tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm Class Reference

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

#include <tesseract_compound_collision_algorithm.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm:

Collaboration diagram for tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm:

Classes
struct	CreateFunc
struct	SwappedCreateFunc

Public Member Functions
	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

Protected Member Functions
void	removeChildAlgorithms ()
void	preallocateChildAlgorithms (const btCollisionObjectWrapper *body0Wrap, const btCollisionObjectWrapper *body1Wrap)

Protected Attributes
btAlignedObjectArray< btCollisionAlgorithm * >	m_childCollisionAlgorithms
bool	m_isSwapped
class btPersistentManifold *	m_sharedManifold
bool	m_ownsManifold { false }
int	m_compoundShapeRevision

Private Attributes
btNodeStack	stack2
btManifoldArray	manifoldArray

Detailed Description

Supports collision between CompoundCollisionShapes and other collision 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

TesseractCompoundCollisionAlgorithm() [1/3]

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

~TesseractCompoundCollisionAlgorithm()

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::~TesseractCompoundCollisionAlgorithm ( )

override

TesseractCompoundCollisionAlgorithm() [2/3]

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::TesseractCompoundCollisionAlgorithm ( const TesseractCompoundCollisionAlgorithm &  )

default

TesseractCompoundCollisionAlgorithm() [3/3]

tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::TesseractCompoundCollisionAlgorithm ( TesseractCompoundCollisionAlgorithm &&  )

default

Member Function Documentation

calculateTimeOfImpact()

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

override

getAllContactManifolds()

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

inlineoverride

getChildAlgorithm()

btCollisionAlgorithm * tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::getChildAlgorithm ( int  n ) const

inline

operator=() [1/2]

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

default

operator=() [2/2]

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

default

preallocateChildAlgorithms()

void tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::preallocateChildAlgorithms ( const btCollisionObjectWrapper *  body0Wrap, const btCollisionObjectWrapper *  body1Wrap  )

protected

processCollision()

void tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::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 and update 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::TesseractCompoundCollisionAlgorithm::removeChildAlgorithms ( )

protected

Member Data Documentation

m_childCollisionAlgorithms

btAlignedObjectArray<btCollisionAlgorithm*> tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::m_childCollisionAlgorithms

protected

m_compoundShapeRevision

int tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::m_compoundShapeRevision

protected

m_isSwapped

bool tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::m_isSwapped

protected

m_ownsManifold

bool tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::m_ownsManifold { false }

protected

m_sharedManifold

class btPersistentManifold* tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::m_sharedManifold

protected

manifoldArray

btManifoldArray tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::manifoldArray

private

stack2

btNodeStack tesseract_collision::tesseract_collision_bullet::TesseractCompoundCollisionAlgorithm::stack2

private

---

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

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