void MyController::onCollision(CollisionEvent &evt)
{
if (m_grasp == false){
typedef CollisionEvent::WithC C;
//触れたエンティティの名前を得ます
const std::vector<std::string> & with = evt.getWith();
// 衝突した自分のパーツを得ます
const std::vector<std::string> & mparts = evt.getMyParts();
// 衝突したエンティティでループします
for(int i = 0; i < with.size(); i++){
//右手に衝突した場合
if(mparts[i] == "RARM_LINK7"){
//自分を取得
SimObj *my = getObj(myname());
//自分の手のパーツを得ます
CParts * parts = my->getParts("RARM_LINK7");
parts->graspObj(with[i]);
m_grasp = true;
}
}
}
}
void MyController::onCollision(CollisionEvent &evt) {
const vector<string> & wname = evt.getWith(); // Get a name of the other
const vector<string> & wparts = evt.getWithParts(); // Get a parts name of the other's collision point
const vector<string> & mparts = evt.getMyParts(); // Get a parts of collision point of myself
// for(int i = 0; i < wname.size(); i++)
// {
// // Print the name of the other
// LOG_MSG(("\"%s\"", wname[i].c_str()));
// LOG_MSG(("\"%s\"", wparts[i].c_str()));
// LOG_MSG(("\"%s\"", mparts[i].c_str()));
// }
// LOG_MSG(("\"%s\"", myParts));
}
void DemoRobotController::onCollision(CollisionEvent &evt)
{
if (m_grasp == false) {
typedef CollisionEvent::WithC C;
// Get name of entity which is touched by the robot
const std::vector<std::string> & with = evt.getWith();
// Get parts of the robot which is touched by the entity
const std::vector<std::string> & mparts = evt.getMyParts();
// loop for every collided entities
for(int i = 0; i < with.size(); i++) {
if(m_graspObjectName == with[i]) {
// If the right hand touches the entity
if(mparts[i] == "RARM_LINK7") {
SimObj *my = getObj(myname());
CParts * parts = my->getParts("RARM_LINK7");
if(parts->graspObj(with[i])) m_grasp = true;
}
}
}
}
}
