void
EGPlanner::createAndUseClone()
{
if (isActive()) {
DBGA("Can not change hands while planner is running");
return;
}
if (mMultiThread) {
//let collision detection know this is a new thread
mHand->getWorld()->getCollisionInterface()->newThread();
}
Hand *clone;
if (mHand->isA("Barrett")) {
clone = new Barrett(mHand->getWorld(), "Barrett clone");
} else if (mHand->isA("Pr2Gripper")) {
clone = new Pr2Gripper(mHand->getWorld(), "PR2 Gripper clone");
} else if (mHand->isA("RobotIQ")) {
clone = new RobotIQ(mHand->getWorld(), "RobotIQ clone");
} else {
clone = new Hand(mHand->getWorld(), "Hand clone");
}
clone->cloneFrom(mHand);
clone->setRenderGeometry(false);
clone->showVirtualContacts(false);
if (mMultiThread) {
//we do not want to add the robot to the scene graph from here
//it is ideal not to touch the scene graph from outside the main thread
mHand->getWorld()->addRobot(clone, false);
} else {
mHand->getWorld()->addRobot(clone, true);
}
mHand->getWorld()->toggleCollisions(false, mHand, clone);
clone->setTran(mHand->getTran());
mHand = clone;
mUsesClone = true;
if (mCurrentState) {
mCurrentState->changeHand(mHand);
}
}
void
EGPlanner::createAndUseClone()
{
if (mMultiThread) {
//let collision detection know this is a new thread
mHand->getWorld()->getCollisionInterface()->newThread();
}
if (isActive()) {
DBGA("Can not change hands while planner is running");
return;
}
Hand * clone = mHand->getWorld()->cloneHand(mHand);
clone->cloneFrom(mHand);
clone->setRenderGeometry(false);
clone->showVirtualContacts(false);
if (mMultiThread) {
//we do not want to add the robot to the scene graph from here
//it is ideal not to touch the scene graph from outside the main thread
mHand->getWorld()->addRobot(clone,false);
} else {
mHand->getWorld()->addRobot(clone,true);
}
mHand->getWorld()->toggleCollisions(false, mHand, clone);
clone->setTran( mHand->getTran() );
mHand = clone;
mUsesClone = true;
if (mCurrentState) mCurrentState->changeHand(mHand);
//give the world back
mHand->getWorld()->moveToThread(QApplication::instance()->thread());
}