Public Member Functions | Protected Attributes
btDefaultCollisionConfiguration Class Reference

#include <btDefaultCollisionConfiguration.h>

Inheritance diagram for btDefaultCollisionConfiguration:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 btDefaultCollisionConfiguration (const btDefaultCollisionConstructionInfo &constructionInfo=btDefaultCollisionConstructionInfo())
virtual
btCollisionAlgorithmCreateFunc
getCollisionAlgorithmCreateFunc (int proxyType0, int proxyType1)
virtual btPoolAllocatorgetCollisionAlgorithmPool ()
virtual btPoolAllocatorgetPersistentManifoldPool ()
 memory pools
virtual btVoronoiSimplexSolvergetSimplexSolver ()
virtual btStackAllocgetStackAllocator ()
void setConvexConvexMultipointIterations (int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
void setPlaneConvexMultipointIterations (int numPerturbationIterations=3, int minimumPointsPerturbationThreshold=3)
virtual ~btDefaultCollisionConfiguration ()

Protected Attributes

btCollisionAlgorithmCreateFuncm_boxBoxCF
btPoolAllocatorm_collisionAlgorithmPool
btCollisionAlgorithmCreateFuncm_compoundCreateFunc
btCollisionAlgorithmCreateFuncm_convexConcaveCreateFunc
btCollisionAlgorithmCreateFuncm_convexConvexCreateFunc
btCollisionAlgorithmCreateFuncm_convexPlaneCF
btCollisionAlgorithmCreateFuncm_emptyCreateFunc
bool m_ownsCollisionAlgorithmPool
bool m_ownsPersistentManifoldPool
bool m_ownsStackAllocator
btConvexPenetrationDepthSolverm_pdSolver
btPoolAllocatorm_persistentManifoldPool
int m_persistentManifoldPoolSize
btCollisionAlgorithmCreateFuncm_planeConvexCF
btVoronoiSimplexSolverm_simplexSolver
btCollisionAlgorithmCreateFuncm_sphereSphereCF
btCollisionAlgorithmCreateFuncm_sphereTriangleCF
btStackAllocm_stackAlloc
btCollisionAlgorithmCreateFuncm_swappedCompoundCreateFunc
btCollisionAlgorithmCreateFuncm_swappedConvexConcaveCreateFunc
btCollisionAlgorithmCreateFuncm_triangleSphereCF

Detailed Description

btCollisionConfiguration allows to configure Bullet collision detection stack allocator, pool memory allocators

Todo:
: describe the meaning

Definition at line 52 of file btDefaultCollisionConfiguration.h.


Constructor & Destructor Documentation


Member Function Documentation

virtual btCollisionAlgorithmCreateFunc* btDefaultCollisionConfiguration::getCollisionAlgorithmCreateFunc ( int  proxyType0,
int  proxyType1 
) [virtual]

Implements btCollisionConfiguration.

Definition at line 105 of file btDefaultCollisionConfiguration.h.

memory pools

Implements btCollisionConfiguration.

Definition at line 100 of file btDefaultCollisionConfiguration.h.

Definition at line 115 of file btDefaultCollisionConfiguration.h.

Implements btCollisionConfiguration.

Definition at line 110 of file btDefaultCollisionConfiguration.h.

void btDefaultCollisionConfiguration::setConvexConvexMultipointIterations ( int  numPerturbationIterations = 3,
int  minimumPointsPerturbationThreshold = 3 
)

Use this method to allow to generate multiple contact points between at once, between two objects using the generic convex-convex algorithm. By default, this feature is disabled for best performance.

Parameters:
numPerturbationIterationscontrols the number of collision queries. Set it to zero to disable the feature.
minimumPointsPerturbationThresholdis the minimum number of points in the contact cache, above which the feature is disabled 3 is a good value for both params, if you want to enable the feature. This is because the default contact cache contains a maximum of 4 points, and one collision query at the unperturbed orientation is performed first. See Bullet/Demos/CollisionDemo for an example how this feature gathers multiple points.
Todo:
we could add a per-object setting of those parameters, for level-of-detail collision detection.
void btDefaultCollisionConfiguration::setPlaneConvexMultipointIterations ( int  numPerturbationIterations = 3,
int  minimumPointsPerturbationThreshold = 3 
)

Member Data Documentation

Definition at line 86 of file btDefaultCollisionConfiguration.h.

Definition at line 66 of file btDefaultCollisionConfiguration.h.

Definition at line 77 of file btDefaultCollisionConfiguration.h.

Definition at line 75 of file btDefaultCollisionConfiguration.h.

Definition at line 74 of file btDefaultCollisionConfiguration.h.

Definition at line 90 of file btDefaultCollisionConfiguration.h.

Definition at line 79 of file btDefaultCollisionConfiguration.h.

Definition at line 67 of file btDefaultCollisionConfiguration.h.

Definition at line 63 of file btDefaultCollisionConfiguration.h.

Definition at line 60 of file btDefaultCollisionConfiguration.h.

Definition at line 71 of file btDefaultCollisionConfiguration.h.

Definition at line 62 of file btDefaultCollisionConfiguration.h.

Definition at line 57 of file btDefaultCollisionConfiguration.h.

Definition at line 89 of file btDefaultCollisionConfiguration.h.

Definition at line 70 of file btDefaultCollisionConfiguration.h.

Definition at line 80 of file btDefaultCollisionConfiguration.h.

Definition at line 87 of file btDefaultCollisionConfiguration.h.

Definition at line 59 of file btDefaultCollisionConfiguration.h.

Definition at line 78 of file btDefaultCollisionConfiguration.h.

Definition at line 76 of file btDefaultCollisionConfiguration.h.

Definition at line 88 of file btDefaultCollisionConfiguration.h.


The documentation for this class was generated from the following file:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32