Public Member Functions | Public Attributes | List of all members
collision_detection_bullet::BroadphaseContactResultCallback Struct Reference

Callback structure for both discrete and continuous broadphase collision pair. More...

#include <bullet_utils.h>

Public Member Functions

btScalar addSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int, int index0, const btCollisionObjectWrapper *colObj1Wrap, int, int index1)
 This callback is used after btManifoldResult processed a collision result. More...
 
 BroadphaseContactResultCallback (ContactTestData &collisions, double contact_distance, const collision_detection::AllowedCollisionMatrix *acm, bool self, bool cast=false)
 
bool needsCollision (const CollisionObjectWrapper *cow0, const CollisionObjectWrapper *cow1) const
 This callback is used for each overlapping pair in a pair cache of the broadphase interface to check if a collision check should done for the pair. More...
 
 ~BroadphaseContactResultCallback ()=default
 

Public Attributes

const collision_detection::AllowedCollisionMatrixacm_ { nullptr }
 
bool cast_ { false }
 Indicates if the callback is used for casted collisions. More...
 
ContactTestDatacollisions_
 
double contact_distance_
 
bool self_
 Indicates if the callback is used for only self-collision checking. More...
 

Detailed Description

Callback structure for both discrete and continuous broadphase collision pair.

/e needsCollision is the callback executed before a narrowphase check is executed. /e addSingleResult is the callback executed after the narrowphase check delivers a result.

Definition at line 597 of file bullet_utils.h.

Constructor & Destructor Documentation

◆ BroadphaseContactResultCallback()

collision_detection_bullet::BroadphaseContactResultCallback::BroadphaseContactResultCallback ( ContactTestData collisions,
double  contact_distance,
const collision_detection::AllowedCollisionMatrix acm,
bool  self,
bool  cast = false 
)
inline

Definition at line 609 of file bullet_utils.h.

◆ ~BroadphaseContactResultCallback()

collision_detection_bullet::BroadphaseContactResultCallback::~BroadphaseContactResultCallback ( )
default

Member Function Documentation

◆ addSingleResult()

btScalar collision_detection_bullet::BroadphaseContactResultCallback::addSingleResult ( btManifoldPoint &  cp,
const btCollisionObjectWrapper *  colObj0Wrap,
int  ,
int  index0,
const btCollisionObjectWrapper *  colObj1Wrap,
int  ,
int  index1 
)
inline

This callback is used after btManifoldResult processed a collision result.

Definition at line 634 of file bullet_utils.h.

◆ needsCollision()

bool collision_detection_bullet::BroadphaseContactResultCallback::needsCollision ( const CollisionObjectWrapper cow0,
const CollisionObjectWrapper cow1 
) const
inline

This callback is used for each overlapping pair in a pair cache of the broadphase interface to check if a collision check should done for the pair.

Definition at line 620 of file bullet_utils.h.

Member Data Documentation

◆ acm_

const collision_detection::AllowedCollisionMatrix* collision_detection_bullet::BroadphaseContactResultCallback::acm_ { nullptr }

Definition at line 601 of file bullet_utils.h.

◆ cast_

bool collision_detection_bullet::BroadphaseContactResultCallback::cast_ { false }

Indicates if the callback is used for casted collisions.

Definition at line 607 of file bullet_utils.h.

◆ collisions_

ContactTestData& collision_detection_bullet::BroadphaseContactResultCallback::collisions_

Definition at line 599 of file bullet_utils.h.

◆ contact_distance_

double collision_detection_bullet::BroadphaseContactResultCallback::contact_distance_

Definition at line 600 of file bullet_utils.h.

◆ self_

bool collision_detection_bullet::BroadphaseContactResultCallback::self_

Indicates if the callback is used for only self-collision checking.

Definition at line 604 of file bullet_utils.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Nov 21 2021 03:25:57