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Isis Developer Reference
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Isis Developer Reference
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Bullet World manager maintains a proper state for target bodies. More...
#include <BulletWorldManager.h>
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... | |
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.
| Isis::BulletWorldManager::BulletWorldManager | ( | ) |
Default empty constructor.
| Isis::BulletWorldManager::BulletWorldManager | ( | const QString & | name | ) |
Construct a world manager with a given name.
| name | The name of the world. |
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virtual |
Destroys the BulletWorldManager.
| void Isis::BulletWorldManager::addTarget | ( | BulletTargetShape * | target | ) |
Add a Bullet shape to the collision world.
| target | The target shape to add to the world. |
References Isis::BulletTargetShape::body().
| BulletTargetShape * Isis::BulletWorldManager::getTarget | ( | const int & | index = 0 | ) | const |
Return a collision object by index into the world.
| index | Index from 0 to size()-1 of the object that exist in the world |
| BulletTargetShape * Isis::BulletWorldManager::getTarget | ( | const QString & | name | ) | const |
Look for a specific collision object by name.
| name | Name of collision object to search for |
References Isis::BulletTargetShape::name().
| const btCollisionWorld & Isis::BulletWorldManager::getWorld | ( | ) | const |
Get the Collision World where the targets exist.
| QString Isis::BulletWorldManager::name | ( | ) | const |
Name of the world.
| bool Isis::BulletWorldManager::raycast | ( | const btVector3 & | rayStart, |
| const btVector3 & | rayEnd, | ||
| btCollisionWorld::RayResultCallback & | results | ||
| ) | const |
Perform ray casting from a position and a look direction.
| 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. |
| int Isis::BulletWorldManager::size | ( | ) | const |
Number of collision objects in the world.