void SelectionHandler::createBox(const std::pair<CollObjectHandle, uint64_t>& handles, const Ogre::AxisAlignedBox& aabb, const std::string& material_name)
{
Ogre::WireBoundingBox* box = 0;
Ogre::SceneNode* node = 0;
M_HandleToBox::iterator it = boxes_.find(handles);
if (it == boxes_.end())
{
Ogre::SceneManager* scene_manager = context_->getSceneManager();
node = scene_manager->getRootSceneNode()->createChildSceneNode();
box = new Ogre::WireBoundingBox;
bool inserted = boxes_.insert(std::make_pair(handles, std::make_pair(node, box))).second;
ROS_ASSERT(inserted);
}
else
{
node = it->second.first;
box = it->second.second;
}
box->setMaterial(material_name);
box->setupBoundingBox(aabb);
node->detachAllObjects();
node->attachObject(box);
}
void ManipulatorObject::_UpdateAABBOfEntity( Ogre::Entity* pEntity )
{
assert(pEntity);
Ogre::SceneNode* aabbNode = dynamic_cast<Ogre::SceneNode*>(
pEntity->getParentSceneNode()->getChild(pEntity->getName()));
Ogre::WireBoundingBox* pAABB = GetEntityAABBGizmo(pEntity);
pAABB->setupBoundingBox(pEntity->getWorldBoundingBox(true));
//避免被裁减
(const_cast<Ogre::AxisAlignedBox&>(pAABB->getBoundingBox())).setInfinite();
aabbNode->_updateBounds();
}
void GameObject::showColliderBox() {
auto var = geom->getBoundingBox();
// Bullet uses half margins for collider
auto size = var.getSize() / 2;
btVector3 min(0, 0, 0);
btVector3 max(0, 0, 0);
shape->getAabb(tr, min, max);
Ogre::WireBoundingBox* box = new Ogre::WireBoundingBox();
Ogre::AxisAlignedBox abb(Ogre::Vector3(-size.x*scale, -size.y*scale, -size.z*scale), Ogre::Vector3(size.x*scale, size.y*scale, size.z*scale));
box->setupBoundingBox(abb);
box->setVisible(true);
box->setRenderQueueGroup(Ogre::RENDER_QUEUE_OVERLAY);
sceneMgr->getRootSceneNode()->createChildSceneNode()->attachObject(box);
}