Bullet World manager maintains a proper state for target bodies. More...

#include <BulletWorldManager.h>

Collaboration diagram for Isis::BulletWorldManager:

Public Member Functions
	BulletWorldManager ()
	Default empty constructor. More...

	BulletWorldManager (const QString &name)
	Construct a world manager with a given name. More...

virtual	~BulletWorldManager ()
	Destroys the BulletWorldManager. More...

QString	name () const
	Name of the world. More...

int	size () const
	Number of collision objects in the world. More...

BulletTargetShape *	getTarget (const int &index=0) const
	Return a collision object by index into the world. More...

BulletTargetShape *	getTarget (const QString &name) const
	Look for a specific collision object by name. More...

void	addTarget (BulletTargetShape *target)
	Add a Bullet shape to the collision world. More...

bool	raycast (const btVector3 &observer, const btVector3 &lookdir, btCollisionWorld::RayResultCallback &hits) const
	Perform ray casting from a position and a look direction. More...

const btCollisionWorld &	getWorld () const
	Get the Collision World where the targets exist. More...

Private Member Functions
void	initWorld ()
	Initialize the collision world for object ray tracing. More...

Private Attributes
QString	m_name

QScopedPointer< btDefaultCollisionConfiguration >	m_collision
	! The name of the Bullet world. More...

QScopedPointer< btCollisionDispatcher >	m_dispatcher
	! The collision configuration for the world. More...

QScopedPointer< btBroadphaseInterface >	m_broadphase
	! The dispatcher for the world. More...

QScopedPointer< btCollisionWorld >	m_world
	! The interface for overlaps in the world's aabb acceleration tree. More...

QMutex	m_mutex
	! The Bullet collision world that contains the representation of the body. More...

Detailed Description

Bullet World manager maintains a proper state for target bodies.

This class maintains the physics world created in Bullet-verse. This world is target-centric in that the center of the world is the center of the target (body-fixed) coordinate system. This could be changed to represent some other system (e.g., J2000), However this design allows one to operate on a per target basis.

This class uses only the collision body world of Bullet, which is static and will not be subject to simulation operations.

This design also allows for a whole target body DEM to be loaded or a large body broken up into smaller parts of the whole if needed.

Author: 2017-03-17 Kris Becker

History:: 2017-03-17 Kris Becker Original Version

Definition at line 57 of file BulletWorldManager.h.

Constructor & Destructor Documentation

◆ BulletWorldManager() [1/2]

Isis::BulletWorldManager::BulletWorldManager ( )

Default empty constructor.

Definition at line 45 of file BulletWorldManager.cpp.

◆ BulletWorldManager() [2/2]

Isis::BulletWorldManager::BulletWorldManager ( const QString & name )

Construct a world manager with a given name.

Parameters

name	The name of the world.

Definition at line 56 of file BulletWorldManager.cpp.

◆ ~BulletWorldManager()

Isis::BulletWorldManager::~BulletWorldManager ( )

virtual

Destroys the BulletWorldManager.

Definition at line 65 of file BulletWorldManager.cpp.

Member Function Documentation

◆ addTarget()

void Isis::BulletWorldManager::addTarget ( BulletTargetShape * target )

Add a Bullet shape to the collision world.

Parameters

target The target shape to add to the world.

Definition at line 130 of file BulletWorldManager.cpp.

References Isis::BulletTargetShape::body().

◆ getTarget() [1/2]

BulletTargetShape * Isis::BulletWorldManager::getTarget ( const int & index = 0 ) const

Return a collision object by index into the world.

Parameters

index Index from 0 to size()-1 of the object that exist in the world

Returns: BulletTargetShape* Pointer to shape if found.

Definition at line 95 of file BulletWorldManager.cpp.

◆ getTarget() [2/2]

BulletTargetShape * Isis::BulletWorldManager::getTarget ( const QString & name ) const

Look for a specific collision object by name.

Parameters

name	Name of collision object to search for

Returns: BulletTargetShape* Pointer to shape if found. Otherwise null.

Definition at line 109 of file BulletWorldManager.cpp.

References Isis::BulletTargetShape::name().

◆ getWorld()

const btCollisionWorld & Isis::BulletWorldManager::getWorld ( ) const

Get the Collision World where the targets exist.

Returns: btCollisionWorld The Bullet collision world used for ray casting.

Definition at line 168 of file BulletWorldManager.cpp.

◆ initWorld()

void Isis::BulletWorldManager::initWorld ( )

private

Initialize the collision world for object ray tracing.

Author: 2017-03-17 Kris Becker

Definition at line 178 of file BulletWorldManager.cpp.

◆ name()

QString Isis::BulletWorldManager::name ( ) const

Name of the world.

Returns: QString The name of the Bullet collision world.

Definition at line 73 of file BulletWorldManager.cpp.

◆ raycast()

bool Isis::BulletWorldManager::raycast	(	const btVector3 &	rayStart,
		const btVector3 &	rayEnd,
		btCollisionWorld::RayResultCallback &	results
	)		const

Perform ray casting from a position and a look direction.

Author: 2017-03-17 Kris Becker

Parameters

	rayStart	The origin of the ray
	rayEnd	The end point of the ray
[in,out]	results	Ray intersection callback. holds the output results of the ray cast. The type of callback determines what happens when an intersection is found during ray casting.

Returns: bool Returns true if any intersections are detected

See also: btCollisionWorld::rayTest

Definition at line 156 of file BulletWorldManager.cpp.

◆ size()

int Isis::BulletWorldManager::size ( ) const

Number of collision objects in the world.

Returns: int The number of collision objects in the world.

Definition at line 83 of file BulletWorldManager.cpp.

Member Data Documentation

◆ m_broadphase

QScopedPointer<btBroadphaseInterface> Isis::BulletWorldManager::m_broadphase

private

! The dispatcher for the world.

Definition at line 86 of file BulletWorldManager.h.

◆ m_collision

QScopedPointer<btDefaultCollisionConfiguration> Isis::BulletWorldManager::m_collision

private

! The name of the Bullet world.

Definition at line 81 of file BulletWorldManager.h.

◆ m_dispatcher

QScopedPointer<btCollisionDispatcher> Isis::BulletWorldManager::m_dispatcher

private

! The collision configuration for the world.

Definition at line 84 of file BulletWorldManager.h.

◆ m_mutex

QMutex Isis::BulletWorldManager::m_mutex

mutableprivate

! The Bullet collision world that contains the representation of the body.

Mutex for thread safety

Definition at line 93 of file BulletWorldManager.h.

◆ m_world

QScopedPointer<btCollisionWorld> Isis::BulletWorldManager::m_world

private

! The interface for overlaps in the world's aabb acceleration tree.

Definition at line 89 of file BulletWorldManager.h.

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

src/base/objs/BulletWorldManager/BulletWorldManager.h
src/base/objs/BulletWorldManager/BulletWorldManager.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BulletWorldManager() [1/2]

◆ BulletWorldManager() [2/2]

◆ ~BulletWorldManager()

Member Function Documentation

◆ addTarget()

◆ getTarget() [1/2]

◆ getTarget() [2/2]

◆ getWorld()

◆ initWorld()

◆ name()

◆ raycast()

◆ size()

Member Data Documentation

◆ m_broadphase

◆ m_collision

◆ m_dispatcher

◆ m_mutex

◆ m_world