ContactSensorCallback Struct Reference

List of all members.

Public Member Functions
virtual btScalar	addSingleResult (btManifoldPoint &cp, const btCollisionObject *colObj0, int partId0, int index0, const btCollisionObject *colObj1, int partId1, int index1)
	Called with each contact for your own processing (e.g. test if contacts fall in within sensor parameters)
	ContactSensorCallback (btRigidBody &tgtBody)
	Constructor, pass whatever context you want to have available when processing contacts.
virtual bool	needsCollision (btBroadphaseProxy *proxy) const
	If you don't want to consider collisions where the bodies are joined by a constraint, override needsCollision:
Public Attributes
btRigidBody &	body
	The body the sensor is monitoring.
int	collided

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Detailed Description

Definition at line 20 of file URDFRobot.cpp.

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Constructor & Destructor Documentation

ContactSensorCallback::ContactSensorCallback

(

btRigidBody &

tgtBody

)

[inline]

Constructor, pass whatever context you want to have available when processing contacts.

You may also want to set m_collisionFilterGroup and m_collisionFilterMask (supplied by the superclass) for needsCollision()

Definition at line 26 of file URDFRobot.cpp.

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Member Function Documentation

virtual btScalar ContactSensorCallback::addSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObject *	colObj0,
		int	partId0,
		int	index0,
		const btCollisionObject *	colObj1,
		int	partId1,
		int	index1
	)		[inline, virtual]

Called with each contact for your own processing (e.g. test if contacts fall in within sensor parameters)

Definition at line 49 of file URDFRobot.cpp.

virtual bool ContactSensorCallback::needsCollision

(

btBroadphaseProxy *

proxy

)

const [inline, virtual]

If you don't want to consider collisions where the bodies are joined by a constraint, override needsCollision:

However, if you use a btCollisionObject for body instead of a btRigidBody, then this is unnecessary—checkCollideWithOverride isn't available

Definition at line 38 of file URDFRobot.cpp.

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Member Data Documentation

btRigidBody& ContactSensorCallback::body

The body the sensor is monitoring.

Definition at line 32 of file URDFRobot.cpp.

int ContactSensorCallback::collided

Definition at line 33 of file URDFRobot.cpp.

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The documentation for this struct was generated from the following file:

• URDFRobot.cpp