SOFA plugin: BulletCollisionDetection  master
Open source framework for multi-physics simuation
sofa::component::collision::TBulletSphereModel< TDataTypes > Class Template Reference

#include <BulletSphereModel.h>

Inheritance diagram for sofa::component::collision::TBulletSphereModel< TDataTypes >:

Public Attributes

sofa::core::objectmodel::Data< SReal > margin
 Margin used for collision detection within bullet. More...
 
- Public Attributes inherited from sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >
Data< VecReal > d_radius
 
Data< SReal > d_defaultRadius
 
Data< bool > d_showImpostors
 
- Public Attributes inherited from sofa::core::CollisionModel
CollisionElementActivermyCollElemActiver
 
- Public Attributes inherited from sofa::core::objectmodel::BaseObject
Data< bool > f_listening
 
- Public Attributes inherited from sofa::core::objectmodel::Base
std::vector< lifecycle::DeprecatedData * > m_oldAttributes
 
Data< int > d_messageLogCount
 
Data< std::string > name
 
Data< bool > f_printLog
 
Data< sofa::core::objectmodel::TagSetf_tags
 
Data< sofa::type::BoundingBoxf_bbox
 
Data< sofa::core::objectmodel::ComponentStated_componentState
 
std::string m_definitionSourceFileName
 
int m_definitionSourceFilePos
 
std::string m_instanciationSourceFileName
 
int m_instanciationSourceFilePos
 

Protected Attributes

std::stack< btCollisionShape * > _garbage
 
btCompoundShape * _bt_cshape
 
- Protected Attributes inherited from sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >
core::behavior::MechanicalState< DataTypes > * mstate
 
SingleLink< SphereCollisionModel< DataTypes >, sofa::core::topology::BaseMeshTopology, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > l_topology
 
- Protected Attributes inherited from sofa::core::CollisionModel
Data< bool > bActive
 
Data< bool > bMoving
 
Data< bool > bSimulated
 
Data< bool > bSelfCollision
 
Data< SReal > proximity
 
Data< SReal > contactStiffness
 
Data< SReal > contactFriction
 
Data< SReal > contactRestitution
 
Data< std::string > contactResponse
 
Data< sofa::type::RGBAColorcolor
 
Data< std::set< int > > group
 
Size size
 
Data< Size > d_numberOfContacts
 
SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK|BaseLink::FLAG_STRONGLINK > previous
 
SingleLink< CollisionModel, CollisionModel, BaseLink::FLAG_DOUBLELINK > next
 
int enum_type
 
void * userData
 
SingleLink< CollisionModel, sofa::core::objectmodel::BaseObject, BaseLink::FLAG_STOREPATH|BaseLink::FLAG_STRONGLINK > l_collElemActiver
 
- Protected Attributes inherited from sofa::core::objectmodel::BaseObject
SingleLink< BaseObject, BaseContext, BaseLink::FLAG_DOUBLELINK > l_context
 
LinkSlaves l_slaves
 
SingleLink< BaseObject, BaseObject, BaseLink::FLAG_DOUBLELINK > l_master
 
- Protected Attributes inherited from sofa::core::objectmodel::Base
std::map< std::string, sofa::core::DataTrackerCallbackm_internalEngine
 
VecData m_vecData
 
MapData m_aliasData
 
VecLink m_vecLink
 
MapLink m_aliasLink
 
- Protected Attributes inherited from BulletCollisionModel
btCollisionObject * _bt_collision_object {nullptr}
 
bool _handled {false}
 

Public Member Functions

 SOFA_CLASS (SOFA_TEMPLATE(TBulletSphereModel, TDataTypes), SOFA_TEMPLATE(sofa::component::collision::geometry::SphereCollisionModel, TDataTypes))
 
virtual void initBullet ()
 
virtual void updateBullet ()
 
virtual void computeBoundingTree (int)
 
virtual ~TBulletSphereModel ()
 
virtual void init ()
 
virtual void reinit ()
 
void handleEvent (sofa::core::objectmodel::Event *ev)
 
virtual void setMargin (SReal m)
 
- Public Member Functions inherited from sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >
 SOFA_CLASS (SOFA_TEMPLATE(SphereCollisionModel, TDataTypes), core::CollisionModel)
 
void init () override
 
void resize (sofa::Size size) override
 
void computeBoundingTree (int maxDepth=0) override
 
void computeContinuousBoundingTree (SReal dt, int maxDepth=0) override
 
void draw (const core::visual::VisualParams *, sofa::Index index) override
 
core::behavior::MechanicalState< DataTypes > * getMechanicalState ()
 
const VecReal & getR () const
 
Real getRadius (const sofa::Index i) const
 
const Coord & velocity (sofa::Index index) const
 
void computeBBox (const core::ExecParams *params, bool onlyVisible=false) override
 
- Public Member Functions inherited from sofa::core::CollisionModel
 SOFA_ABSTRACT_CLASS (CollisionModel, objectmodel::BaseObject)
 
void bwdInit () override
 
bool empty () const
 
Size getSize () const
 
bool getSelfCollision () const
 
void setSelfCollision (bool _bSelfCollision)
 
Size getNumberOfContacts () const
 
void setNumberOfContacts (Size i)
 
virtual void resize (Size s)
 
Iterator begin ()
 
Iterator end ()
 
CollisionModelgetNext ()
 
CollisionModelgetPrevious ()
 
void setPrevious (CollisionModel::SPtr val)
 
virtual bool isActive () const
 
virtual void setActive (bool val=true)
 
virtual bool isMoving () const
 
virtual void setMoving (bool val=true)
 
virtual bool isSimulated () const
 
virtual void setSimulated (bool val=true)
 
virtual std::pair< CollisionElementIterator, CollisionElementIteratorgetInternalChildren (Index) const
 
virtual std::pair< CollisionElementIterator, CollisionElementIteratorgetExternalChildren (Index) const
 
virtual bool isLeaf (Index) const
 
virtual bool canCollideWith (CollisionModel *model)
 
virtual bool canCollideWithElement (Index, CollisionModel *, Index)
 
virtual void draw (const core::visual::VisualParams *, Index)
 
void draw (const core::visual::VisualParams *vparams) final
 
CollisionModelgetFirst ()
 
CollisionModelgetLast ()
 
DerivedModel * createPrevious ()
 
virtual sofa::core::topology::BaseMeshTopologygetCollisionTopology ()
 
const float * getColor4f ()
 
void setColor4f (const float *c)
 
void setProximity (const SReal a)
 
void setContactResponse (const std::string &a)
 
int getEnumType () const
 
void SetUserData (void *pUserData)
 
void * GetUserData ()
 
bool insertInNode (objectmodel::BaseNode *node) override
 
bool removeInNode (objectmodel::BaseNode *node) override
 
SReal getProximity () const
 
SReal getContactStiffness (Index) const
 
void setContactStiffness (SReal stiffness)
 
bool isContactStiffnessSet () const
 
SReal getContactFriction (Index) const
 
void setContactFriction (SReal friction)
 
SReal getContactRestitution (Index) const
 
void setContactRestitution (SReal restitution)
 
std::string getContactResponse () const
 
const std::set< int > & getGroups () const
 
void addGroup (const int groupId)
 
void setGroups (const std::set< int > &ids)
 
SReal getProximity () const
 
SReal getContactStiffness (Index) const
 
void setContactStiffness (SReal stiffness)
 
bool isContactStiffnessSet () const
 
SReal getContactFriction (Index) const
 
void setContactFriction (SReal friction)
 
SReal getContactRestitution (Index) const
 
void setContactRestitution (SReal restitution)
 
std::string getContactResponse () const
 
const std::set< int > & getGroups () const
 
void addGroup (const int groupId)
 
void setGroups (const std::set< int > &ids)
 
- Public Member Functions inherited from sofa::core::objectmodel::BaseObject
 SOFA_CLASS (BaseObject, Base)
 
void setSrc (const std::string &v, std::vector< std::string > *attributeList=nullptr)
 
void setSrc (const std::string &v, const BaseObject *loader, std::vector< std::string > *attributeList=nullptr)
 
BasefindLinkDestClass (const BaseClass *destType, const std::string &path, const BaseLink *link) override
 
virtual std::string getPathName () const override
 
SReal getTime () const
 
const BaseContextgetContext () const
 
BaseContextgetContext ()
 
const BaseObjectgetMaster () const
 
BaseObjectgetMaster ()
 
const VecSlavesgetSlaves () const
 
BaseObjectgetSlave (const std::string &name) const
 
virtual void addSlave (BaseObject::SPtr s)
 
virtual void removeSlave (BaseObject::SPtr s)
 
virtual void handleTopologyChange ()
 
virtual void handleTopologyChange (core::topology::Topology *t)
 
void parse (BaseObjectDescription *arg) override
 
void updateInternal ()
 
virtual void storeResetState ()
 
virtual void reset ()
 
virtual void cleanup ()
 
SReal getTime () const
 
- Public Member Functions inherited from sofa::core::objectmodel::Base
virtual const BaseClassgetClass () const
 
void addDeprecatedAttribute (lifecycle::DeprecatedData *attribute)
 
void addUpdateCallback (const std::string &name, std::initializer_list< BaseData * > inputs, std::function< sofa::core::objectmodel::ComponentState(const DataTracker &)> function, std::initializer_list< BaseData * > outputs)
 
void addOutputsToCallback (const std::string &name, std::initializer_list< BaseData * > outputs)
 
const std::string & getName () const
 
void setName (const std::string &n)
 
void setName (const std::string &n, int counter)
 
std::string getTypeName () const
 
virtual std::string getClassName () const
 
virtual std::string getTemplateName () const final
 
std::string getNameSpaceName () const
 
void setDefinitionSourceFileName (const std::string &sourceFileName)
 
const std::string & getDefinitionSourceFileName () const
 
void setDefinitionSourceFilePos (const int)
 
int getDefinitionSourceFilePos () const
 
void setInstanciationSourceFileName (const std::string &sourceFileName)
 
const std::string & getInstanciationSourceFileName () const
 
void setInstanciationSourceFilePos (const int)
 
int getInstanciationSourceFilePos () const
 
void addMessage (const sofa::helper::logging::Message &m) const
 
size_t countLoggedMessages (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
const std::deque< sofa::helper::logging::Message > & getLoggedMessages () const
 
const std::string getLoggedMessagesAsString (sofa::helper::logging::Message::TypeSet t=sofa::helper::logging::Message::AnyTypes) const
 
void clearLoggedMessages () const
 
bool notMuted () const
 
const sofa::core::objectmodel::TagSetgetTags () const
 
bool hasTag (Tag t) const
 
void addTag (Tag t)
 
void removeTag (Tag t)
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
bool isComponentStateInvalid () const
 
 SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior
 
virtual bool parseField (const std::string &attribute, const std::string &value)
 
virtual bool hasField (const std::string &attribute) const
 
void parseFields (const std::list< std::string > &str)
 
virtual void parseFields (const std::map< std::string, std::string * > &str)
 
void writeDatas (std::map< std::string, std::string * > &str)=delete
 
void writeDatas (std::ostream &out, const std::string &separator=" ")
 
BaseDatafindData (const std::string &name) const
 
std::vector< BaseData * > findGlobalField (const std::string &name) const
 
BaseLinkfindLink (const std::string &name) const
 
std::vector< BaseLink * > findLinks (const std::string &name) const
 
virtual void updateLinks (bool logErrors=true)
 
BaseData::BaseInitData initData (::sofa::core::objectmodel::Data< T > *field, const char *name, const char *help, ::sofa::core::objectmodel::BaseData::DataFlags dataflags)
 
BaseData::BaseInitData initData (Data< T > *field, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
Data< T >::InitData initData (Data< T > *field, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
void addData (BaseData *f, const std::string &name)
 
void addData (BaseData *f)
 
void removeData (BaseData *f)
 
void addAlias (BaseData *field, const char *alias)
 
void addLink (BaseLink *l)
 
void addAlias (BaseLink *link, const char *alias)
 
const VecDatagetDataFields () const
 
const MapDatagetDataAliases () const
 
const VecLinkgetLinks () const
 
const MapLinkgetLinkAliases () const
 
virtual bool findDataLinkDest (BaseData *&ptr, const std::string &path, const BaseLink *link)
 
bool findLinkDest (T *&ptr, const std::string &path, const BaseLink *link)
 
const sofa::core::objectmodel::TagSetgetTags () const
 
bool hasTag (Tag t) const
 
void addTag (Tag t)
 
void removeTag (Tag t)
 
ComponentState getComponentState () const
 
bool isComponentStateValid () const
 
bool isComponentStateInvalid () const
 
 SOFA_ATTRIBUTE_DEPRECATED__TOBASECONSTRAINT () virtual const behavior
 
- Public Member Functions inherited from BulletCollisionModel
 BulletCollisionModel ()
 
virtual ~BulletCollisionModel ()
 
btCollisionObject * getBtCollisionObject ()
 
const btCollisionObject * getBtCollisionObject () const
 
bool handled () const
 
void setHandled (bool h)
 

Protected Member Functions

 TBulletSphereModel ()
 
 TBulletSphereModel (core::behavior::MechanicalState< DataTypes > *_mstate)
 
void cleanGarbage ()
 
- Protected Member Functions inherited from sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >
 SphereCollisionModel ()
 
 SphereCollisionModel (core::behavior::MechanicalState< TDataTypes > *_mstate)
 
void drawCollisionModel (const core::visual::VisualParams *vparams) override
 
- Protected Member Functions inherited from sofa::core::CollisionModel
 CollisionModel ()
 
 ~CollisionModel () override
 
- Protected Member Functions inherited from sofa::core::objectmodel::BaseObject
 BaseObject ()
 
 ~BaseObject () override
 
virtual void doUpdateInternal ()
 
void changeContextLink (BaseContext *before, BaseContext *&after)
 
void changeSlavesLink (BaseObject::SPtr ptr, std::size_t, bool add)
 
void trackInternalData (const BaseData &data)
 
void cleanTracker ()
 
bool hasDataChanged (const BaseData &data)
 
- Protected Member Functions inherited from sofa::core::objectmodel::Base
 Base ()
 
virtual ~Base ()
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
void initData0 (BaseData *field, BaseData::BaseInitData &res, const char *name, const char *help, BaseData::DataFlags dataFlags)
 
void initData0 (Data< T > *field, typename Data< T >::InitData &res, const T &value, const char *name, const char *help, bool isDisplayed=true, bool isReadOnly=false)
 
- Protected Member Functions inherited from sofa::core::IntrusiveObject
virtual ~IntrusiveObject ()=default
 

Additional Inherited Members

- Static Public Member Functions inherited from sofa::component::collision::geometry::SphereCollisionModel< TDataTypes >
static bool canCreate (T *&obj, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
static T::SPtr create (T *, core::objectmodel::BaseContext *context, core::objectmodel::BaseObjectDescription *arg)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::BaseObject
static bool canCreate (T *, BaseContext *, BaseObjectDescription *)
 
static T::SPtr create (T *, BaseContext *context, BaseObjectDescription *arg)
 
- Static Public Member Functions inherited from sofa::core::objectmodel::Base
static const BaseClassGetClass ()
 
static std::string shortName (const T *ptr=nullptr, BaseObjectDescription *=nullptr)
 

Attribute details

◆ _bt_cshape

template<class TDataTypes >
btCompoundShape* sofa::component::collision::TBulletSphereModel< TDataTypes >::_bt_cshape
protected

◆ _garbage

template<class TDataTypes >
std::stack<btCollisionShape*> sofa::component::collision::TBulletSphereModel< TDataTypes >::_garbage
protected

◆ margin

template<class TDataTypes >
sofa::core::objectmodel::Data<SReal> sofa::component::collision::TBulletSphereModel< TDataTypes >::margin

Margin used for collision detection within bullet.

Constructor details

◆ ~TBulletSphereModel()

template<class DataTypes >
sofa::component::collision::TBulletSphereModel< DataTypes >::~TBulletSphereModel
inlinevirtual

◆ TBulletSphereModel() [1/2]

◆ TBulletSphereModel() [2/2]

Function details

◆ cleanGarbage()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::cleanGarbage
protected

◆ computeBoundingTree()

template<class TDataTypes >
virtual void sofa::component::collision::TBulletSphereModel< TDataTypes >::computeBoundingTree ( int  )
inlinevirtual

◆ handleEvent()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::handleEvent ( sofa::core::objectmodel::Event ev)
virtual

◆ init()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::init ( void  )
virtual

◆ initBullet()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::initBullet ( )
virtual

Inits bullet collision shapes from the sofa shapes.

Implements BulletCollisionModel.

◆ reinit()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::reinit
virtual

◆ setMargin()

template<class TDataTypes >
virtual void sofa::component::collision::TBulletSphereModel< TDataTypes >::setMargin ( SReal  m)
inlinevirtual

◆ SOFA_CLASS()

template<class TDataTypes >
sofa::component::collision::TBulletSphereModel< TDataTypes >::SOFA_CLASS ( SOFA_TEMPLATE(TBulletSphereModel< TDataTypes >, TDataTypes)  ,
SOFA_TEMPLATE(sofa::component::collision::geometry::SphereCollisionModel, TDataTypes)   
)

◆ updateBullet()

template<class DataTypes >
void sofa::component::collision::TBulletSphereModel< DataTypes >::updateBullet ( )
virtual

Updates at each time step the bullet shapes from sofa shapes.

Implements BulletCollisionModel.