DART 6.8.5
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BulletCollisionDetector.hpp
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1/*
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32
33#ifndef DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
34#define DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
35
36// Must be included before any Bullet headers.
37#include "dart/config.hpp"
38
39#include <vector>
40#include <assimp/scene.h>
41#include <btBulletCollisionCommon.h>
45
46namespace dart {
47namespace collision {
48
49class BulletCollisionObject;
50
52{
53public:
55
56 friend class CollisionDetector;
57
58 static std::shared_ptr<BulletCollisionDetector> create();
59
62
63 // Documentation inherited
64 std::shared_ptr<CollisionDetector> cloneWithoutCollisionObjects() const
65 override;
66
67 // Documentation inherited
68 const std::string& getType() const override;
69
71 static const std::string& getStaticType();
72
73 // Documentation inherited
74 std::unique_ptr<CollisionGroup> createCollisionGroup() override;
75
76 // Documentation inherited
77 bool collide(
78 CollisionGroup* group,
79 const CollisionOption& option = CollisionOption(false, 1u, nullptr),
80 CollisionResult* result = nullptr) override;
81
82 // Documentation inherited
83 bool collide(
84 CollisionGroup* group1,
85 CollisionGroup* group2,
86 const CollisionOption& option = CollisionOption(false, 1u, nullptr),
87 CollisionResult* result = nullptr) override;
88
89 // Documentation inherited
90 double distance(
91 CollisionGroup* group,
92 const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
93 DistanceResult* result = nullptr) override;
94
95 // Documentation inherited
96 double distance(
97 CollisionGroup* group1,
98 CollisionGroup* group2,
99 const DistanceOption& option = DistanceOption(false, 0.0, nullptr),
100 DistanceResult* result = nullptr) override;
101
102protected:
103
106
107 // Documentation inherited
108 std::unique_ptr<CollisionObject> createCollisionObject(
109 const dynamics::ShapeFrame* shapeFrame) override;
110
111 // Documentation inherited
112 void refreshCollisionObject(CollisionObject* object) override;
113
114 // Documentation inherited
116
117private:
118
119 std::shared_ptr<BulletCollisionShape> claimBulletCollisionShape(
120 const dynamics::ConstShapePtr& shape);
121
123 const dynamics::ConstShapePtr& shape);
124
125 std::unique_ptr<BulletCollisionShape> createBulletCollisionShape(
126 const dynamics::ConstShapePtr& shape);
127
148
150 struct ShapeInfo final
151 {
153 std::weak_ptr<BulletCollisionShape> mShape;
154
156 std::size_t mLastKnownVersion;
157 };
158
159private:
160
161 std::map<dynamics::ConstShapePtr, ShapeInfo> mShapeMap;
162
163 std::unique_ptr<BulletCollisionGroup> mGroupForFiltering;
164
166};
167
168} // namespace collision
169} // namespace dart
170
171#endif // DART_COLLISION_BULLET_BULLETCOLLISIONDETECTOR_HPP_
const CollisionOption & option
Collision option of DART.
Definition FCLCollisionDetector.cpp:154
CollisionResult * result
Collision result of DART.
Definition FCLCollisionDetector.cpp:157
This deleter is responsible for deleting BulletCollsionShape objects and removing them from mShapeMap...
Definition BulletCollisionDetector.hpp:132
dynamics::ConstShapePtr mShape
Definition BulletCollisionDetector.hpp:145
void operator()(BulletCollisionShape *shape) const
Definition BulletCollisionDetector.cpp:617
BulletCollisionDetector * mBulletCollisionDetector
Definition BulletCollisionDetector.hpp:143
Definition BulletCollisionDetector.hpp:52
void notifyCollisionObjectDestroying(CollisionObject *object) override
Notify that a CollisionObject is destroying. Do nothing by default.
Definition BulletCollisionDetector.cpp:353
std::shared_ptr< CollisionDetector > cloneWithoutCollisionObjects() const override
Create a clone of this CollisionDetector.
Definition BulletCollisionDetector.cpp:112
bool collide(CollisionGroup *group, const CollisionOption &option=CollisionOption(false, 1u, nullptr), CollisionResult *result=nullptr) override
Perform collision check for a single group.
Definition BulletCollisionDetector.cpp:213
std::unique_ptr< BulletCollisionShape > createBulletCollisionShape(const dynamics::ConstShapePtr &shape)
Definition BulletCollisionDetector.cpp:402
BulletCollisionDetector()
Constructor.
Definition BulletCollisionDetector.cpp:326
virtual ~BulletCollisionDetector()
Constructor.
Definition BulletCollisionDetector.cpp:105
const std::string & getType() const override
Return collision detection engine type as a std::string.
Definition BulletCollisionDetector.cpp:118
std::shared_ptr< BulletCollisionShape > claimBulletCollisionShape(const dynamics::ConstShapePtr &shape)
Definition BulletCollisionDetector.cpp:361
static std::shared_ptr< BulletCollisionDetector > create()
Definition BulletCollisionDetector.cpp:98
void refreshCollisionObject(CollisionObject *object) override
Update the collision geometry of a ShapeFrame.
Definition BulletCollisionDetector.cpp:343
static Registrar< BulletCollisionDetector > mRegistrar
Definition BulletCollisionDetector.hpp:165
void reclaimBulletCollisionShape(const dynamics::ConstShapePtr &shape)
Definition BulletCollisionDetector.cpp:388
std::map< dynamics::ConstShapePtr, ShapeInfo > mShapeMap
Definition BulletCollisionDetector.hpp:161
double distance(CollisionGroup *group, const DistanceOption &option=DistanceOption(false, 0.0, nullptr), DistanceResult *result=nullptr) override
Get the minimum signed distance between the Shape pairs in the given CollisionGroup.
Definition BulletCollisionDetector.cpp:301
static const std::string & getStaticType()
Get collision detector type for this class.
Definition BulletCollisionDetector.cpp:124
std::unique_ptr< CollisionObject > createCollisionObject(const dynamics::ShapeFrame *shapeFrame) override
Create CollisionObject.
Definition BulletCollisionDetector.cpp:333
std::unique_ptr< BulletCollisionGroup > mGroupForFiltering
Definition BulletCollisionDetector.hpp:163
std::unique_ptr< CollisionGroup > createCollisionGroup() override
Create a collision group.
Definition BulletCollisionDetector.cpp:132
Definition CollisionDetector.hpp:56
virtual std::unique_ptr< CollisionGroup > createCollisionGroup()=0
Create a collision group.
Definition CollisionGroup.hpp:51
Definition CollisionObject.hpp:45
Definition CollisionResult.hpp:52
Helper class to register a object creator function to the Singleton.
Definition Factory.hpp:121
Definition ShapeFrame.hpp:164
std::shared_ptr< const Shape > ConstShapePtr
Definition SmartPointer.hpp:81
Definition BulletCollisionDetector.cpp:63
Information for a shape that was generated by this collision detector.
Definition BulletCollisionDetector.hpp:151
std::size_t mLastKnownVersion
The last version of the shape, as known by this collision detector.
Definition BulletCollisionDetector.hpp:156
std::weak_ptr< BulletCollisionShape > mShape
A weak reference to the shape.
Definition BulletCollisionDetector.hpp:153
Definition BulletCollisionShape.hpp:47
Definition CollisionOption.hpp:45
Definition DistanceOption.hpp:45
Definition DistanceResult.hpp:47