#include <BulletCapsuleModel.h>
Public Attributes | |
sofa::core::objectmodel::Data< SReal > | margin |
Margin used for collision detection within bullet. More... | |
Protected Attributes | |
std::stack< btCollisionShape * > | _garbage |
btCompoundShape * | _bt_cshape |
![]() | |
btCollisionObject * | _bt_collision_object {nullptr} |
bool | _handled {false} |
Public Member Functions | |
SOFA_CLASS (SOFA_TEMPLATE(TBulletCapsuleModel, TDataTypes), SOFA_TEMPLATE(collisionobbcapsule::geometry::CapsuleCollisionModel, TDataTypes)) | |
virtual void | initBullet () |
virtual void | updateBullet () |
virtual void | computeBoundingTree (int) |
virtual | ~TBulletCapsuleModel () |
virtual void | init () |
virtual void | reinit () |
void | handleEvent (sofa::core::objectmodel::Event *ev) |
virtual void | setMargin (SReal margin) |
![]() | |
BulletCollisionModel () | |
virtual | ~BulletCollisionModel () |
btCollisionObject * | getBtCollisionObject () |
const btCollisionObject * | getBtCollisionObject () const |
bool | handled () const |
void | setHandled (bool h) |
Protected Member Functions | |
TBulletCapsuleModel () | |
TBulletCapsuleModel (core::behavior::MechanicalState< DataTypes > *_mstate) | |
void | cleanGarbage () |
Static Protected Member Functions | |
static void | makeBtQuat (const Coord &dir, btQuaternion &quat) |
|
protected |
|
protected |
sofa::core::objectmodel::Data<SReal> sofa::component::collision::TBulletCapsuleModel< TDataTypes >::margin |
Margin used for collision detection within bullet.
|
inlinevirtual |
|
protected |
|
protected |
|
protected |
|
inlinevirtual |
void sofa::component::collision::TBulletCapsuleModel< TDataTypes >::handleEvent | ( | sofa::core::objectmodel::Event * | ev | ) |
|
virtual |
|
virtual |
Inits bullet collision shapes from the sofa shapes.
Implements BulletCollisionModel.
|
staticprotected |
|
virtual |
|
inlinevirtual |
sofa::component::collision::TBulletCapsuleModel< TDataTypes >::SOFA_CLASS | ( | SOFA_TEMPLATE(TBulletCapsuleModel< TDataTypes >, TDataTypes) | , |
SOFA_TEMPLATE(collisionobbcapsule::geometry::CapsuleCollisionModel, TDataTypes) | |||
) |
|
virtual |
Updates at each time step the bullet shapes from sofa shapes.
Implements BulletCollisionModel.