C++ (Cpp) Link::collisionShape Examples

Example #1

File: Body.cpp Project: Alexixu/choreonoid

void Body::cloneShapes(SgCloneMap& cloneMap)
{
    const int n = linkTraverse_.numLinks();
    for(int i=0; i < n; ++i){
        Link* link = linkTraverse_[i];
        SgNode* visualShape = link->visualShape();
        if(visualShape){
            link->setVisualShape(visualShape->cloneNode(cloneMap));
        }
        SgNode* collisionShape = link->collisionShape();
        if(collisionShape){
            if(collisionShape == visualShape){
                link->setCollisionShape(link->visualShape());
            } else {
                link->setCollisionShape(collisionShape->cloneNode(cloneMap));
            }
        }
    }
}