DART  6.10.1
BulletOverlapFilterCallback.hpp
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32 
33 #ifndef DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
34 #define DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
35 
36 // Must be included before any Bullet headers.
37 #include "dart/config.hpp"
38 
39 #include <btBulletCollisionCommon.h>
40 
43 
44 namespace dart {
45 namespace collision {
46 namespace detail {
47 
48 struct BulletOverlapFilterCallback : public btOverlapFilterCallback
49 {
50  // Constructor
52  const std::shared_ptr<CollisionFilter>& filter = nullptr);
53 
56  btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override;
57 
61 
63  mutable bool done;
64 
65  std::shared_ptr<CollisionFilter> filter;
66 };
67 
68 } // namespace detail
69 } // namespace collision
70 } // namespace dart
71 
72 #endif // DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
Definition: BulletCollisionDetector.cpp:65
Definition: BulletOverlapFilterCallback.hpp:49
BulletOverlapFilterCallback(const std::shared_ptr< CollisionFilter > &filter=nullptr)
Definition: BulletOverlapFilterCallback.cpp:43
bool done
Whether the collision iteration can stop.
Definition: BulletOverlapFilterCallback.hpp:63
bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const override
Returns true when pairs need collision.
Definition: BulletOverlapFilterCallback.cpp:51
std::shared_ptr< CollisionFilter > filter
Definition: BulletOverlapFilterCallback.hpp:65
bool foundCollision
True if at least one contact is found.
Definition: BulletOverlapFilterCallback.hpp:60