This is a tesseract bullet collsion object. More...
#include <bullet_utils.h>
Public Types | |
| using | ConstPtr = std::shared_ptr< const CollisionObjectWrapper > |
| using | Ptr = std::shared_ptr< CollisionObjectWrapper > |
Public Member Functions | |
| std::shared_ptr< CollisionObjectWrapper > | clone () |
| This clones the collision objects but not the collision shape wich is const. More... | |
| CollisionObjectWrapper ()=default | |
| CollisionObjectWrapper (std::string name, const int &type_id, CollisionShapesConst shapes, tesseract_common::VectorIsometry3d shape_poses) | |
| void | getAABB (btVector3 &aabb_min, btVector3 &aabb_max) const |
| Get the collision objects axis aligned bounding box. More... | |
| const CollisionShapesConst & | getCollisionGeometries () const |
| const tesseract_common::VectorIsometry3d & | getCollisionGeometriesTransforms () const |
| const std::string & | getName () const |
| Get the collision object name. More... | |
| const int & | getTypeID () const |
| Get a user defined type. More... | |
| void | manage (const std::shared_ptr< BulletCollisionShape > &t) |
| void | manageReserve (std::size_t s) |
| bool | sameObject (const CollisionObjectWrapper &other) const |
| Check if two CollisionObjectWrapper objects point to the same source object. More... | |
Public Attributes | |
| short int | m_collisionFilterGroup { btBroadphaseProxy::KinematicFilter } |
| short int | m_collisionFilterMask { btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter } |
| bool | m_enabled { true } |
Protected Attributes | |
| std::vector< std::shared_ptr< BulletCollisionShape > > | m_data |
| This manages the collision shape pointer so they get destroyed. More... | |
| std::string | m_name |
| The name of the collision object. More... | |
| tesseract_common::VectorIsometry3d | m_shape_poses |
| CollisionShapesConst | m_shapes |
| The shapes poses information. More... | |
| int | m_type_id { -1 } |
| A user defined type id. More... | |
Detailed Description
This is a tesseract bullet collsion object.
It is a wrapper around bullet's collision object which contains specific information related to tesseract
Definition at line 89 of file bullet_utils.h.
Member Typedef Documentation
◆ ConstPtr
| using tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::ConstPtr = std::shared_ptr<const CollisionObjectWrapper> |
Definition at line 97 of file bullet_utils.h.
◆ Ptr
| using tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::Ptr = std::shared_ptr<CollisionObjectWrapper> |
Definition at line 96 of file bullet_utils.h.
Constructor & Destructor Documentation
◆ CollisionObjectWrapper() [1/2]
|
default |
◆ CollisionObjectWrapper() [2/2]
| tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::CollisionObjectWrapper | ( | std::string | name, |
| const int & | type_id, | ||
| CollisionShapesConst | shapes, | ||
| tesseract_common::VectorIsometry3d | shape_poses | ||
| ) |
Definition at line 461 of file bullet_utils.cpp.
Member Function Documentation
◆ clone()
| std::shared_ptr< CollisionObjectWrapper > tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::clone | ( | ) |
This clones the collision objects but not the collision shape wich is const.
- Returns
- Shared Pointer to the cloned collision object
Definition at line 539 of file bullet_utils.cpp.
◆ getAABB()
| void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getAABB | ( | btVector3 & | aabb_min, |
| btVector3 & | aabb_max | ||
| ) | const |
Get the collision objects axis aligned bounding box.
- Parameters
-
aabb_min The minimum point aabb_max The maximum point
Definition at line 530 of file bullet_utils.cpp.
◆ getCollisionGeometries()
| const CollisionShapesConst & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getCollisionGeometries | ( | ) | const |
Definition at line 523 of file bullet_utils.cpp.
◆ getCollisionGeometriesTransforms()
| const tesseract_common::VectorIsometry3d & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getCollisionGeometriesTransforms | ( | ) | const |
Definition at line 525 of file bullet_utils.cpp.
◆ getName()
| const std::string & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getName | ( | ) | const |
Get the collision object name.
Definition at line 508 of file bullet_utils.cpp.
◆ getTypeID()
| const int & tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::getTypeID | ( | ) | const |
Get a user defined type.
Definition at line 510 of file bullet_utils.cpp.
◆ manage()
| void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::manage | ( | const std::shared_ptr< BulletCollisionShape > & | t | ) |
Definition at line 556 of file bullet_utils.cpp.
◆ manageReserve()
| void tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::manageReserve | ( | std::size_t | s | ) |
Definition at line 558 of file bullet_utils.cpp.
◆ sameObject()
| bool tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::sameObject | ( | const CollisionObjectWrapper & | other | ) | const |
Check if two CollisionObjectWrapper objects point to the same source object.
Definition at line 512 of file bullet_utils.cpp.
Member Data Documentation
◆ m_collisionFilterGroup
| short int tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_collisionFilterGroup { btBroadphaseProxy::KinematicFilter } |
Definition at line 105 of file bullet_utils.h.
◆ m_collisionFilterMask
| short int tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_collisionFilterMask { btBroadphaseProxy::StaticFilter | btBroadphaseProxy::KinematicFilter } |
Definition at line 106 of file bullet_utils.h.
◆ m_data
|
protected |
This manages the collision shape pointer so they get destroyed.
Definition at line 147 of file bullet_utils.h.
◆ m_enabled
| bool tesseract_collision::tesseract_collision_bullet::CollisionObjectWrapper::m_enabled { true } |
Definition at line 107 of file bullet_utils.h.
◆ m_name
|
protected |
The name of the collision object.
Definition at line 139 of file bullet_utils.h.
◆ m_shape_poses
|
protected |
Definition at line 145 of file bullet_utils.h.
◆ m_shapes
|
protected |
The shapes poses information.
Definition at line 143 of file bullet_utils.h.
◆ m_type_id
|
protected |
A user defined type id.
Definition at line 141 of file bullet_utils.h.
The documentation for this class was generated from the following files: