A simple implementation of a bullet manager which does not use BHV. More...

#include <bullet_discrete_simple_manager.h>

Inheritance diagram for tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager:

Public Types
using	ConstPtr = std::shared_ptr< const BulletDiscreteSimpleManager >

using	ConstUPtr = std::unique_ptr< const BulletDiscreteSimpleManager >

using	Ptr = std::shared_ptr< BulletDiscreteSimpleManager >

using	UPtr = std::unique_ptr< BulletDiscreteSimpleManager >

Public Types inherited from tesseract_collision::DiscreteContactManager
using	ConstPtr = std::shared_ptr< const DiscreteContactManager >

using	ConstUPtr = std::unique_ptr< const DiscreteContactManager >

using	Ptr = std::shared_ptr< DiscreteContactManager >

using	UPtr = std::unique_ptr< DiscreteContactManager >

Public Member Functions
void	addCollisionObject (const COW::Ptr &cow)
	A a bullet collision object to the manager. More...

bool	addCollisionObject (const std::string &name, const int &mask_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true) override final
	Add a object to the checker. More...

	BulletDiscreteSimpleManager (BulletDiscreteSimpleManager &&)=delete

	BulletDiscreteSimpleManager (const BulletDiscreteSimpleManager &)=delete

	BulletDiscreteSimpleManager (std::string name="BulletDiscreteSimpleManager", TesseractCollisionConfigurationInfo config_info=TesseractCollisionConfigurationInfo())

DiscreteContactManager::UPtr	clone () const override final
	Clone the manager. More...

void	contactTest (ContactResultMap &collisions, const ContactRequest &request) override final
	Perform a contact test for all objects based. More...

bool	disableCollisionObject (const std::string &name) override final
	Disable an object. More...

bool	enableCollisionObject (const std::string &name) override final
	Enable an object. More...

const std::vector< std::string > &	getActiveCollisionObjects () const override final
	Get which collision objects can move. More...

const CollisionMarginData &	getCollisionMarginData () const override final
	Get the contact distance threshold. More...

const CollisionShapesConst &	getCollisionObjectGeometries (const std::string &name) const override final
	Get a collision objects collision geometries. More...

const tesseract_common::VectorIsometry3d &	getCollisionObjectGeometriesTransforms (const std::string &name) const override final
	Get a collision objects collision geometries transforms. More...

const std::vector< std::string > &	getCollisionObjects () const override final
	Get all collision objects. More...

std::shared_ptr< const tesseract_common::ContactAllowedValidator >	getContactAllowedValidator () const override final
	Get the active function for determining if two links are allowed to be in collision. More...

std::string	getName () const override final
	Get the name of the contact manager. More...

bool	hasCollisionObject (const std::string &name) const override final
	Find if a collision object already exists. More...

void	incrementCollisionMargin (double increment) override final
	Increment the collision margin data by some value. More...

bool	isCollisionObjectEnabled (const std::string &name) const override final
	Check if collision object is enabled. More...

BulletDiscreteSimpleManager &	operator= (BulletDiscreteSimpleManager &&)=delete

BulletDiscreteSimpleManager &	operator= (const BulletDiscreteSimpleManager &)=delete

bool	removeCollisionObject (const std::string &name) override final
	Remove an object from the checker. More...

void	setActiveCollisionObjects (const std::vector< std::string > &names) override final
	Set which collision objects can move. More...

void	setCollisionMarginData (CollisionMarginData collision_margin_data) override final
	Set the contact distance threshold. More...

void	setCollisionMarginPair (const std::string &name1, const std::string &name2, double collision_margin) override final
	Set the margin for a given contact pair. More...

void	setCollisionMarginPairData (const CollisionMarginPairData &pair_margin_data, CollisionMarginPairOverrideType override_type=CollisionMarginPairOverrideType::REPLACE) override final
	Set the contact distance thresholds for which collision should be considered on a per pair basis. More...

void	setCollisionObjectsTransform (const std::string &name, const Eigen::Isometry3d &pose) override final
	Set a single collision object's transforms. More...

void	setCollisionObjectsTransform (const std::vector< std::string > &names, const tesseract_common::VectorIsometry3d &poses) override final
	Set a series of collision object's transforms. More...

void	setCollisionObjectsTransform (const tesseract_common::TransformMap &transforms) override final
	Set a series of collision object's transforms. More...

void	setContactAllowedValidator (std::shared_ptr< const tesseract_common::ContactAllowedValidator > validator) override final
	Set the active function for determining if two links are allowed to be in collision. More...

void	setDefaultCollisionMargin (double default_collision_margin) override final
	Set the default collision margin. More...

	~BulletDiscreteSimpleManager () override=default

Public Member Functions inherited from tesseract_collision::DiscreteContactManager
virtual void	applyContactManagerConfig (const ContactManagerConfig &config)
	Applies settings in the config. More...

	DiscreteContactManager ()=default

	DiscreteContactManager (const DiscreteContactManager &)=delete

	DiscreteContactManager (DiscreteContactManager &&)=delete

DiscreteContactManager &	operator= (const DiscreteContactManager &)=delete

DiscreteContactManager &	operator= (DiscreteContactManager &&)=delete

virtual	~DiscreteContactManager ()=default

Private Member Functions
void	onCollisionMarginDataChanged ()
	This function will update internal data when margin data has changed. More...

Private Attributes
std::vector< std::string >	active_
	A list of the active collision objects. More...

TesseractCollisionConfiguration	coll_config_
	The bullet collision configuration. More...

std::vector< std::string >	collision_objects_
	A list of the collision objects. More...

TesseractCollisionConfigurationInfo	config_info_
	The bullet collision configuration information. More...

ContactTestData	contact_test_data_
	This is used when contactTest is called. It is also added as a user point to the collsion objects so it can be used to exit collision checking for compound shapes. More...

std::vector< COW::Ptr >	cows_
	A vector of collision objects (active followed by static) More...

btDispatcherInfo	dispatch_info_
	The bullet collision dispatcher configuration information. More...

std::unique_ptr< btCollisionDispatcher >	dispatcher_
	The bullet collision dispatcher used for getting object to object collison algorithm. More...

Link2Cow	link2cow_
	A map of all (static and active) collision objects being managed. More...

std::string	name_

Detailed Description

A simple implementation of a bullet manager which does not use BHV.

Definition at line 51 of file bullet_discrete_simple_manager.h.

Member Typedef Documentation

◆ ConstPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::ConstPtr = std::shared_ptr<const BulletDiscreteSimpleManager>

Definition at line 55 of file bullet_discrete_simple_manager.h.

◆ ConstUPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::ConstUPtr = std::unique_ptr<const BulletDiscreteSimpleManager>

Definition at line 57 of file bullet_discrete_simple_manager.h.

◆ Ptr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::Ptr = std::shared_ptr<BulletDiscreteSimpleManager>

Definition at line 54 of file bullet_discrete_simple_manager.h.

◆ UPtr

using tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::UPtr = std::unique_ptr<BulletDiscreteSimpleManager>

Definition at line 56 of file bullet_discrete_simple_manager.h.

Constructor & Destructor Documentation

◆ BulletDiscreteSimpleManager() [1/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager	(	std::string	name = `"BulletDiscreteSimpleManager"`,
		TesseractCollisionConfigurationInfo	config_info = `TesseractCollisionConfigurationInfo()`
	)

Definition at line 50 of file bullet_discrete_simple_manager.cpp.

◆ ~BulletDiscreteSimpleManager()

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::~BulletDiscreteSimpleManager ( )

overridedefault

◆ BulletDiscreteSimpleManager() [2/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager ( const BulletDiscreteSimpleManager & )

delete

◆ BulletDiscreteSimpleManager() [3/3]

tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::BulletDiscreteSimpleManager ( BulletDiscreteSimpleManager && )

delete

Member Function Documentation

◆ addCollisionObject() [1/2]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::addCollisionObject ( const COW::Ptr & cow )

A a bullet collision object to the manager.

Parameters

cow	The tesseract bullet collision object

Definition at line 345 of file bullet_discrete_simple_manager.cpp.

◆ addCollisionObject() [2/2]

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::addCollisionObject	(	const std::string &	name,
		const int &	mask_id,
		const CollisionShapesConst &	shapes,
		const tesseract_common::VectorIsometry3d &	shape_poses,
		bool	enabled = `true`
	)

finaloverridevirtual

Add a object to the checker.

Parameters

name	The name of the object, must be unique.
mask_id	User defined id which gets stored in the results structure.
shapes	A vector of shapes that make up the collision object.
shape_poses	A vector of poses for each shape, must be same length as shapes

Returns: true if successfully added, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 95 of file bullet_discrete_simple_manager.cpp.

◆ clone()

DiscreteContactManager::UPtr tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::clone ( ) const

finaloverridevirtual

Clone the manager.

This is to be used for multi threaded application. A user should make a clone for each thread.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 69 of file bullet_discrete_simple_manager.cpp.

◆ contactTest()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::contactTest	(	ContactResultMap &	collisions,
		const ContactRequest &	request
	)

finaloverridevirtual

Perform a contact test for all objects based.

Parameters

collisions	The contact results data
request	The contact request data

Implements tesseract_collision::DiscreteContactManager.

Definition at line 277 of file bullet_discrete_simple_manager.cpp.

◆ disableCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::disableCollisionObject ( const std::string & name )

finaloverridevirtual

Disable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

Definition at line 161 of file bullet_discrete_simple_manager.cpp.

◆ enableCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::enableCollisionObject ( const std::string & name )

finaloverridevirtual

Enable an object.

Parameters

name	The name of the object

Implements tesseract_collision::DiscreteContactManager.

Definition at line 150 of file bullet_discrete_simple_manager.cpp.

◆ getActiveCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getActiveCollisionObjects ( ) const

finaloverridevirtual

Get which collision objects can move.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 227 of file bullet_discrete_simple_manager.cpp.

◆ getCollisionMarginData()

const CollisionMarginData & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionMarginData ( ) const

finaloverridevirtual

Get the contact distance threshold.

Returns: The contact distance

Implements tesseract_collision::DiscreteContactManager.

Definition at line 235 of file bullet_discrete_simple_manager.cpp.

◆ getCollisionObjectGeometries()

const CollisionShapesConst & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjectGeometries ( const std::string & name ) const

finaloverridevirtual

Get a collision objects collision geometries.

Parameters

name	The collision objects name

Returns: A vector of collision geometries. The vector will be empty if the collision object is not found.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 116 of file bullet_discrete_simple_manager.cpp.

◆ getCollisionObjectGeometriesTransforms()

const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjectGeometriesTransforms ( const std::string & name ) const

finaloverridevirtual

Get a collision objects collision geometries transforms.

Parameters

name	The collision objects name

Returns: A vector of collision geometries transforms. The vector will be empty if the collision object is not found.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 124 of file bullet_discrete_simple_manager.cpp.

◆ getCollisionObjects()

const std::vector< std::string > & tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getCollisionObjects ( ) const

finaloverridevirtual

Get all collision objects.

Returns: A list of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 204 of file bullet_discrete_simple_manager.cpp.

◆ getContactAllowedValidator()

std::shared_ptr< const tesseract_common::ContactAllowedValidator > tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getContactAllowedValidator ( ) const

finaloverridevirtual

Get the active function for determining if two links are allowed to be in collision.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 273 of file bullet_discrete_simple_manager.cpp.

◆ getName()

std::string tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::getName ( ) const

finaloverridevirtual

Get the name of the contact manager.

Returns: The name

Implements tesseract_collision::DiscreteContactManager.

Definition at line 67 of file bullet_discrete_simple_manager.cpp.

◆ hasCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::hasCollisionObject ( const std::string & name ) const

finaloverridevirtual

Find if a collision object already exists.

Parameters

name	The name of the collision object

Returns: true if it exists, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 131 of file bullet_discrete_simple_manager.cpp.

◆ incrementCollisionMargin()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::incrementCollisionMargin ( double increment )

finaloverridevirtual

Increment the collision margin data by some value.

Parameters

increment The value to increment the collision margin value

Implements tesseract_collision::DiscreteContactManager.

Definition at line 261 of file bullet_discrete_simple_manager.cpp.

◆ isCollisionObjectEnabled()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::isCollisionObjectEnabled ( const std::string & name ) const

finaloverridevirtual

Check if collision object is enabled.

Parameters

name	The name of the object

Returns: True if enabled, otherwise false

Implements tesseract_collision::DiscreteContactManager.

Definition at line 172 of file bullet_discrete_simple_manager.cpp.

◆ onCollisionMarginDataChanged()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::onCollisionMarginDataChanged ( )

private

This function will update internal data when margin data has changed.

Definition at line 357 of file bullet_discrete_simple_manager.cpp.

◆ operator=() [1/2]

BulletDiscreteSimpleManager& tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::operator= ( BulletDiscreteSimpleManager && )

delete

◆ operator=() [2/2]

BulletDiscreteSimpleManager& tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::operator= ( const BulletDiscreteSimpleManager & )

delete

◆ removeCollisionObject()

bool tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::removeCollisionObject ( const std::string & name )

finaloverridevirtual

Remove an object from the checker.

Parameters

name	The name of the object

Returns: true if successfully removed, otherwise false.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 136 of file bullet_discrete_simple_manager.cpp.

◆ setActiveCollisionObjects()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setActiveCollisionObjects ( const std::vector< std::string > & names )

finaloverridevirtual

Set which collision objects can move.

Parameters

names A vector of collision object names

Implements tesseract_collision::DiscreteContactManager.

Definition at line 206 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionMarginData()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionMarginData ( CollisionMarginData collision_margin_data )

finaloverridevirtual

Set the contact distance threshold.

Parameters

collision_margin_data The contact distance

Implements tesseract_collision::DiscreteContactManager.

Definition at line 229 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionMarginPair()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionMarginPair	(	const std::string &	name1,
		const std::string &	name2,
		double	collision_margin
	)

finaloverridevirtual

Set the margin for a given contact pair.

The order of the object names does not matter, that is handled internal to the class.

Parameters

obj1	The first object name. Order doesn't matter
obj2	The Second object name. Order doesn't matter
collision_margin	contacts with distance < collision_margin are considered in collision

Implements tesseract_collision::DiscreteContactManager.

Definition at line 253 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionMarginPairData()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionMarginPairData	(	const CollisionMarginPairData &	pair_margin_data,
		CollisionMarginPairOverrideType	override_type = `CollisionMarginPairOverrideType::REPLACE`
	)

finaloverridevirtual

Set the contact distance thresholds for which collision should be considered on a per pair basis.

Parameters

pair_margin_data	Contains the pair collision margins that will replace the current settings
override_type	This determines how the provided CollisionMarginData is applied

Implements tesseract_collision::DiscreteContactManager.

Definition at line 240 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionObjectsTransform() [1/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform	(	const std::string &	name,
		const Eigen::Isometry3d &	pose
	)

finaloverridevirtual

Set a single collision object's transforms.

Parameters

name	The name of the object
pose	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

Definition at line 181 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionObjectsTransform() [2/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform	(	const std::vector< std::string > &	names,
		const tesseract_common::VectorIsometry3d &	poses
	)

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

names	The name of the object
poses	The transformation in world

Implements tesseract_collision::DiscreteContactManager.

Definition at line 190 of file bullet_discrete_simple_manager.cpp.

◆ setCollisionObjectsTransform() [3/3]

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setCollisionObjectsTransform ( const tesseract_common::TransformMap & transforms )

finaloverridevirtual

Set a series of collision object's transforms.

Parameters

transforms A transform map <name, pose>

Implements tesseract_collision::DiscreteContactManager.

Definition at line 198 of file bullet_discrete_simple_manager.cpp.

◆ setContactAllowedValidator()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setContactAllowedValidator ( std::shared_ptr< const tesseract_common::ContactAllowedValidator > validator )

finaloverridevirtual

Set the active function for determining if two links are allowed to be in collision.

Implements tesseract_collision::DiscreteContactManager.

Definition at line 267 of file bullet_discrete_simple_manager.cpp.

◆ setDefaultCollisionMargin()

void tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::setDefaultCollisionMargin ( double default_collision_margin )

finaloverridevirtual

Set the default collision margin.

Parameters

default_collision_margin New default collision margin

Implements tesseract_collision::DiscreteContactManager.

Definition at line 247 of file bullet_discrete_simple_manager.cpp.

Member Data Documentation

◆ active_

std::vector<std::string> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::active_

private

A list of the active collision objects.

Definition at line 137 of file bullet_discrete_simple_manager.h.

◆ coll_config_

TesseractCollisionConfiguration tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::coll_config_

private

The bullet collision configuration.

Definition at line 147 of file bullet_discrete_simple_manager.h.

◆ collision_objects_

std::vector<std::string> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::collision_objects_

private

A list of the collision objects.

Definition at line 139 of file bullet_discrete_simple_manager.h.

◆ config_info_

TesseractCollisionConfigurationInfo tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::config_info_

private

The bullet collision configuration information.

Definition at line 145 of file bullet_discrete_simple_manager.h.

◆ contact_test_data_

ContactTestData tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::contact_test_data_

private

This is used when contactTest is called. It is also added as a user point to the collsion objects so it can be used to exit collision checking for compound shapes.

Definition at line 157 of file bullet_discrete_simple_manager.h.

◆ cows_

std::vector<COW::Ptr> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::cows_

private

A vector of collision objects (active followed by static)

Definition at line 151 of file bullet_discrete_simple_manager.h.

◆ dispatch_info_

btDispatcherInfo tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::dispatch_info_

private

The bullet collision dispatcher configuration information.

Definition at line 143 of file bullet_discrete_simple_manager.h.

◆ dispatcher_

std::unique_ptr<btCollisionDispatcher> tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::dispatcher_

private

The bullet collision dispatcher used for getting object to object collison algorithm.

Definition at line 141 of file bullet_discrete_simple_manager.h.

◆ link2cow_

Link2Cow tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::link2cow_

private

A map of all (static and active) collision objects being managed.

Definition at line 149 of file bullet_discrete_simple_manager.h.

◆ name_

std::string tesseract_collision::tesseract_collision_bullet::BulletDiscreteSimpleManager::name_

private

Definition at line 135 of file bullet_discrete_simple_manager.h.

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

Public Types

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstUPtr

◆ Ptr

◆ UPtr

Constructor & Destructor Documentation

◆ BulletDiscreteSimpleManager() [1/3]

◆ ~BulletDiscreteSimpleManager()

◆ BulletDiscreteSimpleManager() [2/3]

◆ BulletDiscreteSimpleManager() [3/3]

Member Function Documentation

◆ addCollisionObject() [1/2]

◆ addCollisionObject() [2/2]

◆ clone()

◆ contactTest()

◆ disableCollisionObject()

◆ enableCollisionObject()

◆ getActiveCollisionObjects()

◆ getCollisionMarginData()

◆ getCollisionObjectGeometries()

◆ getCollisionObjectGeometriesTransforms()

◆ getCollisionObjects()

◆ getContactAllowedValidator()

◆ getName()

◆ hasCollisionObject()

◆ incrementCollisionMargin()

◆ isCollisionObjectEnabled()

◆ onCollisionMarginDataChanged()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ removeCollisionObject()

◆ setActiveCollisionObjects()

◆ setCollisionMarginData()

◆ setCollisionMarginPair()

◆ setCollisionMarginPairData()

◆ setCollisionObjectsTransform() [1/3]

◆ setCollisionObjectsTransform() [2/3]

◆ setCollisionObjectsTransform() [3/3]

◆ setContactAllowedValidator()

◆ setDefaultCollisionMargin()

Member Data Documentation

◆ active_

◆ coll_config_

◆ collision_objects_

◆ config_info_

◆ contact_test_data_

◆ cows_

◆ dispatch_info_

◆ dispatcher_

◆ link2cow_

◆ name_