void CollisionDetector::addCollisionSkeletonNode(dynamics::BodyNode* _bodyNode,
bool _isRecursive) {
assert(_bodyNode != NULL && "Invalid body node.");
// If this collision detector already has collision node for _bodyNode, then
// we do nothing.
if (getCollisionNode(_bodyNode) != NULL) {
std::cout << "The collision detector already has a collision node for "
<< "body node [" << _bodyNode->getName() << "]." << std::endl;
return;
}
// Create collision node and set index
CollisionNode* collNode = createCollisionNode(_bodyNode);
collNode->setIndex(mCollisionNodes.size());
// Add the collision node to collision node list
mCollisionNodes.push_back(collNode);
// Add the collision node to map (BodyNode -> CollisionNode)
mBodyCollisionMap[_bodyNode] = collNode;
// Add collidable pairs for the collision node
mCollidablePairs.push_back(
std::vector<bool>(mCollisionNodes.size() - 1, true));
if (_isRecursive) {
for (int i = 0; i < _bodyNode->getNumChildBodyNodes(); i++)
addCollisionSkeletonNode(_bodyNode->getChildBodyNode(i), true);
}
}
CollisionNode *SceneGraph::findCollisionNode(char *name) {
if (!name || strlen(name) <= 0)
return NULL;
for (CollisionNode *node = findCollisionNode(); node; node = node->nextTraversal()) {
const char *nodeName = node->getName();
if (nodeName && strlen(nodeName)) {
if (!strcmp(name, nodeName))
return node;
}
}
return NULL;
}
void CollisionDetector::addCollisionSkeletonNode(kinematics::BodyNode* _bodyNode,
bool _recursive) {
CollisionNode* collNode = createCollisionNode(_bodyNode);
collNode->setIndex(mCollisionNodes.size());
mCollisionNodes.push_back(collNode);
mBodyCollisionMap[_bodyNode] = collNode;
mCollidablePairs.push_back(vector<bool>(mCollisionNodes.size() - 1, true));
if(_recursive) {
for (int i = 0; i < _bodyNode->getNumChildJoints(); i++)
addCollisionSkeletonNode(_bodyNode->getChildNode(i), true);
}
}
void Character::initNodePath(Player *player,
CollisionTraverser *traverser,
CollisionTraverser *traverserQueue,
CollisionHandlerQueue *colliHandlerQueue,
Filename charDir,
Filename charWalkDir,
Filename charStandDir,
std::string lodNodename,
std::string colliNodeName) {
LODNode *lod = new LODNode(lodNodename);
NodePath lodNodePath(lod);
lodNodePath.reparent_to(player->getWindow()->get_render());
lod->add_switch(50, 0);
// load character and place on the grounds
NodePath character = player->getWindow()->load_model(player->getPanda()->get_models(), charDir);
character.reparent_to(lodNodePath);
character.set_scale(0.203, 0.203, 0.203);
// add collision node to character
CollisionNode *collNode = new CollisionNode(colliNodeName);
collNode->add_solid(new CollisionSphere(0, 0, 0, 2.5));
NodePath fromObj = character.attach_new_node(collNode);
CollisionHandlerPusher *colliHandlerPusher = new CollisionHandlerPusher();
colliHandlerPusher->add_collider(fromObj, character);
traverser->add_collider(fromObj, colliHandlerPusher);
traverserQueue->add_collider(fromObj, colliHandlerQueue);
// Load the walk animation
player->getWindow()->load_model(character, charStandDir);
player->getWindow()->load_model(character, charWalkDir);
// bind animation
auto_bind(character.node(), animCollection);
stopMoving();
nodePath = character;
standAnimName = animCollection.get_anim_name(0);
walkAnimName = animCollection.get_anim_name(1);
// get animation names
//for(int i = 0; i < animCollection.get_num_anims(); i++)
// cout << animCollection.get_anim_name(i) << endl;
}
void CollisionDetector::removeCollisionSkeletonNode(
dynamics::BodyNode* _bodyNode, bool _isRecursive) {
assert(_bodyNode != NULL && "Invalid body node.");
// If a collision node is already created for _bodyNode, then we just return
CollisionNode* collNode = getCollisionNode(_bodyNode);
if (collNode == NULL) {
std::cout << "The collision detector does not have any collision node "
<< "for body node [" << _bodyNode->getName() << "]."
<< std::endl;
return;
}
// Update index of collision nodes.
int iCollNode = collNode->getIndex();
for (int i = iCollNode + 1; i < mCollisionNodes.size(); ++i)
mCollisionNodes[i]->setIndex(mCollisionNodes[i]->getIndex() - 1);
// Remove collNode from mCollisionNodes
mCollisionNodes.erase(remove(mCollisionNodes.begin(), mCollisionNodes.end(),
collNode),
mCollisionNodes.end());
// Remove collNode-_bodyNode pair from mBodyCollisionMap
mBodyCollisionMap.erase(_bodyNode);
// Delete collNode
delete collNode;
// Update mCollidablePairs
for (int i = iCollNode + 1; i < mCollidablePairs.size(); ++i) {
for (int j = 0; j < iCollNode; ++j)
mCollidablePairs[i-1][j] = mCollidablePairs[i][j];
for (int j = iCollNode + 1; j < mCollidablePairs[i].size(); ++j)
mCollidablePairs[i-1][j-1] = mCollidablePairs[i][j];
}
mCollidablePairs.pop_back();
if (_isRecursive) {
for (int i = 0; i < _bodyNode->getNumChildBodyNodes(); i++)
removeCollisionSkeletonNode(_bodyNode->getChildBodyNode(i), true);
}
}
