Casted collision shape used for checking if an object is collision free between two discrete poses.
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#include <bullet_utils.h>
Casted collision shape used for checking if an object is collision free between two discrete poses.
The cast is not explicitly computed but implicitly represented through the single shape and the transformation between the first and second pose.
Definition at line 240 of file bullet_utils.h.
◆ CastHullShape()
collision_detection_bullet::CastHullShape::CastHullShape |
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btConvexShape * |
shape, |
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const btTransform & |
t01 |
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) |
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inline |
◆ batchedUnitVectorGetSupportingVertexWithoutMargin()
void collision_detection_bullet::CastHullShape::batchedUnitVectorGetSupportingVertexWithoutMargin |
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const btVector3 * |
, |
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btVector3 * |
, |
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int |
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) |
| const |
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inlineoverride |
◆ calculateLocalInertia()
void collision_detection_bullet::CastHullShape::calculateLocalInertia |
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btScalar |
, |
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btVector3 & |
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) |
| const |
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inlineoverride |
◆ getAabb()
void collision_detection_bullet::CastHullShape::getAabb |
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const btTransform & |
transform_world, |
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btVector3 & |
aabbMin, |
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btVector3 & |
aabbMax |
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) |
| const |
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inlineoverride |
Shape specific fast recalculation of the AABB at a certain pose.
The AABB is not recalculated from scratch but updated depending on the given transformation.
Definition at line 277 of file bullet_utils.h.
◆ getAabbSlow()
void collision_detection_bullet::CastHullShape::getAabbSlow |
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const btTransform & |
, |
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btVector3 & |
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btVector3 & |
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) |
| const |
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inlineoverride |
◆ getLocalScaling()
const btVector3& collision_detection_bullet::CastHullShape::getLocalScaling |
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const |
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inlineoverride |
◆ getMargin()
btScalar collision_detection_bullet::CastHullShape::getMargin |
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const |
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inlineoverride |
◆ getName()
const char* collision_detection_bullet::CastHullShape::getName |
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const |
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inlineoverride |
◆ getNumPreferredPenetrationDirections()
int collision_detection_bullet::CastHullShape::getNumPreferredPenetrationDirections |
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const |
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inlineoverride |
◆ getPreferredPenetrationDirection()
void collision_detection_bullet::CastHullShape::getPreferredPenetrationDirection |
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int |
, |
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btVector3 & |
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) |
| const |
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inlineoverride |
◆ localGetSupportingVertex()
btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertex |
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const btVector3 & |
vec | ) |
const |
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inlineoverride |
From both shape poses computes the support vertex and returns the larger one.
Definition at line 260 of file bullet_utils.h.
◆ localGetSupportingVertexWithoutMargin()
btVector3 collision_detection_bullet::CastHullShape::localGetSupportingVertexWithoutMargin |
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const btVector3 & |
v | ) |
const |
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inlineoverride |
◆ setLocalScaling()
void collision_detection_bullet::CastHullShape::setLocalScaling |
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const btVector3 & |
| ) |
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inlineoverride |
◆ setMargin()
void collision_detection_bullet::CastHullShape::setMargin |
( |
btScalar |
| ) |
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inlineoverride |
◆ updateCastTransform()
void collision_detection_bullet::CastHullShape::updateCastTransform |
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const btTransform & |
cast_transform | ) |
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inline |
◆ m_shape
btConvexShape* collision_detection_bullet::CastHullShape::m_shape |
◆ shape_transform
btTransform collision_detection_bullet::CastHullShape::shape_transform |
Transformation from the first pose to the second pose.
Definition at line 247 of file bullet_utils.h.
The documentation for this struct was generated from the following file:
- moveit_core/collision_detection_bullet/include/moveit/collision_detection_bullet/bullet_integration/bullet_utils.h