Bullet collisions. More...
#include <BulletCollision.hh>
Public Member Functions | |
| BulletCollision (LinkPtr _parent) | |
| Constructor. | |
| virtual | ~BulletCollision () |
| Destructor. | |
| virtual math::Box | GetBoundingBox () const |
| Get the bounding box, defined by the physics engine. | |
| btCollisionShape * | GetCollisionShape () const |
| Get the bullet collision shape. | |
| virtual void | Load (sdf::ElementPtr _ptr) |
| Load the collision. | |
| virtual void | OnPoseChange () |
| On pose change. | |
| virtual void | SetCategoryBits (unsigned int bits) |
| Set the category bits, used during collision detection. | |
| virtual void | SetCollideBits (unsigned int bits) |
| Set the collide bits, used during collision detection. | |
| void | SetCollisionShape (btCollisionShape *shape) |
| Set the collision shape. | |
| void | SetCompoundShapeIndex (int index) |
| Set the index of the compound shape. | |
 Public Member Functions inherited from gazebo::physics::Collision | |
| Collision (LinkPtr _link) | |
| Constructor. | |
| virtual | ~Collision () |
| Destructor. | |
| void | AddContact (const Contact &_contact) |
| Add an occurance of a contact to this collision. | |
| template<typename T > | |
| event::ConnectionPtr | ConnectContact (T _subscriber) |
| Setup callback for contact event. | |
| void | DisconnectContact (event::ConnectionPtr &_conn) |
| Disconnect callback for contact event. | |
| void | FillCollisionMsg (msgs::Collision &_msg) GAZEBO_DEPRECATED |
| DEPRECATED. | |
| void | FillMsg (msgs::Collision &_msg) |
| Fill a collision message. | |
| void | Fini () |
| Finalize the collision. | |
| bool | GetContactsEnabled () const |
| Return true of contacts are on. | |
| float | GetLaserRetro () const |
| Get the laser retro reflectiveness. | |
| LinkPtr | GetLink () const |
| Get the link this collision belongs to. | |
| ModelPtr | GetModel () const |
| Get the model this collision belongs to. | |
| virtual math::Vector3 | GetRelativeAngularAccel () const |
| Get the angular acceleration of the collision. | |
| virtual math::Vector3 | GetRelativeAngularVel () const |
| Get the angular velocity of the collision. | |
| virtual math::Vector3 | GetRelativeLinearAccel () const |
| Get the linear acceleration of the collision. | |
| virtual math::Vector3 | GetRelativeLinearVel () const |
| Get the linear velocity of the collision. | |
| ShapePtr | GetShape () const |
| Get the collision shape. | |
| unsigned int | GetShapeType () |
| Get the shape type. | |
| CollisionState | GetState () |
| Get the collision state. | |
| SurfaceParamsPtr | GetSurface () const |
| Get the surface parameters. | |
| virtual math::Vector3 | GetWorldAngularAccel () const |
| Get the angular acceleration of the collision in the world frame. | |
| virtual math::Vector3 | GetWorldAngularVel () const |
| Get the angular velocity of the collision in the world frame. | |
| virtual math::Vector3 | GetWorldLinearAccel () const |
| Get the linear acceleration of the collision in the world frame. | |
| virtual math::Vector3 | GetWorldLinearVel () const |
| Get the linear velocity of the collision in the world frame. | |
| virtual void | Init () |
| Initialize the collision. | |
| bool | IsPlaceable () const |
| Return whether this collision is movable. | |
| void | ProcessMsg (const msgs::Collision &_msg) |
| Update parameters from a message. | |
| void | SetCollision (bool _placeable) |
| Set the encapsulated collsion object. | |
| void | SetContactsEnabled (bool _enable) |
| Turn contact recording on or off. | |
| void | SetLaserRetro (float _retro) |
| Set the laser retro reflectiveness. | |
| void | SetShape (ShapePtr _shape) |
| Set the shape for this collision. | |
| void | SetState (const CollisionState &_state) |
| Set the current collision state. | |
| virtual void | UpdateParameters (sdf::ElementPtr _sdf) |
| Update the parameters using new sdf values. | |
| Public Member Functions inherited from gazebo::physics::Entity | |
| Entity (BasePtr _parent) | |
| Constructor. | |
| virtual | ~Entity () |
| Destructor. | |
| CollisionPtr | GetChildCollision (const std::string &_name) |
| Get a child collision entity, if one exists. | |
| LinkPtr | GetChildLink (const std::string &_name) |
| Get a child linke entity, if one exists. | |
| math::Box | GetCollisionBoundingBox () const |
| Returns collision bounding box. | |
| const math::Pose & | GetDirtyPose () const |
| Returns Entity::dirtyPose. | |
| void | GetNearestEntityBelow (double &_distBelow, std::string &_entityName) |
| Get the distance to the nearest entity below (along the Z-axis) this entity. | |
| ModelPtr | GetParentModel () |
| Get the parent model, if one exists. | |
| math::Pose | GetRelativePose () const |
| Get the pose of the entity relative to its parent. | |
| const math::Pose & | GetWorldPose () const |
| Get the absolute pose of the entity. | |
| bool | IsCanonicalLink () const |
| A helper function that checks if this is a canonical body. | |
| bool | IsStatic () const |
| Return whether this entity is static. | |
| void | PlaceOnEntity (const std::string &_entityName) |
| Move this entity to be ontop of another entity by name. | |
| void | PlaceOnNearestEntityBelow () |
| Move this entity to be ontop of the nearest entity below. | |
| virtual void | Reset () |
| Reset the entity. | |
| void | SetAnimation (const common::PoseAnimationPtr &_anim, boost::function< void()> _onComplete) |
| Set an animation for this entity. | |
| void | SetAnimation (common::PoseAnimationPtr _anim) |
| Set an animation for this entity. | |
| void | SetCanonicalLink (bool _value) |
| Set to true if this entity is a canonical link for a model. | |
| void | SetInitialRelativePose (const math::Pose &_pose) |
| Set the initial pose. | |
| virtual void | SetName (const std::string &_name) |
| Set the name of the entity. | |
| void | SetRelativePose (const math::Pose &_pose, bool _notify=true, bool _publish=true) |
| Set the pose of the entity relative to its parent. | |
| void | SetStatic (const bool &_static) |
| Set whether this entity is static: immovable. | |
| void | SetWorldPose (const math::Pose &_pose, bool _notify=true, bool _publish=true) |
| Set the world pose of the entity. | |
| void | SetWorldTwist (const math::Vector3 &_linear, const math::Vector3 &_angular, bool _updateChildren=true) |
| Set angular and linear rates of an physics::Entity. | |
| virtual void | StopAnimation () |
| Stop the current animation, if any. | |
| Public Member Functions inherited from gazebo::physics::Base | |
| Base (BasePtr parent) | |
| Constructor. | |
| virtual | ~Base () |
| Destructor. | |
| void | AddChild (BasePtr _child) |
| Add a child to this entity. | |
| void | AddType (EntityType _type) |
| Add a type specifier. | |
| BasePtr | GetById (unsigned int _id) const |
| Get a child or self by id. | |
| BasePtr | GetByName (const std::string &_name) |
| Get by name. | |
| BasePtr | GetChild (unsigned int _i) const |
| Get a child by index. | |
| BasePtr | GetChild (const std::string &_name) |
| Get a child by name. | |
| unsigned int | GetChildCount () const |
| Get the number of children. | |
| unsigned int | GetId () const |
| Return the ID of this entity. | |
| std::string | GetName () const |
| Return the name of the entity. | |
| BasePtr | GetParent () const |
| Get the parent. | |
| int | GetParentId () const |
| Return the ID of the parent. | |
| bool | GetSaveable () const |
| Get whether the object should be "saved", when the user selects to save the world to xml. | |
| std::string | GetScopedName () const |
| Return the name of this entity with the model scope world::model1::...::modelN::entityName. | |
| virtual const sdf::ElementPtr | GetSDF () |
| Get the SDF values for the object. | |
| unsigned int | GetType () const |
| Get the full type definition. | |
| const WorldPtr & | GetWorld () const |
| Get the World this object is in. | |
| bool | HasType (const EntityType &_t) const |
| Returns true if this object's type definition has the given type. | |
| bool | IsSelected () const |
| True if the entity is selected by the user. | |
| bool | operator== (const Base &_ent) const |
| Returns true if the entities are the same. | |
| void | Print (const std::string &_prefix) |
| Print this object to screen via gzmsg. | |
| virtual void | RemoveChild (unsigned int _id) |
| Remove a child from this entity. | |
| void | RemoveChild (const std::string &_name) |
| Remove a child by name. | |
| void | RemoveChildren () |
| Remove all children. | |
| virtual void | Reset (Base::EntityType _resetType) |
| Calls recursive Reset on one of the Base::EntityType's. | |
| void | SetParent (BasePtr _parent) |
| Set the parent. | |
| void | SetSaveable (bool _v) |
| Set whether the object should be "saved", when the user selects to save the world to xml. | |
| virtual bool | SetSelected (bool _show) |
| Set whether this entity has been selected by the user through the gui. | |
| void | SetWorld (const WorldPtr &_newWorld) |
| Set the world this object belongs to. | |
| virtual void | Update () |
| Update the object. | |
Protected Attributes | |
| btCollisionShape * | collisionShape |
| Protected Attributes inherited from gazebo::physics::Collision | |
| LinkPtr | link |
| The link this collision belongs to. | |
| bool | placeable |
| Flag for placeable. | |
| ShapePtr | shape |
| Pointer to physics::Shape. | |
| Protected Attributes inherited from gazebo::physics::Entity | |
| common::PoseAnimationPtr | animation |
| Current pose animation. | |
| event::ConnectionPtr | animationConnection |
| Connection used to update an animation. | |
| math::Pose | animationStartPose |
| Start pose of an animation. | |
| std::vector< event::ConnectionPtr > | connections |
| All our event connections. | |
| math::Pose | dirtyPose |
| The pose set by a physics engine. | |
| transport::NodePtr | node |
| Communication node. | |
| EntityPtr | parentEntity |
| A helper that prevents numerous dynamic_casts. | |
| msgs::Pose * | poseMsg |
| Pose message containr. | |
| common::Time | prevAnimationTime |
| Previous time an animation was updated. | |
| transport::PublisherPtr | requestPub |
| Request publisher. | |
| transport::PublisherPtr | visPub |
| Visual publisher. | |
| msgs::Visual * | visualMsg |
| Visual message container. | |
| Protected Attributes inherited from gazebo::physics::Base | |
| Base_V | children |
| Children of this entity. | |
| Base_V::iterator | childrenEnd |
| End of the children vector. | |
| BasePtr | parent |
| Parent of this entity. | |
| sdf::ElementPtr | sdf |
| The SDF values for this object. | |
| WorldPtr | world |
| Pointer to the world. | |
Additional Inherited Members | |
| Public Types inherited from gazebo::physics::Base | |
| enum | EntityType { BASE = 0x00000000, ENTITY = 0x00000001, MODEL = 0x00000002, LINK = 0x00000004, COLLISION = 0x00000008, ACTOR = 0x00000016, LIGHT = 0x00000010, VISUAL = 0x00000020, JOINT = 0x00000040, BALL_JOINT = 0x00000080, HINGE2_JOINT = 0x00000100, HINGE_JOINT = 0x00000200, SLIDER_JOINT = 0x00000400, SCREW_JOINT = 0x00000800, UNIVERSAL_JOINT = 0x00001000, SHAPE = 0x00002000, BOX_SHAPE = 0x00004000, CYLINDER_SHAPE = 0x00008000, HEIGHTMAP_SHAPE = 0x00010000, MAP_SHAPE = 0x00020000, MULTIRAY_SHAPE = 0x00040000, RAY_SHAPE = 0x00080000, PLANE_SHAPE = 0x00100000, SPHERE_SHAPE = 0x00200000, TRIMESH_SHAPE = 0x00400000 } |
| Unique identifiers for all entity types. More... | |
Bullet collisions.
| gazebo::physics::BulletCollision::BulletCollision | ( | LinkPtr | _parent | ) |
Constructor.
|
virtual |
Destructor.
|
virtual |
Get the bounding box, defined by the physics engine.
Implements gazebo::physics::Collision.
| btCollisionShape* gazebo::physics::BulletCollision::GetCollisionShape | ( | ) | const |
Get the bullet collision shape.
|
virtual |
Load the collision.
Reimplemented from gazebo::physics::Collision.
|
virtual |
On pose change.
Implements gazebo::physics::Entity.
|
virtual |
Set the category bits, used during collision detection.
| bits | The bits |
Implements gazebo::physics::Collision.
|
virtual |
Set the collide bits, used during collision detection.
| bits | The bits |
Implements gazebo::physics::Collision.
| void gazebo::physics::BulletCollision::SetCollisionShape | ( | btCollisionShape * | shape | ) |
Set the collision shape.
Referenced by gazebo::physics::BulletPlaneShape::CreatePlane(), gazebo::physics::BulletSphereShape::SetRadius(), gazebo::physics::BulletBoxShape::SetSize(), and gazebo::physics::BulletCylinderShape::SetSize().
| void gazebo::physics::BulletCollision::SetCompoundShapeIndex | ( | int | index | ) |
Set the index of the compound shape.
|
protected |