File mechanics/src/collision/bullet/SiconosBulletCollisionManager.hpp

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Definition of a Bullet-based interaction handler for contact detection.

Enums

enum SiconosBulletDimension

Values:

enumerator SICONOS_BULLET_3D

enumerator SICONOS_BULLET_2D

Functions

DEFINE_SPTR(SiconosBulletCollisionManager_impl)

struct SiconosBulletOptions

Public Functions

SiconosBulletOptions()

Public Members

int dimension

double contactBreakingThreshold

double contactProcessingThreshold

double worldScale

bool useAxisSweep3

bool clearOverlappingPairCache

unsigned int perturbationIterations

unsigned int minimumPointsPerturbationThreshold

bool enableSatConvex

bool enablePolyhedralContactClipping

double Depth2D

Protected Functions

ACCEPT_SERIALIZATION(SiconosBulletOptions)

struct SiconosBulletStatistics

Public Functions

inline SiconosBulletStatistics()

Public Members

int new_interactions_created

int existing_interactions_processed

int interaction_warnings

int interaction_destroyed

Protected Functions

ACCEPT_SERIALIZATION(SiconosBulletStatistics)

class SiconosBulletCollisionManager : public SiconosCollisionManager

Public Functions

SiconosBulletCollisionManager()

SiconosBulletCollisionManager(const SiconosBulletOptions &options)

virtual ~SiconosBulletCollisionManager()

virtual SP::StaticBody addStaticBody(SP::SiconosContactorSet cs, SP::SiconosVector position = SP::SiconosVector(), int number = 0)

Add a static body in the collision detector.

virtual void removeStaticBody(const SP::StaticBody &body)

Remove a body from the collision detector.

virtual void removeBody(const SP::SecondOrderDS &body)

Remove a body from the collision detector.

This must be done after removing a body from the NonSmoothDynamicalSystem otherwise contact will occur with a non-graph body which results in failure.

void updateInteractions(SP::Simulation simulation)

virtual std::vector<SP::SiconosCollisionQueryResult> lineIntersectionQuery(const SiconosVector &start, const SiconosVector &end, bool closestOnly = false, bool sorted = true)

Perform an intersection test on all shapes in the contactors and return a vector of all results, ordered by distance from start.

Parameters:

• start – The starting point of the line segment in inertial frame (world) coordinates.

• end – The ending point of the line segment in inertial frame (world) coordinates.

• closestOnly – If true, indicates only interested in first result closest to half-space boundary, max size of returned vector = 1.

• sorted – If true, results are sorted by distance.

Returns:

A vector of SiconosCollisionQueryResult that contain information about the query results.

void clearOverlappingPairCache()

inline const SiconosBulletOptions &options() const

inline const SiconosBulletStatistics &statistics() const

inline void resetStatistics()

inline void useEqualityConstraints(bool choice = true)

Set the usage of equality constraints.

When the number of objects is huge as in granular material, the usage of equality constraint breaks scalability. This have to be fixed.

Parameters:

choice – a boolean, default is True.

Protected Functions

ACCEPT_SERIALIZATION(SiconosBulletCollisionManager)

void initialize_impl()

virtual SP::BulletR makeBulletR(SP::RigidBodyDS ds1, SP::SiconosShape shape1, SP::RigidBodyDS ds2, SP::SiconosShape shape2, const btManifoldPoint&)

Provided so that creation of collision points can be overridden.

See modify_normals.py in examples/Mechanics/Hacks

virtual SP::Bullet5DR makeBullet5DR(SP::RigidBodyDS ds1, SP::SiconosShape shape1, SP::RigidBodyDS ds2, SP::SiconosShape shape2, const btManifoldPoint&)

Provided so that creation of collision points can be overridden.

See modify_normals.py in examples/Mechanics/Hacks

virtual SP::Bullet2dR makeBullet2dR(SP::RigidBody2dDS ds1, SP::SiconosShape shape1, SP::RigidBody2dDS ds2, SP::SiconosShape shape2, const btManifoldPoint&)

Provided so that creation of collision points can be overridden.

See modify_normals.py in examples/Mechanics/Hacks

virtual SP::Bullet2d3DR makeBullet2d3DR(SP::RigidBody2dDS ds1, SP::SiconosShape shape1, SP::RigidBody2dDS ds2, SP::SiconosShape shape2, const btManifoldPoint&)

Provided so that creation of collision points can be overridden.

See modify_normals.py in examples/Mechanics/Hacks

Protected Attributes

SP::SiconosBulletCollisionManager_impl _impl

bool _with_equality_constraints

SiconosBulletOptions _options

SiconosBulletStatistics _stats

Protected Static Functions

static bool bulletContactClear(void *userPersistentData)

static bool bulletContactAddedCallback(btManifoldPoint &cp, const btCollisionObjectWrapper *colObj0Wrap, int partId0, int index0, const btCollisionObjectWrapper *colObj1Wrap, int partId1, int index1)

Protected Static Attributes

static Simulation *gSimulation