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:

Classes
struct	CreateFunc
struct	SwappedCreateFunc

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

Private Member Functions
void	removeChildAlgorithms ()

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

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

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.

Definition at line 55 of file tesseract_compound_compound_collision_algorithm.h.

Constructor & Destructor Documentation

TesseractCompoundCompoundCollisionAlgorithm() [1/3]

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

Definition at line 46 of file tesseract_compound_compound_collision_algorithm.cpp.

~TesseractCompoundCompoundCollisionAlgorithm()

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

override

Definition at line 69 of file tesseract_compound_compound_collision_algorithm.cpp.

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

Definition at line 456 of file tesseract_compound_compound_collision_algorithm.cpp.

getAllContactManifolds()

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

override

Definition at line 76 of file tesseract_compound_compound_collision_algorithm.cpp.

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

Definition at line 321 of file tesseract_compound_compound_collision_algorithm.cpp.

removeChildAlgorithms()

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

private

Definition at line 88 of file tesseract_compound_compound_collision_algorithm.cpp.

Member Data Documentation

m_childCollisionAlgorithmCache

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

private

Definition at line 57 of file tesseract_compound_compound_collision_algorithm.h.

m_compoundShapeRevision0

int tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision0

private

Definition at line 60 of file tesseract_compound_compound_collision_algorithm.h.

m_compoundShapeRevision1

int tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_compoundShapeRevision1

private

Definition at line 61 of file tesseract_compound_compound_collision_algorithm.h.

m_removePairs

btSimplePairArray tesseract_collision::tesseract_collision_bullet::TesseractCompoundCompoundCollisionAlgorithm::m_removePairs

private

Definition at line 58 of file tesseract_compound_compound_collision_algorithm.h.

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

• tesseract_compound_compound_collision_algorithm.h
• tesseract_compound_compound_collision_algorithm.cpp