Collision exclusions (collision masks)

Hi, thanks for the great engine. I’m currently reading dart’s source trying to find a feature similar to bullet’s collisionGroup and collisionMask, which filters collisions according to those bit masks (bodies with matching group|mask will collide). So far I’ve found that collision filtering can be done in a per body-pair basis. Is it possible to filter collisions using the method I described above?.

Thanks!
Wilbert.

You can do any kind of collision filtering that you’d like by creating your own implementation of a CollisionFilter and passing it into the CollisionOption of your ConstraintSolver that’s tied to your simulation World.

You can find an example of this being done in ignition-physics with a custom collision filter which I think is the same as what you’re describing.

Thanks @grey, that’s exactly what I was looking for :smiley: