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.

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

Private Attributes
QString	m_name
QScopedPointer< btDefaultCollisionConfiguration >	m_collision
	! The name of the Bullet world.
QScopedPointer< btCollisionDispatcher >	m_dispatcher
	! The collision configuration for the world.
QScopedPointer< btBroadphaseInterface >	m_broadphase
	! The dispatcher for the world.
QScopedPointer< btCollisionWorld >	m_world
	! The interface for overlaps in the world's aabb acceleration tree.
QMutex	m_mutex
	! The Bullet collision world that contains the representation of the body.

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 41 of file BulletWorldManager.h.

Constructor & Destructor Documentation

BulletWorldManager() [1/2]

Isis::BulletWorldManager::BulletWorldManager

(

)

Default empty constructor.

Definition at line 28 of file BulletWorldManager.cpp.

References initWorld().

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 39 of file BulletWorldManager.cpp.

References initWorld(), and name().

~BulletWorldManager()

Isis::BulletWorldManager::~BulletWorldManager ( )

virtual

Destroys the BulletWorldManager.

Definition at line 48 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 113 of file BulletWorldManager.cpp.

References Isis::BulletTargetShape::body(), and m_world.

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 78 of file BulletWorldManager.cpp.

References m_world, and 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.

Definition at line 92 of file BulletWorldManager.cpp.

References m_world, 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.

Definition at line 151 of file BulletWorldManager.cpp.

References m_world.

initWorld()

void Isis::BulletWorldManager::initWorld ( )

private

Initialize the collision world for object ray tracing.

Author

2017-03-17 Kris Becker

Definition at line 161 of file BulletWorldManager.cpp.

References m_broadphase, m_collision, m_dispatcher, and m_world.

Referenced by BulletWorldManager(), and BulletWorldManager().

name()

QString Isis::BulletWorldManager::name

(

)

const

Name of the world.

Returns

QString The name of the Bullet collision world.

Definition at line 56 of file BulletWorldManager.cpp.

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

Definition at line 139 of file BulletWorldManager.cpp.

References m_world.

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 66 of file BulletWorldManager.cpp.

References m_world.

Referenced by getTarget().

Member Data Documentation

m_broadphase

QScopedPointer<btBroadphaseInterface> Isis::BulletWorldManager::m_broadphase

private

! The dispatcher for the world.

Definition at line 70 of file BulletWorldManager.h.

Referenced by initWorld().

m_collision

QScopedPointer<btDefaultCollisionConfiguration> Isis::BulletWorldManager::m_collision

private

! The name of the Bullet world.

Definition at line 65 of file BulletWorldManager.h.

Referenced by initWorld().

m_dispatcher

QScopedPointer<btCollisionDispatcher> Isis::BulletWorldManager::m_dispatcher

private

! The collision configuration for the world.

Definition at line 68 of file BulletWorldManager.h.

Referenced by initWorld().

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 77 of file BulletWorldManager.h.

m_name

QString Isis::BulletWorldManager::m_name

private

Definition at line 63 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 73 of file BulletWorldManager.h.

Referenced by addTarget(), getTarget(), getTarget(), getWorld(), initWorld(), raycast(), and size().

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

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