DART  6.7.3
dart::collision::BulletCollisionObject Class Reference

#include <BulletCollisionObject.hpp>

Inheritance diagram for dart::collision::BulletCollisionObject:
dart::collision::CollisionObject

Public Member Functions

btCollisionObject * getBulletCollisionObject ()
 Return Bullet collision object. More...
 
const btCollisionObject * getBulletCollisionObject () const
 Return Bullet collision object. More...
 
CollisionDetectorgetCollisionDetector ()
 Return collision detection engine associated with this CollisionObject. More...
 
const CollisionDetectorgetCollisionDetector () const
 Return collision detection engine associated with this CollisionObject. More...
 
const dynamics::ShapeFramegetShapeFrame () const
 Return the associated ShapeFrame. More...
 
dynamics::ConstShapePtr getShape () const
 Return the associated Shape. More...
 
const Eigen::Isometry3d & getTransform () const
 Return the transformation of this CollisionObject in world coordinates. More...
 

Protected Member Functions

 BulletCollisionObject (CollisionDetector *collisionDetector, const dynamics::ShapeFrame *shapeFrame, const std::shared_ptr< BulletCollisionShape > &bulletCollisionShape)
 Constructor. More...
 
void updateEngineData () override
 Update the collision object of the collision detection engine. More...
 

Protected Attributes

std::shared_ptr< BulletCollisionShapemBulletCollisionShape
 Bullet collision object. More...
 
std::unique_ptr< btCollisionObject > mBulletCollisionObject
 
CollisionDetectormCollisionDetector
 Collision detector. More...
 
const dynamics::ShapeFramemShapeFrame
 ShapeFrame. More...
 

Friends

class BulletCollisionDetector
 

Constructor & Destructor Documentation

◆ BulletCollisionObject()

dart::collision::BulletCollisionObject::BulletCollisionObject ( CollisionDetector collisionDetector,
const dynamics::ShapeFrame shapeFrame,
const std::shared_ptr< BulletCollisionShape > &  bulletCollisionShape 
)
protected

Constructor.

Member Function Documentation

◆ getBulletCollisionObject() [1/2]

btCollisionObject * dart::collision::BulletCollisionObject::getBulletCollisionObject ( )

Return Bullet collision object.

◆ getBulletCollisionObject() [2/2]

const btCollisionObject * dart::collision::BulletCollisionObject::getBulletCollisionObject ( ) const

Return Bullet collision object.

◆ getCollisionDetector() [1/2]

CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( )
inherited

Return collision detection engine associated with this CollisionObject.

◆ getCollisionDetector() [2/2]

const CollisionDetector * dart::collision::CollisionObject::getCollisionDetector ( ) const
inherited

Return collision detection engine associated with this CollisionObject.

◆ getShape()

dynamics::ConstShapePtr dart::collision::CollisionObject::getShape ( ) const
inherited

Return the associated Shape.

◆ getShapeFrame()

const dynamics::ShapeFrame * dart::collision::CollisionObject::getShapeFrame ( ) const
inherited

Return the associated ShapeFrame.

◆ getTransform()

const Eigen::Isometry3d & dart::collision::CollisionObject::getTransform ( ) const
inherited

Return the transformation of this CollisionObject in world coordinates.

◆ updateEngineData()

void dart::collision::BulletCollisionObject::updateEngineData ( )
overrideprotectedvirtual

Update the collision object of the collision detection engine.

This function will be called ahead of every collision checking by CollisionGroup.

Implements dart::collision::CollisionObject.

Friends And Related Function Documentation

◆ BulletCollisionDetector

friend class BulletCollisionDetector
friend

Member Data Documentation

◆ mBulletCollisionObject

std::unique_ptr<btCollisionObject> dart::collision::BulletCollisionObject::mBulletCollisionObject
protected

◆ mBulletCollisionShape

std::shared_ptr<BulletCollisionShape> dart::collision::BulletCollisionObject::mBulletCollisionShape
protected

Bullet collision object.

◆ mCollisionDetector

CollisionDetector* dart::collision::CollisionObject::mCollisionDetector
protectedinherited

Collision detector.

◆ mShapeFrame

const dynamics::ShapeFrame* dart::collision::CollisionObject::mShapeFrame
protectedinherited

ShapeFrame.