Classes
struct	BulletCollisionWorldWrapper

class	BulletModel

class	Element

class	Model

struct	OverlapFilterCallback

struct	PointPair
	Structure containing the results of a collision query. More...

class	UnknownShapeException

Typedefs
typedef std::unordered_map< ElementId, std::unique_ptr< btCollisionObject > >	ElementToBtObjMap

typedef std::bitset< MAX_NUM_COLLISION_FILTER_GROUPS >	bitmask

typedef uintptr_t	ElementId

typedef std::pair< ElementId, ElementId >	ElementIdPair

Functions
Eigen::Map< const Vector3d >	toVector3d (const btVector3 &bt_vec)

const bitmask	ALL_MASK (bitmask(0).set())

const bitmask	NONE_MASK (0)

const bitmask	DEFAULT_GROUP (1)

unique_ptr< Model >	newModel (ModelType model_type)

unique_ptr< Model >	newModel ()

ostream &	operator<< (ostream &out, const Element &ee)

bool	closestPointsAllToAll (const vector< ElementId > &ids_to_check, const bool use_margins, vector< PointPair > &closest_points)

bool	collisionPointsAllToAll (const bool use_margins, vector< PointPair > &points)

bool	closestPointsPairwise (const vector< ElementIdPair > &id_pairs, const bool use_margins, vector< PointPair > &closest_points)

std::ostream &	operator<< (std::ostream &os, const Model &model)
	A toString for the collision model. More...

Variables
static const int	kPerturbationIterations = 8

static const int	kMinimumPointsPerturbationThreshold = 8

const DRAKECOLLISION_EXPORT bitmask	ALL_MASK

const DRAKECOLLISION_EXPORT bitmask	NONE_MASK

const DRAKECOLLISION_EXPORT bitmask	DEFAULT_GROUP

Typedef Documentation

typedef uintptr_t ElementId

typedef std::unordered_map<ElementId, std::unique_ptr<btCollisionObject> > ElementToBtObjMap

Function Documentation

const bitmask DrakeCollision::ALL_MASK ( bitmask(0).set() )

bool DrakeCollision::closestPointsAllToAll	(	const vector< ElementId > &	ids_to_check,
		const bool	use_margins,
		vector< PointPair > &	closest_points
	)

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bool DrakeCollision::closestPointsPairwise	(	const vector< ElementIdPair > &	id_pairs,
		const bool	use_margins,
		vector< PointPair > &	closest_points
	)

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bool DrakeCollision::collisionPointsAllToAll	(	const bool	use_margins,
		vector< PointPair > &	points
	)

const bitmask DrakeCollision::DEFAULT_GROUP ( 1 )

unique_ptr<Model> DrakeCollision::newModel ( ModelType model_type )

DRAKECOLLISION_EXPORT std::unique_ptr< Model > newModel ( )

const bitmask DrakeCollision::NONE_MASK ( 0 )

ostream& DrakeCollision::operator<<	(	std::ostream &	out,
		const Element &	ee
	)

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std::ostream& DrakeCollision::operator<<	(	std::ostream &	os,
		const Model &	model
	)

A toString for the collision model.

A toString method for this class.

Eigen::Map<const Vector3d> DrakeCollision::toVector3d ( const btVector3 & bt_vec )

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const DRAKECOLLISION_EXPORT bitmask ALL_MASK

const DRAKECOLLISION_EXPORT bitmask DEFAULT_GROUP

const int kMinimumPointsPerturbationThreshold = 8

static

const int kPerturbationIterations = 8

static

const DRAKECOLLISION_EXPORT bitmask NONE_MASK