DART  6.7.3
BulletCollisionDispatcher.hpp
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32 
33 #ifndef DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
34 #define DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_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 class BulletCollisionDispatcher : public btCollisionDispatcher
49 {
50 public:
51  explicit BulletCollisionDispatcher(btCollisionConfiguration* config);
52 
53  void setDone(bool done);
54 
55  bool getDone() const;
56 
57  void setFilter(const std::shared_ptr<CollisionFilter>& filter);
58 
59  auto getFilter() const -> std::shared_ptr<CollisionFilter>;
60 
61  bool needsCollision(
62  const btCollisionObject* body0,const btCollisionObject* body1) override;
63 
64 protected:
65  bool mDone;
66 
67  std::shared_ptr<CollisionFilter> mFilter;
68 };
69 
70 } // namespace detail
71 } // namespace collision
72 } // namespace dart
73 
74 #endif // DART_COLLISION_BULLET_DETAIL_BULLETCOLLISIONDISPATCHER_HPP_
bool done
Whether the collision iteration can stop.
Definition: FCLCollisionDetector.cpp:169
Definition: CollisionFilter.hpp:50
Definition: BulletCollisionDispatcher.hpp:49
BulletCollisionDispatcher(btCollisionConfiguration *config)
Definition: BulletCollisionDispatcher.cpp:42
void setFilter(const std::shared_ptr< CollisionFilter > &filter)
Definition: BulletCollisionDispatcher.cpp:58
auto getFilter() const -> std::shared_ptr< CollisionFilter >
Definition: BulletCollisionDispatcher.cpp:65
std::shared_ptr< CollisionFilter > mFilter
Definition: BulletCollisionDispatcher.hpp:67
bool needsCollision(const btCollisionObject *body0, const btCollisionObject *body1) override
Definition: BulletCollisionDispatcher.cpp:72
bool mDone
Definition: BulletCollisionDispatcher.hpp:65
void setDone(bool done)
Definition: BulletCollisionDispatcher.cpp:52
Definition: BulletCollisionDetector.cpp:63
Definition: SharedLibraryManager.hpp:43