Classes
struct	BroadphaseContactResultCallback
	The BroadphaseContactResultCallback is used to report contact points. More...

struct	btPerturbedContactResult

struct	btSimplex

struct	btSupportVector

class	BulletCastBVHManager
	A BVH implementation of a tesseract contact manager. More...

class	BulletCastBVHManagerFactory

class	BulletCastSimpleManager
	A simple implementation of a tesseract manager which does not use BHV. More...

class	BulletCastSimpleManagerFactory

struct	BulletCollisionShape

class	BulletCollisionShapeCache

class	BulletDiscreteBVHManager
	A BVH implementation of a bullet manager. More...

class	BulletDiscreteBVHManagerFactory
	The yaml config for each of the factories below is the same. More...

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

class	BulletDiscreteSimpleManagerFactory

struct	CastBroadphaseContactResultCallback

struct	CastCollisionCollector

struct	CastHullShape
	This is a casted collision shape used for checking if an object is collision free between two transforms. More...

class	CollisionObjectWrapper
	This is a tesseract bullet collsion object. More...

struct	DiscreteBroadphaseContactResultCallback

struct	DiscreteCollisionCollector

struct	TesseractBridgedManifoldResult
	This is copied directly out of BulletWorld. More...

struct	TesseractBroadphaseBridgedManifoldResult

class	TesseractCollisionConfiguration
	This is a modified configuration that included the modified Bullet algorithms. More...

struct	TesseractCollisionConfigurationInfo

class	TesseractCollisionPairCallback
	A callback function that is called as part of the broadphase collision checking. More...

class	TesseractCompoundCollisionAlgorithm
	Supports collision between CompoundCollisionShapes and other collision shapes. More...

class	TesseractCompoundCompoundCollisionAlgorithm
	Supports collision between two btCompoundCollisionShape shapes. More...

struct	TesseractCompoundCompoundLeafCallback

struct	TesseractCompoundLeafCallback

class	TesseractConvexConvexAlgorithm
	This is a modifed Convex to Convex collision algorithm. More...

class	TesseractGjkPairDetector
	This is a modifed Convex to Convex collision algorithm. More...

class	TesseractOverlapFilterCallback
	This class is used to filter broadphase. More...

Typedefs
using	COW = CollisionObjectWrapper

using	Link2ConstCow = std::map< std::string, COW::ConstPtr >

using	Link2Cow = std::map< std::string, COW::Ptr >

Functions
btScalar	addCastSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, int index0, const btCollisionObjectWrapper colObj1Wrap, int index1, ContactTestData &collisions)

void	addCollisionObjectToBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Add the collision object to broadphase. More...

btScalar	addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, const btCollisionObjectWrapper colObj1Wrap, ContactTestData &collisions)

btScalar	addDiscreteSingleResult (btManifoldPoint &cp, const btCollisionObjectWrapper colObj0Wrap, int index0, const btCollisionObjectWrapper colObj1Wrap, int index1, ContactTestData &collisions)

static void	btComputeSupport (const btConvexShape convexA, const btTransform &localTransA, const btConvexShape convexB, const btTransform &localTransB, const btVector3 &dir, bool check2d, btVector3 &supAworld, btVector3 &supBworld, btVector3 &aMinb)

static int	btDoSimplex (btSimplex simplex, btVector3 dir)

static int	btDoSimplex2 (btSimplex simplex, btVector3 dir)

static int	btDoSimplex3 (btSimplex simplex, btVector3 dir)

static int	btDoSimplex4 (btSimplex simplex, btVector3 dir)

void	btSimplexAdd (btSimplex s, const btSupportVector v)

void	btSimplexInit (btSimplex *s)

const btSupportVector *	btSimplexPoint (const btSimplex *s, int idx)

void	btSimplexSet (btSimplex s, size_t pos, const btSupportVector a)

void	btSimplexSetSize (btSimplex *s, int size)

int	btSimplexSize (const btSimplex *s)

void	btSupportCopy (btSupportVector d, const btSupportVector s)

void	btTripleCross (const btVector3 a, const btVector3 b, const btVector3 c, btVector3 d)

void	btVec3Copy (btVector3 v, const btVector3 w)

void	btVec3Cross (btVector3 d, const btVector3 a, const btVector3 *b)

btScalar	btVec3Dot (const btVector3 a, const btVector3 b)

int	btVec3Eq (const btVector3 a, const btVector3 b)

btScalar	btVec3PointSegmentDist2 (const btVector3 P, const btVector3 x0, const btVector3 b, btVector3 witness)

btScalar	btVec3PointTriDist2 (const btVector3 P, const btVector3 x0, const btVector3 B, const btVector3 C, btVector3 *witness)

void	btVec3Scale (btVector3 *d, btScalar k)

void	btVec3Sub2 (btVector3 d, const btVector3 v, const btVector3 *w)

void	calculateContinuousData (ContactResult col, const btCollisionObjectWrapper cow, const btVector3 &pt_world, const btVector3 &normal_world, const btTransform &link_tf_inv, size_t link_index)
	Calculate the continuous contact data for casted collision shape. More...

static SIMD_FORCE_INLINE btScalar	capsuleCapsuleDistance (btVector3 &normalOnB, btVector3 &pointOnB, btScalar capsuleLengthA, btScalar capsuleRadiusA, btScalar capsuleLengthB, btScalar capsuleRadiusB, int capsuleAxisA, int capsuleAxisB, const btTransform &transformA, const btTransform &transformB, btScalar distanceThreshold)

static const btVector3	ccd_vec3_origin (0, 0, 0)

int	ccdEq (btScalar _a, btScalar _b)

int	ccdSign (btScalar val)

const btSupportVector *	ccdSimplexLast (const btSimplex *s)

void	ccdVec3Add (btVector3 v, const btVector3 w)

btScalar	ccdVec3Dist2 (const btVector3 a, const btVector3 b)

void	ccdVec3Sub (btVector3 v, const btVector3 w)

btScalar	ccdVec3X (const btVector3 *v)

btScalar	ccdVec3Y (const btVector3 *v)

btScalar	ccdVec3Z (const btVector3 *v)

Eigen::Matrix3d	convertBtToEigen (const btMatrix3x3 &r)

Eigen::Isometry3d	convertBtToEigen (const btTransform &t)

Eigen::Vector3d	convertBtToEigen (const btVector3 &v)

btTransform	convertEigenToBt (const Eigen::Isometry3d &t)

btMatrix3x3	convertEigenToBt (const Eigen::Matrix3d &r)

btQuaternion	convertEigenToBt (const Eigen::Quaterniond &q)

btVector3	convertEigenToBt (const Eigen::Vector3d &v)

COW::Ptr	createCollisionObject (const std::string &name, const int &type_id, const CollisionShapesConst &shapes, const tesseract_common::VectorIsometry3d &shape_poses, bool enabled=true)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const CollisionShapeConstPtr &geom)
	Create a bullet collision shape from tesseract collision shape. More...

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Box::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Capsule::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::CompoundMesh::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Cone::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::ConvexMesh::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Cylinder::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Mesh::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Octree::ConstPtr &geom)

std::shared_ptr< BulletCollisionShape >	createShapePrimitive (const tesseract_geometry::Sphere::ConstPtr &geom)

void	GetAverageSupport (const btConvexShape *shape, const btVector3 &localNormal, btScalar &outsupport, btVector3 &outpt)

TesseractCollisionConfigurationInfo	getConfigInfo (const YAML::Node &config)

btTransform	getLinkTransformFromCOW (const btCollisionObjectWrapper *cow)
	This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max. More...

COW::Ptr	makeCastCollisionObject (const COW::Ptr &cow)

static void	MycollideTT (const btDbvtNode root0, const btDbvtNode root1, const btTransform &xform, TesseractCompoundCompoundLeafCallback *callback, btScalar distanceThreshold)

static DBVT_INLINE bool	MyIntersect (const btDbvtAabbMm &a, const btDbvtAabbMm &b, const btTransform &xform, btScalar distanceThreshold)

bool	needsCollisionCheck (const COW &cow1, const COW &cow2, const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &validator, bool verbose=false)
	This is used to check if a collision check is required between the provided two collision objects. More...

void	refreshBroadphaseProxy (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Refresh the broadphase data structure. More...

void	removeCollisionObjectFromBroadphase (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Remove the collision object from broadphase. More...

static SIMD_FORCE_INLINE void	segmentsClosestPoints (btVector3 &ptsVector, btVector3 &offsetA, btVector3 &offsetB, btScalar &tA, btScalar &tB, const btVector3 &translation, const btVector3 &dirA, btScalar hlenA, const btVector3 &dirB, btScalar hlenB)

void	updateBroadphaseAABB (const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update the Broadphase AABB for the input collision object. More...

void	updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow)
	Update a collision objects filters. More...

void	updateCollisionObjectFilters (const std::vector< std::string > &active, const COW::Ptr &cow, const std::unique_ptr< btBroadphaseInterface > &broadphase, const std::unique_ptr< btCollisionDispatcher > &dispatcher)
	Update a collision objects filters for broadphase. More...

Variables
const bool	BULLET_COMPOUND_USE_DYNAMIC_AABB = true

const btScalar	BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)

const btScalar	BULLET_EPSILON = btScalar(1e-3)

const btScalar	BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS

const btScalar	BULLET_MARGIN = btScalar(0.0)

const btScalar	BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS

static const bool	disableCcd = false

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const CollisionShapesConst	EMPTY_COLLISION_SHAPES_CONST

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

static const tesseract_common::VectorIsometry3d	EMPTY_COLLISION_SHAPES_TRANSFORMS

Typedef Documentation

◆ COW

using tesseract_collision::tesseract_collision_bullet::COW = typedef CollisionObjectWrapper

Definition at line 150 of file bullet_utils.h.

◆ Link2ConstCow

using tesseract_collision::tesseract_collision_bullet::Link2ConstCow = typedef std::map<std::string, COW::ConstPtr>

Definition at line 152 of file bullet_utils.h.

◆ Link2Cow

using tesseract_collision::tesseract_collision_bullet::Link2Cow = typedef std::map<std::string, COW::Ptr>

Definition at line 151 of file bullet_utils.h.

Function Documentation

◆ addCastSingleResult()

btScalar tesseract_collision::tesseract_collision_bullet::addCastSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		int	index0,
		const btCollisionObjectWrapper *	colObj1Wrap,
		int	index1,
		ContactTestData &	collisions
	)

Definition at line 850 of file bullet_utils.cpp.

◆ addCollisionObjectToBroadphase()

void tesseract_collision::tesseract_collision_bullet::addCollisionObjectToBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Add the collision object to broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 1382 of file bullet_utils.cpp.

◆ addDiscreteSingleResult() [1/2]

btScalar tesseract_collision::tesseract_collision_bullet::addDiscreteSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		const btCollisionObjectWrapper *	colObj1Wrap,
		ContactTestData &	collisions
	)

◆ addDiscreteSingleResult() [2/2]

btScalar tesseract_collision::tesseract_collision_bullet::addDiscreteSingleResult	(	btManifoldPoint &	cp,
		const btCollisionObjectWrapper *	colObj0Wrap,
		int	index0,
		const btCollisionObjectWrapper *	colObj1Wrap,
		int	index1,
		ContactTestData &	collisions
	)

Definition at line 710 of file bullet_utils.cpp.

◆ btComputeSupport()

static void tesseract_collision::tesseract_collision_bullet::btComputeSupport	(	const btConvexShape *	convexA,
		const btTransform &	localTransA,
		const btConvexShape *	convexB,
		const btTransform &	localTransB,
		const btVector3 &	dir,
		bool	check2d,
		btVector3 &	supAworld,
		btVector3 &	supBworld,
		btVector3 &	aMinb
	)

static

Definition at line 103 of file tesseract_gjk_pair_detector.cpp.

◆ btDoSimplex()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

Definition at line 644 of file tesseract_gjk_pair_detector.cpp.

◆ btDoSimplex2()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex2	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

Definition at line 401 of file tesseract_gjk_pair_detector.cpp.

◆ btDoSimplex3()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex3	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

Definition at line 445 of file tesseract_gjk_pair_detector.cpp.

◆ btDoSimplex4()

static int tesseract_collision::tesseract_collision_bullet::btDoSimplex4	(	btSimplex *	simplex,
		btVector3 *	dir
	)

static

Definition at line 552 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexAdd()

void tesseract_collision::tesseract_collision_bullet::btSimplexAdd	(	btSimplex *	s,
		const btSupportVector *	v
	)

inline

Definition at line 235 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexInit()

void tesseract_collision::tesseract_collision_bullet::btSimplexInit ( btSimplex * s )

inline

Definition at line 149 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexPoint()

const btSupportVector* tesseract_collision::tesseract_collision_bullet::btSimplexPoint	(	const btSimplex *	s,
		int	idx
	)

inline

Definition at line 153 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexSet()

void tesseract_collision::tesseract_collision_bullet::btSimplexSet	(	btSimplex *	s,
		size_t	pos,
		const btSupportVector *	a
	)

inline

Definition at line 242 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexSetSize()

void tesseract_collision::tesseract_collision_bullet::btSimplexSetSize	(	btSimplex *	s,
		int	size
	)

inline

Definition at line 244 of file tesseract_gjk_pair_detector.cpp.

◆ btSimplexSize()

int tesseract_collision::tesseract_collision_bullet::btSimplexSize ( const btSimplex * s )

inline

Definition at line 151 of file tesseract_gjk_pair_detector.cpp.

◆ btSupportCopy()

void tesseract_collision::tesseract_collision_bullet::btSupportCopy	(	btSupportVector *	d,
		const btSupportVector *	s
	)

inline

Definition at line 158 of file tesseract_gjk_pair_detector.cpp.

◆ btTripleCross()

void tesseract_collision::tesseract_collision_bullet::btTripleCross	(	const btVector3 *	a,
		const btVector3 *	b,
		const btVector3 *	c,
		btVector3 *	d
	)

inline

Definition at line 199 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Copy()

void tesseract_collision::tesseract_collision_bullet::btVec3Copy	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

Definition at line 160 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Cross()

void tesseract_collision::tesseract_collision_bullet::btVec3Cross	(	btVector3 *	d,
		const btVector3 *	a,
		const btVector3 *	b
	)

inline

Definition at line 192 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Dot()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3Dot	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

Definition at line 171 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Eq()

int tesseract_collision::tesseract_collision_bullet::btVec3Eq	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

Definition at line 229 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3PointSegmentDist2()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3PointSegmentDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	b,
		btVector3 *	witness
	)

inline

Definition at line 261 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3PointTriDist2()

btScalar tesseract_collision::tesseract_collision_bullet::btVec3PointTriDist2	(	const btVector3 *	P,
		const btVector3 *	x0,
		const btVector3 *	B,
		const btVector3 *	C,
		btVector3 *	witness
	)

Definition at line 324 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Scale()

void tesseract_collision::tesseract_collision_bullet::btVec3Scale	(	btVector3 *	d,
		btScalar	k
	)

inline

Definition at line 185 of file tesseract_gjk_pair_detector.cpp.

◆ btVec3Sub2()

void tesseract_collision::tesseract_collision_bullet::btVec3Sub2	(	btVector3 *	d,
		const btVector3 *	v,
		const btVector3 *	w
	)

inline

Definition at line 170 of file tesseract_gjk_pair_detector.cpp.

◆ calculateContinuousData()

void tesseract_collision::tesseract_collision_bullet::calculateContinuousData	(	ContactResult *	col,
		const btCollisionObjectWrapper *	cow,
		const btVector3 &	pt_world,
		const btVector3 &	normal_world,
		const btTransform &	link_tf_inv,
		size_t	link_index
	)

Calculate the continuous contact data for casted collision shape.

Parameters

col	Contact results
cow	Bullet Collision Object Wrapper
pt_world	Casted contact point in world coordinates
normal_world	Casted normal to move shape out of collision in world coordinates
link_tf_inv	The links world transform inverse
link_index	The link index in teh ContactResults the shape is associated with

Definition at line 774 of file bullet_utils.cpp.

◆ capsuleCapsuleDistance()

static SIMD_FORCE_INLINE btScalar tesseract_collision::tesseract_collision_bullet::capsuleCapsuleDistance	(	btVector3 &	normalOnB,
		btVector3 &	pointOnB,
		btScalar	capsuleLengthA,
		btScalar	capsuleRadiusA,
		btScalar	capsuleLengthB,
		btScalar	capsuleRadiusB,
		int	capsuleAxisA,
		int	capsuleAxisB,
		const btTransform &	transformA,
		const btTransform &	transformB,
		btScalar	distanceThreshold
	)

static

Definition at line 128 of file tesseract_convex_convex_algorithm.cpp.

◆ ccd_vec3_origin()

static const btVector3 tesseract_collision::tesseract_collision_bullet::ccd_vec3_origin	(	0	,
		0	,
		0
	)

static

◆ ccdEq()

int tesseract_collision::tesseract_collision_bullet::ccdEq	(	btScalar	_a,
		btScalar	_b
	)

inline

Definition at line 206 of file tesseract_gjk_pair_detector.cpp.

◆ ccdSign()

int tesseract_collision::tesseract_collision_bullet::ccdSign ( btScalar val )

inline

Definition at line 248 of file tesseract_gjk_pair_detector.cpp.

◆ ccdSimplexLast()

const btSupportVector* tesseract_collision::tesseract_collision_bullet::ccdSimplexLast ( const btSimplex * s )

inline

Definition at line 246 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3Add()

void tesseract_collision::tesseract_collision_bullet::ccdVec3Add	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

Definition at line 162 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3Dist2()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Dist2	(	const btVector3 *	a,
		const btVector3 *	b
	)

inline

Definition at line 178 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3Sub()

void tesseract_collision::tesseract_collision_bullet::ccdVec3Sub	(	btVector3 *	v,
		const btVector3 *	w
	)

inline

Definition at line 169 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3X()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3X ( const btVector3 * v )

Definition at line 224 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3Y()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Y ( const btVector3 * v )

Definition at line 226 of file tesseract_gjk_pair_detector.cpp.

◆ ccdVec3Z()

btScalar tesseract_collision::tesseract_collision_bullet::ccdVec3Z ( const btVector3 * v )

Definition at line 228 of file tesseract_gjk_pair_detector.cpp.

◆ convertBtToEigen() [1/3]

Eigen::Matrix3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btMatrix3x3 & r )

Definition at line 87 of file bullet_utils.cpp.

◆ convertBtToEigen() [2/3]

Eigen::Isometry3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btTransform & t )

Definition at line 104 of file bullet_utils.cpp.

◆ convertBtToEigen() [3/3]

Eigen::Vector3d tesseract_collision::tesseract_collision_bullet::convertBtToEigen ( const btVector3 & v )

Definition at line 67 of file bullet_utils.cpp.

◆ convertEigenToBt() [1/4]

btTransform tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Isometry3d & t )

Definition at line 96 of file bullet_utils.cpp.

◆ convertEigenToBt() [2/4]

btMatrix3x3 tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Matrix3d & r )

Definition at line 80 of file bullet_utils.cpp.

◆ convertEigenToBt() [3/4]

btQuaternion tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Quaterniond & q )

Definition at line 72 of file bullet_utils.cpp.

◆ convertEigenToBt() [4/4]

btVector3 tesseract_collision::tesseract_collision_bullet::convertEigenToBt ( const Eigen::Vector3d & v )

Definition at line 62 of file bullet_utils.cpp.

◆ createCollisionObject()

COW::Ptr tesseract_collision::tesseract_collision_bullet::createCollisionObject	(	const std::string &	name,
		const int &	type_id,
		const CollisionShapesConst &	shapes,
		const tesseract_common::VectorIsometry3d &	shape_poses,
		bool	enabled = `true`
	)

Definition at line 1161 of file bullet_utils.cpp.

◆ createShapePrimitive() [1/10]

std::shared_ptr< BulletCollisionShape > tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const CollisionShapeConstPtr & geom )

Create a bullet collision shape from tesseract collision shape.

Parameters

geom	Tesseract collision shape

Returns: Bullet collision shape.

Definition at line 366 of file bullet_utils.cpp.

◆ createShapePrimitive() [2/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Box::ConstPtr & geom )

Definition at line 113 of file bullet_utils.cpp.

◆ createShapePrimitive() [3/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Capsule::ConstPtr & geom )

Definition at line 142 of file bullet_utils.cpp.

◆ createShapePrimitive() [4/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::CompoundMesh::ConstPtr & geom )

Definition at line 340 of file bullet_utils.cpp.

◆ createShapePrimitive() [5/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Cone::ConstPtr & geom )

Definition at line 135 of file bullet_utils.cpp.

◆ createShapePrimitive() [6/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::ConvexMesh::ConstPtr & geom )

Definition at line 194 of file bullet_utils.cpp.

◆ createShapePrimitive() [7/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Cylinder::ConstPtr & geom )

Definition at line 128 of file bullet_utils.cpp.

◆ createShapePrimitive() [8/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Mesh::ConstPtr & geom )

Definition at line 149 of file bullet_utils.cpp.

◆ createShapePrimitive() [9/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Octree::ConstPtr & geom )

Definition at line 213 of file bullet_utils.cpp.

◆ createShapePrimitive() [10/10]

std::shared_ptr<BulletCollisionShape> tesseract_collision::tesseract_collision_bullet::createShapePrimitive ( const tesseract_geometry::Sphere::ConstPtr & geom )

Definition at line 122 of file bullet_utils.cpp.

◆ GetAverageSupport()

void tesseract_collision::tesseract_collision_bullet::GetAverageSupport	(	const btConvexShape *	shape,
		const btVector3 &	localNormal,
		btScalar &	outsupport,
		btVector3 &	outpt
	)

Definition at line 640 of file bullet_utils.cpp.

◆ getConfigInfo()

TesseractCollisionConfigurationInfo tesseract_collision::tesseract_collision_bullet::getConfigInfo ( const YAML::Node & config )

Definition at line 44 of file bullet_factories.cpp.

◆ getLinkTransformFromCOW()

btTransform tesseract_collision::tesseract_collision_bullet::getLinkTransformFromCOW ( const btCollisionObjectWrapper * cow )

This transversus the parent tree to find the base object and return its world transform This should be the links transform and it should only need to transverse twice at max.

Parameters

cow	Bullet collision object wrapper.

Returns: Transform of link in world coordinates

Definition at line 684 of file bullet_utils.cpp.

◆ makeCastCollisionObject()

COW::Ptr tesseract_collision::tesseract_collision_bullet::makeCastCollisionObject ( const COW::Ptr & cow )

Definition at line 1249 of file bullet_utils.cpp.

◆ MycollideTT()

static void tesseract_collision::tesseract_collision_bullet::MycollideTT	(	const btDbvtNode *	root0,
		const btDbvtNode *	root1,
		const btTransform &	xform,
		TesseractCompoundCompoundLeafCallback *	callback,
		btScalar	distanceThreshold
	)

inlinestatic

Definition at line 261 of file tesseract_compound_compound_collision_algorithm.cpp.

◆ MyIntersect()

static DBVT_INLINE bool tesseract_collision::tesseract_collision_bullet::MyIntersect	(	const btDbvtAabbMm &	a,
		const btDbvtAabbMm &	b,
		const btTransform &	xform,
		btScalar	distanceThreshold
	)

static

Definition at line 251 of file tesseract_compound_compound_collision_algorithm.cpp.

◆ needsCollisionCheck()

bool tesseract_collision::tesseract_collision_bullet::needsCollisionCheck	(	const COW &	cow1,
		const COW &	cow2,
		const std::shared_ptr< const tesseract_common::ContactAllowedValidator > &	validator,
		bool	verbose = `false`
	)

This is used to check if a collision check is required between the provided two collision objects.

Parameters

cow1	The first collision object
cow2	The second collision object
validator	The contact allowed validator
verbose	Indicate if verbose information should be printed to the terminal

Returns: True if the two collision objects should be checked for collision, otherwise false

Definition at line 700 of file bullet_utils.cpp.

◆ refreshBroadphaseProxy()

void tesseract_collision::tesseract_collision_bullet::refreshBroadphaseProxy	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Refresh the broadphase data structure.

When change certain properties of a collision object the broadphase is not aware so this function can be called to trigger an update. For example, when changing active links this changes internal flags which may require moving a collision object from the static BVH to the dynamic BVH so this function must be called.

Parameters

cow	The collision object to update.
broadphase	The broadphase to update.
dispatcher	The dispatcher.

Definition at line 1408 of file bullet_utils.cpp.

◆ removeCollisionObjectFromBroadphase()

void tesseract_collision::tesseract_collision_bullet::removeCollisionObjectFromBroadphase	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Remove the collision object from broadphase.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 1368 of file bullet_utils.cpp.

◆ segmentsClosestPoints()

static SIMD_FORCE_INLINE void tesseract_collision::tesseract_collision_bullet::segmentsClosestPoints	(	btVector3 &	ptsVector,
		btVector3 &	offsetA,
		btVector3 &	offsetB,
		btScalar &	tA,
		btScalar &	tB,
		const btVector3 &	translation,
		const btVector3 &	dirA,
		btScalar	hlenA,
		const btVector3 &	dirB,
		btScalar	hlenB
	)

static

Definition at line 65 of file tesseract_convex_convex_algorithm.cpp.

◆ updateBroadphaseAABB()

void tesseract_collision::tesseract_collision_bullet::updateBroadphaseAABB	(	const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update the Broadphase AABB for the input collision object.

Parameters

cow	The collision objects
broadphase	The bullet broadphase interface
dispatcher	The bullet collision dispatcher

Definition at line 1355 of file bullet_utils.cpp.

◆ updateCollisionObjectFilters() [1/2]

void tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow
	)

Update a collision objects filters.

Parameters

active	A list of active collision objects
cow	The collision object to update.

Definition at line 442 of file bullet_utils.cpp.

◆ updateCollisionObjectFilters() [2/2]

void tesseract_collision::tesseract_collision_bullet::updateCollisionObjectFilters	(	const std::vector< std::string > &	active,
		const COW::Ptr &	cow,
		const std::unique_ptr< btBroadphaseInterface > &	broadphase,
		const std::unique_ptr< btCollisionDispatcher > &	dispatcher
	)

Update a collision objects filters for broadphase.

Parameters

active	A list of active collision objects
cow	The collision object to update.
broadphase	The collision object to update.
dispatcher	The collision object to update.

Definition at line 1395 of file bullet_utils.cpp.

Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

const bool tesseract_collision::tesseract_collision_bullet::BULLET_COMPOUND_USE_DYNAMIC_AABB = true

Definition at line 67 of file bullet_utils.h.

◆ BULLET_DEFAULT_CONTACT_DISTANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_DEFAULT_CONTACT_DISTANCE = btScalar(0.05)

Definition at line 66 of file bullet_utils.h.

◆ BULLET_EPSILON

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_EPSILON = btScalar(1e-3)

Definition at line 65 of file bullet_utils.h.

◆ BULLET_LENGTH_TOLERANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_LENGTH_TOLERANCE = btScalar(0.001) METERS

Definition at line 64 of file bullet_utils.h.

◆ BULLET_MARGIN

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_MARGIN = btScalar(0.0)

Definition at line 62 of file bullet_utils.h.

◆ BULLET_SUPPORT_FUNC_TOLERANCE

const btScalar tesseract_collision::tesseract_collision_bullet::BULLET_SUPPORT_FUNC_TOLERANCE = btScalar(0.01) METERS

Definition at line 63 of file bullet_utils.h.

◆ disableCcd

const bool tesseract_collision::tesseract_collision_bullet::disableCcd = false

static

Definition at line 852 of file tesseract_convex_convex_algorithm.cpp.

◆ EMPTY_COLLISION_SHAPES_CONST [1/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

Definition at line 47 of file bullet_cast_simple_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_CONST [2/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

Definition at line 47 of file bullet_discrete_simple_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_CONST [3/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

Definition at line 49 of file bullet_cast_bvh_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_CONST [4/4]

const CollisionShapesConst tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_CONST

static

Definition at line 49 of file bullet_discrete_bvh_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [1/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Definition at line 48 of file bullet_discrete_simple_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [2/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Definition at line 48 of file bullet_cast_simple_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [3/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Definition at line 50 of file bullet_cast_bvh_manager.cpp.

◆ EMPTY_COLLISION_SHAPES_TRANSFORMS [4/4]

const tesseract_common::VectorIsometry3d tesseract_collision::tesseract_collision_bullet::EMPTY_COLLISION_SHAPES_TRANSFORMS

static

Definition at line 50 of file bullet_discrete_bvh_manager.cpp.

Classes

Typedefs

Functions

Variables

Typedef Documentation

◆ COW

◆ Link2ConstCow

◆ Link2Cow

Function Documentation

◆ addCastSingleResult()

◆ addCollisionObjectToBroadphase()

◆ addDiscreteSingleResult() [1/2]

◆ addDiscreteSingleResult() [2/2]

◆ btComputeSupport()

◆ btDoSimplex()

◆ btDoSimplex2()

◆ btDoSimplex3()

◆ btDoSimplex4()

◆ btSimplexAdd()

◆ btSimplexInit()

◆ btSimplexPoint()

◆ btSimplexSet()

◆ btSimplexSetSize()

◆ btSimplexSize()

◆ btSupportCopy()

◆ btTripleCross()

◆ btVec3Copy()

◆ btVec3Cross()

◆ btVec3Dot()

◆ btVec3Eq()

◆ btVec3PointSegmentDist2()

◆ btVec3PointTriDist2()

◆ btVec3Scale()

◆ btVec3Sub2()

◆ calculateContinuousData()

◆ capsuleCapsuleDistance()

◆ ccd_vec3_origin()

◆ ccdEq()

◆ ccdSign()

◆ ccdSimplexLast()

◆ ccdVec3Add()

◆ ccdVec3Dist2()

◆ ccdVec3Sub()

◆ ccdVec3X()

◆ ccdVec3Y()

◆ ccdVec3Z()

◆ convertBtToEigen() [1/3]

◆ convertBtToEigen() [2/3]

◆ convertBtToEigen() [3/3]

◆ convertEigenToBt() [1/4]

◆ convertEigenToBt() [2/4]

◆ convertEigenToBt() [3/4]

◆ convertEigenToBt() [4/4]

◆ createCollisionObject()

◆ createShapePrimitive() [1/10]

◆ createShapePrimitive() [2/10]

◆ createShapePrimitive() [3/10]

◆ createShapePrimitive() [4/10]

◆ createShapePrimitive() [5/10]

◆ createShapePrimitive() [6/10]

◆ createShapePrimitive() [7/10]

◆ createShapePrimitive() [8/10]

◆ createShapePrimitive() [9/10]

◆ createShapePrimitive() [10/10]

◆ GetAverageSupport()

◆ getConfigInfo()

◆ getLinkTransformFromCOW()

◆ makeCastCollisionObject()

◆ MycollideTT()

◆ MyIntersect()

◆ needsCollisionCheck()

◆ refreshBroadphaseProxy()

◆ removeCollisionObjectFromBroadphase()

◆ segmentsClosestPoints()

◆ updateBroadphaseAABB()

◆ updateCollisionObjectFilters() [1/2]

◆ updateCollisionObjectFilters() [2/2]

Variable Documentation

◆ BULLET_COMPOUND_USE_DYNAMIC_AABB

◆ BULLET_DEFAULT_CONTACT_DISTANCE