Classes | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes

btCollisionWorld Class Reference

CollisionWorld is interface and container for the collision detection. More...

#include <btCollisionWorld.h>

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List of all members.

Classes

struct  AllHitsRayResultCallback
struct  ClosestConvexResultCallback
struct  ClosestRayResultCallback
struct  ContactResultCallback
 ContactResultCallback is used to report contact points. More...
struct  ConvexResultCallback
 RayResultCallback is used to report new raycast results. More...
struct  LocalConvexResult
struct  LocalRayResult
struct  LocalShapeInfo
 LocalShapeInfo gives extra information for complex shapes Currently, only btTriangleMeshShape is available, so it just contains triangleIndex and subpart. More...
struct  RayResultCallback
 RayResultCallback is used to report new raycast results. More...

Public Member Functions

 btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
 for debug drawing
virtual ~btCollisionWorld ()
void setBroadphase (btBroadphaseInterface *pairCache)
const btBroadphaseInterfacegetBroadphase () const
btBroadphaseInterfacegetBroadphase ()
btOverlappingPairCachegetPairCache ()
btDispatchergetDispatcher ()
const btDispatchergetDispatcher () const
void updateSingleAabb (btCollisionObject *colObj)
virtual void updateAabbs ()
virtual void computeOverlappingPairs ()
 the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation
virtual void setDebugDrawer (btIDebugDraw *debugDrawer)
virtual btIDebugDrawgetDebugDrawer ()
virtual void debugDrawWorld ()
virtual void debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
int getNumCollisionObjects () const
virtual void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
 rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.
void convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
 convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.
void contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
 contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.
void contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
 contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.
virtual void addCollisionObject (btCollisionObject *collisionObject, short int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, short int collisionFilterMask=btBroadphaseProxy::AllFilter)
btCollisionObjectArraygetCollisionObjectArray ()
const btCollisionObjectArraygetCollisionObjectArray () const
virtual void removeCollisionObject (btCollisionObject *collisionObject)
virtual void performDiscreteCollisionDetection ()
btDispatcherInfogetDispatchInfo ()
const btDispatcherInfogetDispatchInfo () const
bool getForceUpdateAllAabbs () const
void setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
virtual void serialize (btSerializer *serializer)
 Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo).

Static Public Member Functions

static void rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
 rayTestSingle performs a raycast call and calls the resultCallback.
static void rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
static void objectQuerySingle (const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
 objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.
static void objectQuerySingleInternal (const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)

Protected Member Functions

void serializeCollisionObjects (btSerializer *serializer)

Protected Attributes

btAlignedObjectArray
< btCollisionObject * > 
m_collisionObjects
btDispatcherm_dispatcher1
btDispatcherInfo m_dispatchInfo
btStackAllocm_stackAlloc
btBroadphaseInterfacem_broadphasePairCache
btIDebugDrawm_debugDrawer
bool m_forceUpdateAllAabbs
 m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

Detailed Description

CollisionWorld is interface and container for the collision detection.

Definition at line 82 of file btCollisionWorld.h.


Constructor & Destructor Documentation

btCollisionWorld::btCollisionWorld ( btDispatcher dispatcher,
btBroadphaseInterface broadphasePairCache,
btCollisionConfiguration collisionConfiguration 
)

for debug drawing

Definition at line 70 of file btCollisionWorld.cpp.

btCollisionWorld::~btCollisionWorld (  )  [virtual]

Definition at line 81 of file btCollisionWorld.cpp.


Member Function Documentation

void btCollisionWorld::addCollisionObject ( btCollisionObject collisionObject,
short int  collisionFilterGroup = btBroadphaseProxy::DefaultFilter,
short int  collisionFilterMask = btBroadphaseProxy::AllFilter 
) [virtual]

Reimplemented in btDiscreteDynamicsWorld.

Definition at line 114 of file btCollisionWorld.cpp.

void btCollisionWorld::computeOverlappingPairs (  )  [virtual]

the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation

Definition at line 211 of file btCollisionWorld.cpp.

void btCollisionWorld::contactPairTest ( btCollisionObject colObjA,
btCollisionObject colObjB,
ContactResultCallback resultCallback 
)

contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected.

it reports one or more contact points (including the one with deepest penetration)

Definition at line 1172 of file btCollisionWorld.cpp.

void btCollisionWorld::contactTest ( btCollisionObject colObj,
ContactResultCallback resultCallback 
)

contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback.

contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback.

it reports one or more contact points for every overlapping object (including the one with deepest penetration)

Definition at line 1160 of file btCollisionWorld.cpp.

void btCollisionWorld::convexSweepTest ( const btConvexShape castShape,
const btTransform from,
const btTransform to,
ConvexResultCallback resultCallback,
btScalar  allowedCcdPenetration = btScalar(0.) 
) const

convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical

Definition at line 994 of file btCollisionWorld.cpp.

void btCollisionWorld::debugDrawObject ( const btTransform worldTransform,
const btCollisionShape shape,
const btVector3 color 
) [virtual]

for polyhedral shapes

Definition at line 1238 of file btCollisionWorld.cpp.

void btCollisionWorld::debugDrawWorld (  )  [virtual]
const btBroadphaseInterface* btCollisionWorld::getBroadphase (  )  const [inline]

Definition at line 118 of file btCollisionWorld.h.

btBroadphaseInterface* btCollisionWorld::getBroadphase (  )  [inline]

Definition at line 123 of file btCollisionWorld.h.

btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray (  )  [inline]

Definition at line 482 of file btCollisionWorld.h.

const btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray (  )  const [inline]

Definition at line 487 of file btCollisionWorld.h.

virtual btIDebugDraw* btCollisionWorld::getDebugDrawer (  )  [inline, virtual]

Definition at line 158 of file btCollisionWorld.h.

btDispatcher* btCollisionWorld::getDispatcher (  )  [inline]

Definition at line 134 of file btCollisionWorld.h.

const btDispatcher* btCollisionWorld::getDispatcher (  )  const [inline]

Definition at line 139 of file btCollisionWorld.h.

btDispatcherInfo& btCollisionWorld::getDispatchInfo (  )  [inline]

Definition at line 497 of file btCollisionWorld.h.

const btDispatcherInfo& btCollisionWorld::getDispatchInfo (  )  const [inline]

Definition at line 502 of file btCollisionWorld.h.

bool btCollisionWorld::getForceUpdateAllAabbs (  )  const [inline]

Definition at line 507 of file btCollisionWorld.h.

int btCollisionWorld::getNumCollisionObjects (  )  const [inline]

Definition at line 434 of file btCollisionWorld.h.

btOverlappingPairCache* btCollisionWorld::getPairCache (  )  [inline]

Definition at line 128 of file btCollisionWorld.h.

void btCollisionWorld::objectQuerySingle ( const btConvexShape castShape,
const btTransform rayFromTrans,
const btTransform rayToTrans,
btCollisionObject collisionObject,
const btCollisionShape collisionShape,
const btTransform colObjWorldTransform,
ConvexResultCallback resultCallback,
btScalar  allowedPenetration 
) [static]

objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.

Definition at line 564 of file btCollisionWorld.cpp.

void btCollisionWorld::objectQuerySingleInternal ( const btConvexShape castShape,
const btTransform convexFromTrans,
const btTransform convexToTrans,
const btCollisionObjectWrapper colObjWrap,
ConvexResultCallback resultCallback,
btScalar  allowedPenetration 
) [static]

Definition at line 574 of file btCollisionWorld.cpp.

void btCollisionWorld::performDiscreteCollisionDetection (  )  [virtual]

Definition at line 217 of file btCollisionWorld.cpp.

void btCollisionWorld::rayTest ( const btVector3 rayFromWorld,
const btVector3 rayToWorld,
RayResultCallback resultCallback 
) const [virtual]

rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 916 of file btCollisionWorld.cpp.

void btCollisionWorld::rayTestSingle ( const btTransform rayFromTrans,
const btTransform rayToTrans,
btCollisionObject collisionObject,
const btCollisionShape collisionShape,
const btTransform colObjWorldTransform,
RayResultCallback resultCallback 
) [static]

rayTestSingle performs a raycast call and calls the resultCallback.

It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.

Reimplemented in btSoftRigidDynamicsWorld.

Definition at line 265 of file btCollisionWorld.cpp.

void btCollisionWorld::rayTestSingleInternal ( const btTransform rayFromTrans,
const btTransform rayToTrans,
const btCollisionObjectWrapper collisionObjectWrap,
RayResultCallback resultCallback 
) [static]

optimized version for btBvhTriangleMeshShape

Definition at line 275 of file btCollisionWorld.cpp.

void btCollisionWorld::removeCollisionObject ( btCollisionObject collisionObject  )  [virtual]
void btCollisionWorld::serialize ( btSerializer serializer  )  [virtual]

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo).

Reimplemented in btDiscreteDynamicsWorld, and btSoftRigidDynamicsWorld.

Definition at line 1530 of file btCollisionWorld.cpp.

void btCollisionWorld::serializeCollisionObjects ( btSerializer serializer  )  [protected]

keep track of shapes already serialized

Definition at line 1499 of file btCollisionWorld.cpp.

void btCollisionWorld::setBroadphase ( btBroadphaseInterface pairCache  )  [inline]

Definition at line 113 of file btCollisionWorld.h.

virtual void btCollisionWorld::setDebugDrawer ( btIDebugDraw debugDrawer  )  [inline, virtual]

Definition at line 153 of file btCollisionWorld.h.

void btCollisionWorld::setForceUpdateAllAabbs ( bool  forceUpdateAllAabbs  )  [inline]

Definition at line 511 of file btCollisionWorld.h.

void btCollisionWorld::updateAabbs (  )  [virtual]

Reimplemented in btSimpleDynamicsWorld.

Definition at line 193 of file btCollisionWorld.cpp.

void btCollisionWorld::updateSingleAabb ( btCollisionObject colObj  ) 

Definition at line 150 of file btCollisionWorld.cpp.


Member Data Documentation

Definition at line 96 of file btCollisionWorld.h.

Definition at line 88 of file btCollisionWorld.h.

Definition at line 98 of file btCollisionWorld.h.

Definition at line 90 of file btCollisionWorld.h.

Definition at line 92 of file btCollisionWorld.h.

m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

Definition at line 102 of file btCollisionWorld.h.

Definition at line 94 of file btCollisionWorld.h.


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