆ btSimplexAdd()

◆ btSimplexInit()

◆ btSimplexPoint()

◆ btSimplexSet()

◆ btSimplexSetSize()

◆ btSimplexSize()

◆ btSupportCopy()

◆ btTripleCross()

◆ btVec3Copy()

◆ btVec3Cross()

◆ btVec3Dot()

◆ btVec3Eq()

◆ btVec3PointSegmentDist2()

◆ btVec3PointTriDist2()

◆ btVec3Scale()

◆ btVec3Sub2()

◆ calculateContinuousData()

◆ capsuleCapsuleDistance()

◆ ccd_vec3_origin()

◆ ccdEq()

◆ ccdSign()

◆ ccdSimplexLast()

◆ ccdVec3Add()

◆ ccdVec3Dist2()

◆ ccdVec3Sub()

◆ ccdVec3X()

◆ ccdVec3Y()

◆ ccdVec3Z()

◆ convertBtToEigen() [1/3]

◆ convertBtToEigen() [2/3]

◆ convertBtToEigen() [3/3]

◆ convertEigenToBt() [1/4]

◆ convertEigenToBt() [2/4]

◆ convertEigenToBt() [3/4]

◆ convertEigenToBt() [4/4]

◆ createCollisionObject()

◆ createShapePrimitive() [1/9]

◆ createShapePrimitive() [2/9]

◆ createShapePrimitive() [3/9]

◆ createShapePrimitive() [4/9]

◆ createShapePrimitive() [5/9]

◆ createShapePrimitive() [6/9]

◆ createShapePrimitive() [7/9]

◆ createShapePrimitive() [8/9]

◆ createShapePrimitive() [9/9]

◆ GetAverageSupport()

◆ getConfigInfo()

◆ getLinkTransformFromCOW()

◆ makeCastCollisionObject()

◆ MycollideTT()

◆ MyIntersect()

◆ needsCollisionCheck()

◆ refreshBroadphaseProxy()

◆ removeCollisionObjectFromBroadphase()

◆ segmentsClosestPoints()

◆ updateBroadphaseAABB()

◆ updateCollisionObjectFilters() [1/2]

◆ updateCollisionObjectFilters() [2/2]

Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

◆ BULLET_DEFAULT_CONTACT_DISTANCE

◆ BULLET_EPSILON

◆ BULLET_LENGTH_TOLERANCE