void EDS_2x3PlaneFingers::OnMessage( MessageData* data )
{
if (data->message == "collision")
{
dtCore::Scene::CollisionData* cd = static_cast< dtCore::Scene::CollisionData* >( data->userData );
for(unsigned int i=0; i<2; i++)
{
for(unsigned int j=0; j<3; j++)
{
Part* pt = mHand->getFingerFromVector(i)->getKnuckleAt(j);
if(pt == NULL)
break;
if(cd->mBodies[0] == pt->getModelPtr() || cd->mBodies[1] == pt->getModelPtr())
{
// 若第k指节发生碰撞，则k, k-1, ..., 0指节均视为发生碰撞
int index = j;
for(; index>-1; index--)
mCollided[i][index] = 1;
mContactPos[i][j] = cd->mLocation;
// 保证所有法向量要么都是指向物体中心，要么都是背离物体中心
if(cd->mBodies[0] == pt->getModelPtr())
mContactNormal[i][j] = cd->mNormal * (-1.0);
else
mContactNormal[i][j] = cd->mNormal * 1.0;
}
}
}
}
}
void Hand_Custom::Part_Collision_Mapping()
{
std::vector<CollisionInfoStruct*> CollidesList;
IHand::mAsmInfo->parsePartCollision(CollidesList);
for (unsigned int i=0; i<CollidesList.size(); i++)
{
Part* pt = NULL;
pt = IHand::getPartFromVector(CollidesList[i]->name);
if(pt == NULL)
{
QString mes = QString("No part named [%1] has been found during Collision Mapping!\n").arg(CollidesList[i]->name.c_str());
mes.append("This might cause crash. Please fix this error and then try again.");
QMessageBox::warning(NULL, "Warning", mes);
break;
}
pt->getModelPtr()->SetCollisionMesh();
pt->setCollisionCategoryBits(CollidesList[i]->CollisionCategory);
pt->setCollisionCollideBits(CollidesList[i]->CollisionCollides);
}
}
