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()

BtRWCollisionConfiguration

(

rw::core::Ptr< const rwsim::contacts::ContactDetector >

detector

)

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.

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

• BtRWCollisionConfiguration.hpp