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);
}
}
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);
}
}