Isis::BulletWorldManager Class Reference

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.
	BulletWorldManager (const QString &name)
	Construct a world manager with a given name.
virtual	~BulletWorldManager ()
	Destroys the BulletWorldManager.
QString	name () const
	Name of the world.
int	size () const
	Number of collision objects in the world.
BulletTargetShape *	getTarget (const int &index=0) const
	Return a collision object by index into the world.
BulletTargetShape *	getTarget (const QString &name) const
	Look for a specific collision object by name.
void	addTarget (BulletTargetShape *target)
	Add a Bullet shape to the collision world.
bool	raycast (const btVector3 &observer, const btVector3 &lookdir, btCollisionWorld::RayResultCallback &hits) const
	Perform ray casting from a position and a look direction.
const btCollisionWorld &	getWorld () const
	Get the Collision World where the targets exist.

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

Constructor & Destructor Documentation

BulletWorldManager() [1/2]

Isis::BulletWorldManager::BulletWorldManager

(

)

Default empty constructor.

BulletWorldManager() [2/2]

Isis::BulletWorldManager::BulletWorldManager

(

const QString &

name

)

Construct a world manager with a given name.

Parameters

name	The name of the world.

References name().

~BulletWorldManager()

Isis::BulletWorldManager::~BulletWorldManager ( )

virtual

Destroys the BulletWorldManager.

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.

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.

References size().

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.

References Isis::BulletTargetShape::name(), and 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.

name()

QString Isis::BulletWorldManager::name

(

)

const

Name of the world.

Returns

QString The name of the Bullet collision world.

Referenced by BulletWorldManager(), and getTarget().

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

size()

int Isis::BulletWorldManager::size

(

)

const

Number of collision objects in the world.

Returns

int The number of collision objects in the world.

Referenced by getTarget().

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

• /Users/astamile/ISIS3/isis/src/base/objs/BulletWorldManager/BulletWorldManager.h
• /Users/astamile/ISIS3/isis/src/base/objs/BulletWorldManager/BulletWorldManager.cpp