DART 6.11.1
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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
44namespace dart {
45namespace collision {
46namespace detail {
47
48struct BulletOverlapFilterCallback : public btOverlapFilterCallback
49{
50 // Constructor
52 const std::shared_ptr<CollisionFilter>& filter = nullptr,
53 CollisionGroup* group1 = nullptr,
54 CollisionGroup* group2 = nullptr);
55
58 btBroadphaseProxy* proxy0, btBroadphaseProxy* proxy1) const override;
59
63
65 mutable bool done;
66
67 std::shared_ptr<CollisionFilter> filter;
70};
71
72} // namespace detail
73} // namespace collision
74} // namespace dart
75
76#endif // DART_COLLISION_BULLET_DETAIL_BULLETOVERLAPFILTERCALLBACK_HPP_
Definition CollisionGroup.hpp:53
Definition BulletCollisionDetector.cpp:65
Definition BulletOverlapFilterCallback.hpp:49
const CollisionGroup * group1
Definition BulletOverlapFilterCallback.hpp:68
bool done
Whether the collision iteration can stop.
Definition BulletOverlapFilterCallback.hpp:65
bool needBroadphaseCollision(btBroadphaseProxy *proxy0, btBroadphaseProxy *proxy1) const override
Returns true when pairs need collision.
Definition BulletOverlapFilterCallback.cpp:58
std::shared_ptr< CollisionFilter > filter
Definition BulletOverlapFilterCallback.hpp:67
const CollisionGroup * group2
Definition BulletOverlapFilterCallback.hpp:69
bool foundCollision
True if at least one contact is found.
Definition BulletOverlapFilterCallback.hpp:62