9553892770
Implement collisionFilterPlugin, use setCollisionFilterPair to enable or disable collision detection between specific pairs of objects. Also, expose setCollisionFilterGroupMask as PyBullet API and in urdf using the tag <collision group="1" mask="2"/>. See examples/pybullet/examples/collisionFilter.py for an example. PyBullet default: Lower the warmstarting factor, for maximal coordinates rigid bodies for more stable simulation. Add btCollisionWorld::refreshBroadphaseProxy to easier recreate the broadphase proxy without adding/removing objects to the world.
33 lines
879 B
C
33 lines
879 B
C
#ifndef B3_PLUGIN_COLLISION_INTERFACE_H
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#define B3_PLUGIN_COLLISION_INTERFACE_H
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enum b3PluginCollisionFilterModes
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{
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B3_FILTER_GROUPAMASKB_AND_GROUPBMASKA=0,
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B3_FILTER_GROUPAMASKB_OR_GROUPBMASKA
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};
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struct b3PluginCollisionInterface
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{
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virtual void setBroadphaseCollisionFilter(
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int objectUniqueIdA, int objectUniqueIdB,
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int linkIndexA, int linkIndexB,
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bool enableCollision)=0;
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virtual void removeBroadphaseCollisionFilter(
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int objectUniqueIdA, int objectUniqueIdB,
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int linkIndexA, int linkIndexB)=0;
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virtual int getNumRules() const = 0;
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virtual void resetAll()=0;
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virtual int needsBroadphaseCollision(int objectUniqueIdA, int linkIndexA,
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int collisionFilterGroupA,int collisionFilterMaskA,
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int objectUniqueIdB, int linkIndexB,
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int collisionFilterGroupB,int collisionFilterMaskB,
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int filterMode
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)=0;
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};
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#endif //B3_PLUGIN_COLLISION_INTERFACE_H
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