DART  6.7.3
BulletCollisionGroup.hpp
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32 
33 #ifndef DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
34 #define DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
35 
36 // Must be included before any Bullet headers.
37 #include "dart/config.hpp"
38 
39 #include <btBulletCollisionCommon.h>
40 
42 
43 namespace dart {
44 namespace collision {
45 
47 {
48 public:
49 
51 
53  BulletCollisionGroup(const CollisionDetectorPtr& collisionDetector);
54 
56  virtual ~BulletCollisionGroup() = default;
57 
58 protected:
59 
60  // Documentation inherited
61  void initializeEngineData() override;
62 
63  // Documentation inherited
64  void addCollisionObjectToEngine(CollisionObject* object) override;
65 
66  // Documentation inherited
68  const std::vector<CollisionObject*>& collObjects) override;
69 
70  // Documentation inherited
71  void removeCollisionObjectFromEngine(CollisionObject* object) override;
72 
73  // Documentation inherited
75 
76  // Documentation inherited
77  void updateCollisionGroupEngineData() override;
78 
80  btCollisionWorld* getBulletCollisionWorld();
81 
83  const btCollisionWorld* getBulletCollisionWorld() const;
84 
85 protected:
86 
88 
90  std::unique_ptr<btBroadphaseInterface> mBulletProadphaseAlg;
91 
93  std::unique_ptr<btCollisionConfiguration> mBulletCollisionConfiguration;
94 
96  std::unique_ptr<btDispatcher> mBulletDispatcher;
97 
99  std::unique_ptr<btCollisionWorld> mBulletCollisionWorld;
100 
101 };
102 
103 } // namespace collision
104 } // namespace dart
105 
106 #endif // DART_COLLISION_BULLET_BULLETCOLLISIONGROUP_HPP_
Definition: BulletCollisionDetector.hpp:52
Definition: BulletCollisionGroup.hpp:47
virtual ~BulletCollisionGroup()=default
Destructor.
void removeCollisionObjectFromEngine(CollisionObject *object) override
Remove CollisionObject from the collision detection engine.
Definition: BulletCollisionGroup.cpp:90
btCollisionWorld * getBulletCollisionWorld()
Return Bullet collision world.
Definition: BulletCollisionGroup.cpp:117
void initializeEngineData() override
Initialize the collision detection engine data such as broadphase algorithm.
Definition: BulletCollisionGroup.cpp:59
void addCollisionObjectsToEngine(const std::vector< CollisionObject * > &collObjects) override
Add CollisionObjects to the collision detection engine.
Definition: BulletCollisionGroup.cpp:75
std::unique_ptr< btCollisionConfiguration > mBulletCollisionConfiguration
Bullet collision configuration.
Definition: BulletCollisionGroup.hpp:93
std::unique_ptr< btBroadphaseInterface > mBulletProadphaseAlg
Bullet broad-phase algorithm.
Definition: BulletCollisionGroup.hpp:90
void updateCollisionGroupEngineData() override
Update the collision detection engine data such as broadphase algorithm.
Definition: BulletCollisionGroup.cpp:111
BulletCollisionGroup(const CollisionDetectorPtr &collisionDetector)
Constructor.
Definition: BulletCollisionGroup.cpp:43
std::unique_ptr< btDispatcher > mBulletDispatcher
Bullet collision dispatcher.
Definition: BulletCollisionGroup.hpp:96
void addCollisionObjectToEngine(CollisionObject *object) override
Add CollisionObject to the collision detection engine.
Definition: BulletCollisionGroup.cpp:65
void removeAllCollisionObjectsFromEngine() override
Remove all the CollisionObjects from the collision detection engine.
Definition: BulletCollisionGroup.cpp:102
std::unique_ptr< btCollisionWorld > mBulletCollisionWorld
Bullet collision world.
Definition: BulletCollisionGroup.hpp:99
Definition: CollisionGroup.hpp:51
void updateEngineData()
Update engine data.
Definition: CollisionGroup.cpp:289
Definition: CollisionObject.hpp:45
std::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: SmartPointer.hpp:41
Definition: BulletCollisionDetector.cpp:63