Inheritance diagram for dart::collision::BulletCollisionDetector:

Collaboration diagram for dart::collision::BulletCollisionDetector:

Public Member Functions
	~BulletCollisionDetector () override
	Constructor.

std::shared_ptr< CollisionDetector >	cloneWithoutCollisionObjects () const override
	Create a clone of this CollisionDetector. More...

const std::string &	getType () const override
	Return collision detection engine type as a std::string.

std::unique_ptr< CollisionGroup >	createCollisionGroup () override
	Create a collision group.

bool	collide (CollisionGroup group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult result=nullptr) override
	Perform collision check for a single group. More...

bool	collide (CollisionGroup group1, CollisionGroup group2, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
	Perform collision check for two groups. More...

double	distance (CollisionGroup group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult result=nullptr) override
	Get the minimum signed distance between the Shape pairs in the given CollisionGroup. More...

double	distance (CollisionGroup group1, CollisionGroup group2, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
	Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2). More...

bool	raycast (CollisionGroup group, const Eigen::Vector3d &from, const Eigen::Vector3d &to, const RaycastOption &option=RaycastOption(), RaycastResult result=nullptr) override
	Performs raycast to a collision group. More...

Public Member Functions inherited from dart::collision::CollisionDetector
virtual	~CollisionDetector ()=default
	Destructor.

std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr ()
	Helper function that creates and returns CollisionGroup as a shared_ptr. More...

template<typename... Args>
std::unique_ptr< CollisionGroup >	createCollisionGroup (const Args &... args)
	Create a collision group from any objects that are supported by CollisionGroup::addShapeFramesOf(). More...

template<typename... Args>
std::shared_ptr< CollisionGroup >	createCollisionGroupAsSharedPtr (const Args &... args)
	Helper function that creates and returns CollisionGroup as shared_ptr.

Static Public Member Functions
static std::shared_ptr< BulletCollisionDetector >	create ()

static const std::string &	getStaticType ()
	Get collision detector type for this class.

Static Public Member Functions inherited from dart::collision::CollisionDetector
static Factory *	getFactory ()
	Returns the singleton factory.

Protected Member Functions
	BulletCollisionDetector ()
	Constructor.

std::unique_ptr< CollisionObject >	createCollisionObject (const dynamics::ShapeFrame *shapeFrame) override
	Create CollisionObject.

void	refreshCollisionObject (CollisionObject *object) override
	Update the collision geometry of a ShapeFrame.

void	notifyCollisionObjectDestroying (CollisionObject *object) override
	Notify that a CollisionObject is destroying. Do nothing by default.

Protected Member Functions inherited from dart::collision::CollisionDetector
	CollisionDetector ()=default
	Constructor.

std::shared_ptr< CollisionObject >	claimCollisionObject (const dynamics::ShapeFrame *shapeFrame)
	Claim CollisionObject associated with shapeFrame. More...

Friends
class	CollisionDetector

Additional Inherited Members
Public Types inherited from dart::collision::CollisionDetector
using	Factory = common::Factory< std::string, CollisionDetector, std::shared_ptr< CollisionDetector > >

using	SingletonFactory = common::Singleton< Factory >

template<typename Derived >
using	Registrar = common::FactoryRegistrar< std::string, CollisionDetector, Derived, std::shared_ptr< CollisionDetector > >

Protected Attributes inherited from dart::collision::CollisionDetector
std::unique_ptr< CollisionObjectManager >	mCollisionObjectManager

Member Function Documentation

◆ cloneWithoutCollisionObjects()

std::shared_ptr< CollisionDetector > dart::collision::BulletCollisionDetector::cloneWithoutCollisionObjects ( ) const

overridevirtual

Create a clone of this CollisionDetector.

All the properties will be copied over, but not collision objects.

Implements dart::collision::CollisionDetector.

◆ collide() [1/2]

bool dart::collision::BulletCollisionDetector::collide	(	CollisionGroup *	group,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for a single group.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ collide() [2/2]

bool dart::collision::BulletCollisionDetector::collide	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const CollisionOption &	option = `CollisionOption(false, 1u, nullptr)`,
		CollisionResult *	result = `nullptr`
	)

overridevirtual

Perform collision check for two groups.

If nullptr is passed to result, then the this returns only simple information whether there is a collision of not.

Implements dart::collision::CollisionDetector.

◆ distance() [1/2]

double dart::collision::BulletCollisionDetector::distance	(	CollisionGroup *	group,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs in the given CollisionGroup.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

◆ distance() [2/2]

double dart::collision::BulletCollisionDetector::distance	(	CollisionGroup *	group1,
		CollisionGroup *	group2,
		const DistanceOption &	option = `DistanceOption(false, 0.0, nullptr)`,
		DistanceResult *	result = `nullptr`
	)

overridevirtual

Get the minimum signed distance between the Shape pairs where a pair consist of two shapes from each groups (one from group1 and one from group2).

Note that the distance between shapes within the same CollisionGroup are not accounted.

The detailed results are stored in the given DistanceResult if provided.

The results can be different by DistanceOption. By default, non-negative minimum distance (distance >= 0) is returned for all the shape pairs without computing nearest points.

Implements dart::collision::CollisionDetector.

◆ raycast()

bool dart::collision::BulletCollisionDetector::raycast	(	CollisionGroup *	group,
		const Eigen::Vector3d &	from,
		const Eigen::Vector3d &	to,
		const RaycastOption &	option = `RaycastOption()`,
		RaycastResult *	result = `nullptr`
	)

overridevirtual

Performs raycast to a collision group.

Parameters

[in]	group	The collision group the ray will be casted onto.
[in]	from	The start point of the ray in world coordinates.
[in]	to	The end point of the ray in world coordinates.
[in]	option	The raycast option.
[in]	result	The raycast result.

Returns: True if the ray hit an collision object.

Reimplemented from dart::collision::CollisionDetector.

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

dart/dynamics/bullet/BulletCollisionDetector.hpp
dart/dynamics/bullet/BulletCollisionDetector.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Friends

Additional Inherited Members

Member Function Documentation

◆ cloneWithoutCollisionObjects()

◆ collide() [1/2]

◆ collide() [2/2]

◆ distance() [1/2]

◆ distance() [2/2]

◆ raycast()