RobWorkProject  24.5.15-
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BtRWCollisionConfiguration Class Reference

A collision configuration that uses the btCompoundCompoundCollisionAlgorithm and BtRWCollisionAlgorithm to handle contacts. More...

#include <BtRWCollisionConfiguration.hpp>

Inherits btCollisionConfiguration.

Public Member Functions

 BtRWCollisionConfiguration (rw::core::Ptr< const rwsim::contacts::ContactDetector > detector)
 Construct new collision configuration. More...
 
virtual ~BtRWCollisionConfiguration ()
 Destructor.
 
virtual btPoolAllocator * getPersistentManifoldPool ()
 Get pool of allocated manifolds. More...
 
virtual btPoolAllocator * getCollisionAlgorithmPool ()
 Get algorithm allocator. More...
 
virtual btStackAlloc * getStackAllocator ()
 Get stack allocator (for older versions of Bullet). More...
 
virtual btCollisionAlgorithmCreateFunc * getCollisionAlgorithmCreateFunc (int proxyType0, int proxyType1)
 Get the algorithm allocator to use. More...
 

Detailed Description

A collision configuration that uses the btCompoundCompoundCollisionAlgorithm and BtRWCollisionAlgorithm to handle contacts.

Constructor & Destructor Documentation

◆ BtRWCollisionConfiguration()

Construct new collision configuration.

Parameters
detector[in] the RobWork ContactDetector to use.

Member Function Documentation

◆ getCollisionAlgorithmCreateFunc()

virtual btCollisionAlgorithmCreateFunc* getCollisionAlgorithmCreateFunc ( int  proxyType0,
int  proxyType1 
)
virtual

Get the algorithm allocator to use.

If both are compounds the btCompoundCompoundCollisionAlgorithm is used, otherwise BtRWCollisionAlgorithm is used.

Parameters
proxyType0[in] the type of first object.
proxyType1[in] the type of second object.
Returns
the collision algorithm allocator.

◆ getCollisionAlgorithmPool()

virtual btPoolAllocator* getCollisionAlgorithmPool ( )
virtual

Get algorithm allocator.

Returns
the allocator.

◆ getPersistentManifoldPool()

virtual btPoolAllocator* getPersistentManifoldPool ( )
virtual

Get pool of allocated manifolds.

Returns
the allocator.

◆ getStackAllocator()

virtual btStackAlloc* getStackAllocator ( )
virtual

Get stack allocator (for older versions of Bullet).

Returns
pointer to the stack allocator.
Deprecated:
Only defined for backwards compatibility with Bullet 2.81.

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