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btCollisionWorld Class Reference

CollisionWorld is interface and container for the collision detection. More...

#include <btCollisionWorld.h>

Inheritance diagram for btCollisionWorld:
btDynamicsWorld btSimpleDynamicsWorld

Classes

struct  AllHitsRayResultCallback
 
struct  ClosestConvexResultCallback
 
struct  ClosestRayResultCallback
 
struct  ContactResultCallback
 ContactResultCallback is used to report contact points. More...
 
struct  ConvexResultCallback
 RayResultCallback is used to report new raycast results. More...
 
struct  LocalConvexResult
 
struct  LocalRayResult
 
struct  LocalShapeInfo
 
struct  RayResultCallback
 RayResultCallback is used to report new raycast results. More...
 

Public Member Functions

 btCollisionWorld (btDispatcher *dispatcher, btBroadphaseInterface *broadphasePairCache, btCollisionConfiguration *collisionConfiguration)
 for debug drawing More...
 
virtual ~btCollisionWorld ()
 
void setBroadphase (btBroadphaseInterface *pairCache)
 
const btBroadphaseInterfacegetBroadphase () const
 
btBroadphaseInterfacegetBroadphase ()
 
btOverlappingPairCachegetPairCache ()
 
btDispatchergetDispatcher ()
 
const btDispatchergetDispatcher () const
 
void updateSingleAabb (btCollisionObject *colObj)
 
virtual void updateAabbs ()
 
virtual void computeOverlappingPairs ()
 
virtual void setDebugDrawer (btIDebugDraw *debugDrawer)
 
virtual btIDebugDrawgetDebugDrawer ()
 
virtual void debugDrawWorld ()
 
virtual void debugDrawObject (const btTransform &worldTransform, const btCollisionShape *shape, const btVector3 &color)
 
int getNumCollisionObjects () const
 
virtual void rayTest (const btVector3 &rayFromWorld, const btVector3 &rayToWorld, RayResultCallback &resultCallback) const
 
void convexSweepTest (const btConvexShape *castShape, const btTransform &from, const btTransform &to, ConvexResultCallback &resultCallback, btScalar allowedCcdPenetration=btScalar(0.)) const
 
void contactTest (btCollisionObject *colObj, ContactResultCallback &resultCallback)
 
void contactPairTest (btCollisionObject *colObjA, btCollisionObject *colObjB, ContactResultCallback &resultCallback)
 
virtual void addCollisionObject (btCollisionObject *collisionObject, int collisionFilterGroup=btBroadphaseProxy::DefaultFilter, int collisionFilterMask=btBroadphaseProxy::AllFilter)
 
virtual void refreshBroadphaseProxy (btCollisionObject *collisionObject)
 
btCollisionObjectArraygetCollisionObjectArray ()
 
const btCollisionObjectArraygetCollisionObjectArray () const
 
virtual void removeCollisionObject (btCollisionObject *collisionObject)
 
virtual void performDiscreteCollisionDetection ()
 
btDispatcherInfogetDispatchInfo ()
 
const btDispatcherInfogetDispatchInfo () const
 
bool getForceUpdateAllAabbs () const
 
void setForceUpdateAllAabbs (bool forceUpdateAllAabbs)
 
virtual void serialize (btSerializer *serializer)
 Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo) More...
 

Static Public Member Functions

static void rayTestSingle (const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, RayResultCallback &resultCallback)
 
static void rayTestSingleInternal (const btTransform &rayFromTrans, const btTransform &rayToTrans, const btCollisionObjectWrapper *collisionObjectWrap, RayResultCallback &resultCallback)
 
static void objectQuerySingle (const btConvexShape *castShape, const btTransform &rayFromTrans, const btTransform &rayToTrans, btCollisionObject *collisionObject, const btCollisionShape *collisionShape, const btTransform &colObjWorldTransform, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
 objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest. More...
 
static void objectQuerySingleInternal (const btConvexShape *castShape, const btTransform &convexFromTrans, const btTransform &convexToTrans, const btCollisionObjectWrapper *colObjWrap, ConvexResultCallback &resultCallback, btScalar allowedPenetration)
 

Protected Member Functions

void serializeCollisionObjects (btSerializer *serializer)
 
void serializeContactManifolds (btSerializer *serializer)
 

Protected Attributes

btAlignedObjectArray< btCollisionObject * > m_collisionObjects
 
btDispatcherm_dispatcher1
 
btDispatcherInfo m_dispatchInfo
 
btBroadphaseInterfacem_broadphasePairCache
 
btIDebugDrawm_debugDrawer
 
bool m_forceUpdateAllAabbs
 

Detailed Description

CollisionWorld is interface and container for the collision detection.

Definition at line 85 of file btCollisionWorld.h.

Constructor & Destructor Documentation

◆ btCollisionWorld()

btCollisionWorld::btCollisionWorld ( btDispatcher dispatcher,
btBroadphaseInterface broadphasePairCache,
btCollisionConfiguration collisionConfiguration 
)

for debug drawing

Definition at line 67 of file btCollisionWorld.cpp.

◆ ~btCollisionWorld()

btCollisionWorld::~btCollisionWorld ( )
virtual

Member Function Documentation

◆ addCollisionObject()

void btCollisionWorld::addCollisionObject ( btCollisionObject collisionObject,
int  collisionFilterGroup = btBroadphaseProxy::DefaultFilter,
int  collisionFilterMask = btBroadphaseProxy::AllFilter 
)
virtual

◆ computeOverlappingPairs()

void btCollisionWorld::computeOverlappingPairs ( )
virtual

the computeOverlappingPairs is usually already called by performDiscreteCollisionDetection (or stepSimulation) it can be useful to use if you perform ray tests without collision detection/simulation

Definition at line 215 of file btCollisionWorld.cpp.

References BT_PROFILE, btBroadphaseInterface::calculateOverlappingPairs(), m_broadphasePairCache, and m_dispatcher1.

Referenced by performDiscreteCollisionDetection().

◆ contactPairTest()

void btCollisionWorld::contactPairTest ( btCollisionObject colObjA,
btCollisionObject colObjB,
ContactResultCallback resultCallback 
)

contactTest performs a discrete collision test between two collision objects and calls the resultCallback if overlap if detected. it reports one or more contact points (including the one with deepest penetration)

Definition at line 1243 of file btCollisionWorld.cpp.

References BT_CLOSEST_POINT_ALGORITHMS, btDispatcher::findAlgorithm(), btDispatcher::freeCollisionAlgorithm(), getDispatcher(), getDispatchInfo(), btCollisionWorld::ContactResultCallback::m_closestDistanceThreshold, btManifoldResult::m_closestPointDistanceThreshold, btCollisionAlgorithm::processCollision(), and btCollisionAlgorithm::~btCollisionAlgorithm().

◆ contactTest()

void btCollisionWorld::contactTest ( btCollisionObject colObj,
ContactResultCallback resultCallback 
)

contactTest performs a discrete collision test between colObj against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

contactTest performs a discrete collision test against all objects in the btCollisionWorld, and calls the resultCallback. it reports one or more contact points for every overlapping object (including the one with deepest penetration)

Definition at line 1232 of file btCollisionWorld.cpp.

References btBroadphaseInterface::aabbTest(), btVector3, and m_broadphasePairCache.

◆ convexSweepTest()

void btCollisionWorld::convexSweepTest ( const btConvexShape castShape,
const btTransform from,
const btTransform to,
ConvexResultCallback resultCallback,
btScalar  allowedCcdPenetration = btScalar(0.) 
) const

convexTest performs a swept convex cast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value return by the callback.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test unfortunately the implementation for rayTest and convexSweepTest duplicated, albeit practically identical

Definition at line 1076 of file btCollisionWorld.cpp.

References AabbExpand(), BT_PROFILE, btCollisionObject, btRayAabb(), btTransform, btVector3, btTransformUtil::calculateVelocity(), m_broadphasePairCache, m_collisionObjects, btCollisionWorld::ConvexResultCallback::needsCollision(), objectQuerySingle(), R, btBroadphaseInterface::rayTest(), and btAlignedObjectArray< T >::size().

Referenced by stepDown(), and stepForwardAndStrafe().

◆ debugDrawObject()

void btCollisionWorld::debugDrawObject ( const btTransform worldTransform,
const btCollisionShape shape,
const btVector3 color 
)
virtual

◆ debugDrawWorld()

void btCollisionWorld::debugDrawWorld ( )
virtual

◆ getBroadphase() [1/2]

btBroadphaseInterface* btCollisionWorld::getBroadphase ( )
inline

Definition at line 122 of file btCollisionWorld.h.

References m_broadphasePairCache.

◆ getBroadphase() [2/2]

const btBroadphaseInterface* btCollisionWorld::getBroadphase ( ) const
inline

◆ getCollisionObjectArray() [1/2]

btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray ( )
inline

◆ getCollisionObjectArray() [2/2]

const btCollisionObjectArray& btCollisionWorld::getCollisionObjectArray ( ) const
inline

Definition at line 481 of file btCollisionWorld.h.

References m_collisionObjects.

◆ getDebugDrawer()

virtual btIDebugDraw* btCollisionWorld::getDebugDrawer ( )
inlinevirtual

◆ getDispatcher() [1/2]

btDispatcher* btCollisionWorld::getDispatcher ( )
inline

◆ getDispatcher() [2/2]

const btDispatcher* btCollisionWorld::getDispatcher ( ) const
inline

Definition at line 137 of file btCollisionWorld.h.

References m_dispatcher1.

◆ getDispatchInfo() [1/2]

btDispatcherInfo& btCollisionWorld::getDispatchInfo ( )
inline

◆ getDispatchInfo() [2/2]

const btDispatcherInfo& btCollisionWorld::getDispatchInfo ( ) const
inline

Definition at line 495 of file btCollisionWorld.h.

References m_dispatchInfo.

◆ getForceUpdateAllAabbs()

bool btCollisionWorld::getForceUpdateAllAabbs ( ) const
inline

Definition at line 500 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

◆ getNumCollisionObjects()

int btCollisionWorld::getNumCollisionObjects ( ) const
inline

◆ getPairCache()

btOverlappingPairCache* btCollisionWorld::getPairCache ( )
inline

◆ objectQuerySingle()

void btCollisionWorld::objectQuerySingle ( const btConvexShape castShape,
const btTransform rayFromTrans,
const btTransform rayToTrans,
btCollisionObject collisionObject,
const btCollisionShape collisionShape,
const btTransform colObjWorldTransform,
ConvexResultCallback resultCallback,
btScalar  allowedPenetration 
)
static

objectQuerySingle performs a collision detection query and calls the resultCallback. It is used internally by rayTest.

Definition at line 602 of file btCollisionWorld.cpp.

References objectQuerySingleInternal().

Referenced by convexSweepTest(), and btSingleSweepCallback::process().

◆ objectQuerySingleInternal()

void btCollisionWorld::objectQuerySingleInternal ( const btConvexShape castShape,
const btTransform convexFromTrans,
const btTransform convexToTrans,
const btCollisionObjectWrapper colObjWrap,
ConvexResultCallback resultCallback,
btScalar  allowedPenetration 
)
static

◆ performDiscreteCollisionDetection()

void btCollisionWorld::performDiscreteCollisionDetection ( )
virtual

◆ rayTest()

void btCollisionWorld::rayTest ( const btVector3 rayFromWorld,
const btVector3 rayToWorld,
RayResultCallback resultCallback 
) const
virtual

rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback This allows for several queries: first hit, all hits, any hit, dependent on the value returned by the callback.

use the broadphase to accelerate the search for objects, based on their aabb and for each object with ray-aabb overlap, perform an exact ray test

Definition at line 1004 of file btCollisionWorld.cpp.

References getBroadphaseHandle(), getNumCollisionObjects(), m_broadphasePairCache, m_collisionObjects, btSingleRayCallback::process(), and btBroadphaseInterface::rayTest().

Referenced by btDefaultVehicleRaycaster::castRay().

◆ rayTestSingle()

void btCollisionWorld::rayTestSingle ( const btTransform rayFromTrans,
const btTransform rayToTrans,
btCollisionObject collisionObject,
const btCollisionShape collisionShape,
const btTransform colObjWorldTransform,
RayResultCallback resultCallback 
)
static

rayTestSingle performs a raycast call and calls the resultCallback. It is used internally by rayTest. In a future implementation, we consider moving the ray test as a virtual method in btCollisionShape. This allows more customization.

Definition at line 277 of file btCollisionWorld.cpp.

References rayTestSingleInternal().

Referenced by btSingleRayCallback::process(), btSoftMultiBodyDynamicsWorld::rayTestSingle(), btSoftRigidDynamicsWorld::rayTestSingle(), and btDeformableMultiBodyDynamicsWorld::rayTestSingle().

◆ rayTestSingleInternal()

void btCollisionWorld::rayTestSingleInternal ( const btTransform rayFromTrans,
const btTransform rayToTrans,
const btCollisionObjectWrapper collisionObjectWrap,
RayResultCallback resultCallback 
)
static

◆ refreshBroadphaseProxy()

void btCollisionWorld::refreshBroadphaseProxy ( btCollisionObject collisionObject)
virtual

◆ removeCollisionObject()

void btCollisionWorld::removeCollisionObject ( btCollisionObject collisionObject)
virtual

◆ serialize()

void btCollisionWorld::serialize ( btSerializer serializer)
virtual

Preliminary serialization test for Bullet 2.76. Loading those files requires a separate parser (Bullet/Demos/SerializeDemo)

Definition at line 1618 of file btCollisionWorld.cpp.

References btSerializer::finishSerialization(), serializeCollisionObjects(), serializeContactManifolds(), and btSerializer::startSerialization().

◆ serializeCollisionObjects()

void btCollisionWorld::serializeCollisionObjects ( btSerializer serializer)
protected

◆ serializeContactManifolds()

void btCollisionWorld::serializeContactManifolds ( btSerializer serializer)
protected

◆ setBroadphase()

void btCollisionWorld::setBroadphase ( btBroadphaseInterface pairCache)
inline

Definition at line 112 of file btCollisionWorld.h.

References m_broadphasePairCache.

◆ setDebugDrawer()

virtual void btCollisionWorld::setDebugDrawer ( btIDebugDraw debugDrawer)
inlinevirtual

Definition at line 150 of file btCollisionWorld.h.

References m_debugDrawer.

◆ setForceUpdateAllAabbs()

void btCollisionWorld::setForceUpdateAllAabbs ( bool  forceUpdateAllAabbs)
inline

Definition at line 504 of file btCollisionWorld.h.

References m_forceUpdateAllAabbs.

◆ updateAabbs()

void btCollisionWorld::updateAabbs ( )
virtual

◆ updateSingleAabb()

void btCollisionWorld::updateSingleAabb ( btCollisionObject colObj)

Member Data Documentation

◆ m_broadphasePairCache

btBroadphaseInterface* btCollisionWorld::m_broadphasePairCache
protected

◆ m_collisionObjects

btAlignedObjectArray<btCollisionObject*> btCollisionWorld::m_collisionObjects
protected

◆ m_debugDrawer

btIDebugDraw* btCollisionWorld::m_debugDrawer
protected

◆ m_dispatcher1

btDispatcher* btCollisionWorld::m_dispatcher1
protected

◆ m_dispatchInfo

btDispatcherInfo btCollisionWorld::m_dispatchInfo
protected

Definition at line 92 of file btCollisionWorld.h.

Referenced by getDispatchInfo().

◆ m_forceUpdateAllAabbs

bool btCollisionWorld::m_forceUpdateAllAabbs
protected

m_forceUpdateAllAabbs can be set to false as an optimization to only update active object AABBs it is true by default, because it is error-prone (setting the position of static objects wouldn't update their AABB)

Definition at line 100 of file btCollisionWorld.h.

Referenced by getForceUpdateAllAabbs(), setForceUpdateAllAabbs(), and updateAabbs().


The documentation for this class was generated from the following files: