collision_detection_bullet Namespace Reference

Classes
struct	BroadphaseContactResultCallback
	Callback structure for both discrete and continuous broadphase collision pair. More...
struct	BroadphaseFilterCallback
class	BulletBVHManager
	A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...
class	BulletCastBVHManager
	A bounding volume hierarchy (BVH) implementation of a tesseract contact manager. More...
class	BulletDiscreteBVHManager
	A bounding volume hierarchy (BVH) implementaiton of a discrete bullet manager. More...
struct	CastHullShape
	Casted collision shape used for checking if an object is collision free between two discrete poses. More...
class	CollisionObjectWrapper
	Tesseract bullet collision object. More...
struct	ContactTestData
	Bundles the data for a collision query. More...
struct	TesseractBroadphaseBridgedManifoldResult
class	TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...

Typedefs
template<typename Key , typename Value >
using	AlignedMap = std::map< Key, Value, std::less< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>
template<typename Key , typename Value >
using	AlignedUnorderedMap = std::unordered_map< Key, Value, std::hash< Key >, std::equal_to< Key >, Eigen::aligned_allocator< std::pair< const Key, Value > >>
template<typename T >
using	AlignedVector = std::vector< T, Eigen::aligned_allocator< T > >

Enumerations
enum	CollisionObjectType { CollisionObjectType::USE_SHAPE_TYPE = 0, CollisionObjectType::CONVEX_HULL = 1, CollisionObjectType::MULTI_SPHERE = 2, CollisionObjectType::SDF = 3 }

Functions
bool	acmCheck (const std::string &body_1, const std::string &body_2, const collision_detection::AllowedCollisionMatrix *acm)
	Allowed = true. More...
btScalar	addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int, const btCollisionObjectWrapper *colObj1Wrap, int, ContactTestData &collisions)
void	addCollisionObjectToBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase. More...
btScalar	addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, const btCollisionObjectWrapper *colObj1Wrap, ContactTestData &collisions)
	Converts a bullet contact result to MoveIt format and adds it to the result data structure. More...
shapes::ShapePtr	constructShape (const urdf::Geometry *geom)
Eigen::Vector3d	convertBtToEigen (const btVector3 &v)
	Converts bullet vector to eigen vector. More...
btTransform	convertEigenToBt (const Eigen::Isometry3d &t)
	Converts bullet transform to eigen transform. More...
btMatrix3x3	convertEigenToBt (const Eigen::Matrix3d &r)
	Converts eigen matrix to bullet matrix. More...
btQuaternion	convertEigenToBt (const Eigen::Quaterniond &q)
	Converts eigen quaternion to bullet quaternion. More...
btVector3	convertEigenToBt (const Eigen::Vector3d &v)
	Converts eigen vector to bullet vector. More...
int	createConvexHull (AlignedVector< Eigen::Vector3d > &vertices, std::vector< int > &faces, const AlignedVector< Eigen::Vector3d > &input, double shrink=-1, double shrinkClamp=-1)
	Create a convex hull from vertices using Bullet Convex Hull Computer. More...
btCollisionShape *	createShapePrimitive (const shapes::Box *geom, const CollisionObjectType &collision_object_type)
btCollisionShape *	createShapePrimitive (const shapes::Cone *geom, const CollisionObjectType &collision_object_type)
btCollisionShape *	createShapePrimitive (const shapes::Cylinder *geom, const CollisionObjectType &collision_object_type)
btCollisionShape *	createShapePrimitive (const shapes::Mesh *geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
btCollisionShape *	createShapePrimitive (const shapes::OcTree *geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
btCollisionShape *	createShapePrimitive (const shapes::ShapeConstPtr &geom, const CollisionObjectType &collision_object_type, CollisionObjectWrapper *cow)
	Casts a geometric shape into a btCollisionShape. More...
btCollisionShape *	createShapePrimitive (const shapes::Sphere *geom, const CollisionObjectType &collision_object_type)
static void	getActiveLinkNamesRecursive (std::vector< std::string > &active_links, const urdf::LinkConstSharedPtr &urdf_link, bool active)
	Recursively traverses robot from root to get all active links. More...
void	getAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, float &outsupport, btVector3 &outpt)
	Computes the local supporting vertex of a convex shape. More...
std::pair< std::string, std::string >	getObjectPairKey (const std::string &obj1, const std::string &obj2)
	Get a key for two object to search the collision matrix. More...
bool	isLinkActive (const std::vector< std::string > &active, const std::string &name)
	This will check if a link is active provided a list. If the list is empty the link is considered active. More...
bool	isOnlyKinematic (const CollisionObjectWrapper *cow0, const CollisionObjectWrapper *cow1)
	Checks if the collision pair is kinematic vs kinematic objects. More...
CollisionObjectWrapperPtr	makeCastCollisionObject (const CollisionObjectWrapperPtr &cow)
	MOVEIT_CLASS_FORWARD (BulletBVHManager)
	MOVEIT_CLASS_FORWARD (BulletCastBVHManager)
	MOVEIT_CLASS_FORWARD (BulletDiscreteBVHManager)
	MOVEIT_CLASS_FORWARD (CollisionObjectWrapper)
collision_detection::Contact *	processResult (ContactTestData &cdata, collision_detection::Contact &contact, const std::pair< std::string, std::string > &key, bool found)
	Stores a single contact result in the requested way. More...
void	removeCollisionObjectFromBroadphase (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase. More...
void	updateBroadphaseAABB (const CollisionObjectWrapperPtr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object. More...
void	updateCollisionObjectFilters (const std::vector< std::string > &active, CollisionObjectWrapper &cow)
	Update a collision objects filters. More...
Eigen::Isometry3d	urdfPose2Eigen (const urdf::Pose &pose)

Variables
const bool	BULLET_COMPOUND_USE_DYNAMIC_AABB = true
const btScalar	BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f
const btScalar	BULLET_EPSILON = 1e-3f
const btScalar	BULLET_LENGTH_TOLERANCE = 0.001f METERS
const btScalar	BULLET_MARGIN = 0.0f
const btScalar	BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS

Typedef Documentation

AlignedMap

template<typename Key , typename Value >

using collision_detection_bullet::AlignedMap = typedef std::map<Key, Value, std::less<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 56 of file basic_types.h.

AlignedUnorderedMap

template<typename Key , typename Value >

using collision_detection_bullet::AlignedUnorderedMap = typedef std::unordered_map<Key, Value, std::hash<Key>, std::equal_to<Key>, Eigen::aligned_allocator<std::pair<const Key, Value> >>

Definition at line 60 of file basic_types.h.

AlignedVector

template<typename T >

using collision_detection_bullet::AlignedVector = typedef std::vector<T, Eigen::aligned_allocator<T> >

Definition at line 53 of file basic_types.h.

Enumeration Type Documentation

CollisionObjectType

enum collision_detection_bullet::CollisionObjectType

strong

Enumerator
USE_SHAPE_TYPE	Infer the type from the type specified in the shapes::Shape class.
CONVEX_HULL	Use the mesh in shapes::Shape but make it a convex hulls collision object (if not convex it will be converted)
MULTI_SPHERE	Use the mesh and represent it by multiple spheres collision object.
SDF	Use the mesh and rpresent it by a signed distance fields collision object.

Definition at line 62 of file basic_types.h.

Function Documentation

acmCheck()

bool collision_detection_bullet::acmCheck ( const std::string &  body_1, const std::string &  body_2, const collision_detection::AllowedCollisionMatrix *  acm  )

inline

Allowed = true.

Definition at line 91 of file bullet_utils.h.

addCastSingleResult()

btScalar collision_detection_bullet::addCastSingleResult ( btManifoldPoint &  cp, const btCollisionObjectWrapper *  colObj0Wrap, int  , const btCollisionObjectWrapper *  colObj1Wrap, int  , ContactTestData &  collisions  )

inline

Definition at line 486 of file bullet_utils.h.

addCollisionObjectToBroadphase()

void collision_detection_bullet::addCollisionObjectToBroadphase ( const CollisionObjectWrapperPtr &  cow, const std::unique_ptr< btBroadphaseInterface > &  broadphase, const std::unique_ptr< btCollisionDispatcher > &  dispatcher  )

inline

Add the collision object to broadphase.

Parameters

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

Definition at line 949 of file bullet_utils.h.

addDiscreteSingleResult()

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

inline

Converts a bullet contact result to MoveIt format and adds it to the result data structure.

Definition at line 453 of file bullet_utils.h.

constructShape()

shapes::ShapePtr collision_detection_bullet::constructShape ( const urdf::Geometry *  geom )

inline

Definition at line 78 of file ros_bullet_utils.h.

convertBtToEigen()

Eigen::Vector3d collision_detection_bullet::convertBtToEigen ( const btVector3 &  v )

inline

Converts bullet vector to eigen vector.

Definition at line 135 of file bullet_utils.h.

convertEigenToBt() [1/4]

btTransform collision_detection_bullet::convertEigenToBt ( const Eigen::Isometry3d &  t )

inline

Converts bullet transform to eigen transform.

Definition at line 156 of file bullet_utils.h.

convertEigenToBt() [2/4]

btMatrix3x3 collision_detection_bullet::convertEigenToBt ( const Eigen::Matrix3d &  r )

inline

Converts eigen matrix to bullet matrix.

Definition at line 148 of file bullet_utils.h.

convertEigenToBt() [3/4]

btQuaternion collision_detection_bullet::convertEigenToBt ( const Eigen::Quaterniond &  q )

inline

Converts eigen quaternion to bullet quaternion.

Definition at line 141 of file bullet_utils.h.

convertEigenToBt() [4/4]

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

inline

Converts eigen vector to bullet vector.

Definition at line 129 of file bullet_utils.h.

createConvexHull()

int collision_detection_bullet::createConvexHull ( AlignedVector< Eigen::Vector3d > &  vertices, std::vector< int > &  faces, const AlignedVector< Eigen::Vector3d > &  input, double  shrink = -1, double  shrinkClamp = -1  )

inline

Create a convex hull from vertices using Bullet Convex Hull Computer.

Parameters

(Output)	vertices A vector of vertices
(Output)	faces The first values indicates the number of vertices that define the face followed by the vertice index
(input)	input A vector of point to create a convex hull from
(input)	shrink If positive, the convex hull is shrunken by that amount (each face is moved by "shrink" length units towards the center along its normal).
(input)	shrinkClamp If positive, "shrink" is clamped to not exceed "shrinkClamp * innerRadius", where "innerRadius" is the minimum distance of a face to the center of the convex hull.

Returns

The number of faces. If less than zero an error occured when trying to create the convex hull

Definition at line 166 of file contact_checker_common.h.

createShapePrimitive() [1/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::Box *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 77 of file bullet_utils.cpp.

createShapePrimitive() [2/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::Cone *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 105 of file bullet_utils.cpp.

createShapePrimitive() [3/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::Cylinder *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 96 of file bullet_utils.cpp.

createShapePrimitive() [4/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::Mesh *	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Definition at line 114 of file bullet_utils.cpp.

createShapePrimitive() [5/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::OcTree *	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Definition at line 191 of file bullet_utils.cpp.

createShapePrimitive() [6/7]

btCollisionShape * collision_detection_bullet::createShapePrimitive	(	const shapes::ShapeConstPtr &	geom,
		const CollisionObjectType &	collision_object_type,
		CollisionObjectWrapper *	cow
	)

Casts a geometric shape into a btCollisionShape.

Definition at line 261 of file bullet_utils.cpp.

createShapePrimitive() [7/7]

btCollisionShape* collision_detection_bullet::createShapePrimitive	(	const shapes::Sphere *	geom,
		const CollisionObjectType &	collision_object_type
	)

Definition at line 89 of file bullet_utils.cpp.

getActiveLinkNamesRecursive()

static void collision_detection_bullet::getActiveLinkNamesRecursive ( std::vector< std::string > &  active_links, const urdf::LinkConstSharedPtr &  urdf_link, bool  active  )

inlinestatic

Recursively traverses robot from root to get all active links.

Parameters

active_links	Stores the active links
urdf_link	The current urdf link representation
active	Indicates if link is considered active

Definition at line 54 of file ros_bullet_utils.h.

getAverageSupport()

void collision_detection_bullet::getAverageSupport ( const btConvexShape *  shape, const btVector3 &  localNormal, float &  outsupport, btVector3 &  outpt  )

inline

Computes the local supporting vertex of a convex shape.

If multiple vertices with equal support products exists, their average is calculated and returned.

Parameters

shape	The convex shape to check
localNormal	The support direction to search for in shape local coordinates
outsupport	The value of the calculated support mapping
outpt	The computed support point

Definition at line 409 of file bullet_utils.h.

getObjectPairKey()

std::pair<std::string, std::string> collision_detection_bullet::getObjectPairKey ( const std::string &  obj1, const std::string &  obj2  )

inline

Get a key for two object to search the collision matrix.

Parameters

obj1	First collision object name
obj2	Second collision object name

Returns

The collision pair key

Definition at line 56 of file contact_checker_common.h.

isLinkActive()

bool collision_detection_bullet::isLinkActive ( const std::vector< std::string > &  active, const std::string &  name  )

inline

This will check if a link is active provided a list. If the list is empty the link is considered active.

Parameters

active	List of active link names
name	The name of link to check if it is active.

Definition at line 66 of file contact_checker_common.h.

isOnlyKinematic()

bool collision_detection_bullet::isOnlyKinematic ( const CollisionObjectWrapper *  cow0, const CollisionObjectWrapper *  cow1  )

inline

Checks if the collision pair is kinematic vs kinematic objects.

Definition at line 587 of file bullet_utils.h.

makeCastCollisionObject()

CollisionObjectWrapperPtr collision_detection_bullet::makeCastCollisionObject ( const CollisionObjectWrapperPtr &  cow )

inline

Definition at line 818 of file bullet_utils.h.

MOVEIT_CLASS_FORWARD() [1/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD

(

BulletBVHManager

)

MOVEIT_CLASS_FORWARD() [2/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD

(

BulletCastBVHManager

)

MOVEIT_CLASS_FORWARD() [3/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD

(

BulletDiscreteBVHManager

)

MOVEIT_CLASS_FORWARD() [4/4]

collision_detection_bullet::MOVEIT_CLASS_FORWARD

(

CollisionObjectWrapper

)

processResult()

collision_detection::Contact* collision_detection_bullet::processResult ( ContactTestData &  cdata, collision_detection::Contact &  contact, const std::pair< std::string, std::string > &  key, bool  found  )

inline

Stores a single contact result in the requested way.

Parameters

found

Indicates if a contact for this pair of objects has already been found

Returns

Pointer to the newly inserted contact

Definition at line 74 of file contact_checker_common.h.

removeCollisionObjectFromBroadphase()

void collision_detection_bullet::removeCollisionObjectFromBroadphase ( const CollisionObjectWrapperPtr &  cow, const std::unique_ptr< btBroadphaseInterface > &  broadphase, const std::unique_ptr< btCollisionDispatcher > &  dispatcher  )

inline

Remove the collision object from broadphase.

Parameters

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

Definition at line 931 of file bullet_utils.h.

updateBroadphaseAABB()

void collision_detection_bullet::updateBroadphaseAABB ( const CollisionObjectWrapperPtr &  cow, const std::unique_ptr< btBroadphaseInterface > &  broadphase, const std::unique_ptr< btCollisionDispatcher > &  dispatcher  )

inline

Update the Broadphase AABB for the input collision object.

Parameters

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

Definition at line 916 of file bullet_utils.h.

updateCollisionObjectFilters()

void collision_detection_bullet::updateCollisionObjectFilters ( const std::vector< std::string > &  active, CollisionObjectWrapper &  cow  )

inline

Update a collision objects filters.

Parameters

active	A list of active collision objects
cow	The collision object to update.
continuous	Indicate if the object is a continuous collision object.

Currently continuous collision objects can only be checked against static objects. Continuous to Continuous collision checking is currently not supports. TODO LEVI: Add support for Continuous to Continuous collision checking.

Definition at line 794 of file bullet_utils.h.

urdfPose2Eigen()

Eigen::Isometry3d collision_detection_bullet::urdfPose2Eigen ( const urdf::Pose &  pose )

inline

Definition at line 115 of file ros_bullet_utils.h.

Variable Documentation

BULLET_COMPOUND_USE_DYNAMIC_AABB

const bool collision_detection_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Definition at line 86 of file bullet_utils.h.

BULLET_DEFAULT_CONTACT_DISTANCE

const btScalar collision_detection_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = 0.00f

Definition at line 85 of file bullet_utils.h.

BULLET_EPSILON

const btScalar collision_detection_bullet::BULLET_EPSILON = 1e-3f

Definition at line 84 of file bullet_utils.h.

BULLET_LENGTH_TOLERANCE

const btScalar collision_detection_bullet::BULLET_LENGTH_TOLERANCE = 0.001f METERS

Definition at line 83 of file bullet_utils.h.

BULLET_MARGIN

const btScalar collision_detection_bullet::BULLET_MARGIN = 0.0f

Definition at line 81 of file bullet_utils.h.

BULLET_SUPPORT_FUNC_TOLERANCE

const btScalar collision_detection_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = 0.01f METERS

Definition at line 82 of file bullet_utils.h.