Choreonoid  1.5
BulletCollisionDetector.h
Go to the documentation of this file.
1 
6 #ifndef CNOID_BULLETPLUGIN__BULLET_COLLISION_DETECTOR_H_INCLUDED
7 #define CNOID_BULLETPLUGIN__BULLET_COLLISION_DETECTOR_H_INCLUDED
8 
9 #include <cnoid/CollisionDetector>
10 namespace cnoid {
11 
12 class BulletCollisionDetectorImpl;
13 
15 {
16 public:
18  virtual ~BulletCollisionDetector();
19  virtual const char* name() const;
20  virtual CollisionDetectorPtr clone() const;
21  virtual void clearGeometries();
22  virtual int numGeometries() const;
23  virtual int addGeometry(SgNodePtr geometry);
24  virtual void setGeometryStatic(int geometryId, bool isStatic = true);
25  virtual bool enableGeometryCache(bool on);
26  virtual void clearGeometryCache(SgNodePtr geometry);
27  virtual void clearAllGeometryCaches();
28  virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2);
29  virtual bool makeReady();
30  virtual void updatePosition(int geometryId, const Position& position);
31  virtual void detectCollisions(boost::function<void(const CollisionPair&)> callback);
32 
33 private:
34  BulletCollisionDetectorImpl* impl;
35 };
36 
37 typedef boost::shared_ptr<BulletCollisionDetector> BulletCollisionDetectorPtr;
38 }
39 
40 #endif
virtual CollisionDetectorPtr clone() const
Definition: BulletCollisionDetector.cpp:135
virtual void setNonInterfarenceGeometyrPair(int geometryId1, int geometryId2)
Definition: BulletCollisionDetector.cpp:499
virtual void clearGeometries()
Definition: BulletCollisionDetector.cpp:168
virtual void clearGeometryCache(SgNodePtr geometry)
Definition: BulletCollisionDetector.cpp:487
virtual bool makeReady()
Definition: BulletCollisionDetector.cpp:505
boost::shared_ptr< CollisionDetector > CollisionDetectorPtr
Definition: CollisionDetector.h:23
virtual bool enableGeometryCache(bool on)
Definition: BulletCollisionDetector.cpp:481
virtual int addGeometry(SgNodePtr geometry)
Definition: BulletCollisionDetector.cpp:182
virtual ~BulletCollisionDetector()
Definition: BulletCollisionDetector.cpp:123
boost::shared_ptr< BulletCollisionDetector > BulletCollisionDetectorPtr
Definition: BulletCollisionDetector.h:37
virtual void setGeometryStatic(int geometryId, bool isStatic=true)
Definition: BulletCollisionDetector.cpp:475
Definition: CollisionDetector.h:26
BulletCollisionDetector()
Definition: BulletCollisionDetector.cpp:117
virtual int numGeometries() const
Definition: BulletCollisionDetector.cpp:176
Eigen::Transform< double, 3, Eigen::AffineCompact > Position
Definition: EigenTypes.h:73
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: BulletCollisionDetector.h:14
virtual void clearAllGeometryCaches()
Definition: BulletCollisionDetector.cpp:493
virtual const char * name() const
Definition: BulletCollisionDetector.cpp:129
virtual void detectCollisions(boost::function< void(const CollisionPair &)> callback)
Definition: BulletCollisionDetector.cpp:558
virtual void updatePosition(int geometryId, const Position &position)
Definition: BulletCollisionDetector.cpp:535
Definition: CollisionDetector.h:17