void CollisionDetector::disablePair(dynamics::BodyNode* _node1,
dynamics::BodyNode* _node2) {
CollisionNode* collisionNode1 = getCollisionNode(_node1);
CollisionNode* collisionNode2 = getCollisionNode(_node2);
if (collisionNode1 && collisionNode2)
getPairCollidable(collisionNode1, collisionNode2) = false;
}
bool CollisionDetector::detectCollision(dynamics::BodyNode* _node1,
dynamics::BodyNode* _node2,
bool _calculateContactPoints) {
return detectCollision(getCollisionNode(_node1),
getCollisionNode(_node2),
_calculateContactPoints);
}
bool CollisionDetector::checkCollision(kinematics::BodyNode* _node1,
kinematics::BodyNode* _node2,
bool _calculateContactPoints)
{
return checkCollision(getCollisionNode(_node1),
getCollisionNode(_node2),
_calculateContactPoints);
}
void GeometryCollisionParticleSystemAffector::affect(ParticleSystemRefPtr System, const Time& elps)
{
UInt32 NumParticles(System->getNumParticles());
Line ray;
IntersectAction *iAct = IntersectAction::create();
Pnt3f ParticlePos, ParticleSecPos;
Real32 HitT(0.0f);
for(UInt32 i(0) ; i<NumParticles ; ++i)
{
ParticlePos = System->getPosition(i);
ParticleSecPos = System->getSecPosition(i);
ray.setValue(ParticleSecPos, ParticlePos);
iAct->setLine(ray);
iAct->apply(getCollisionNode());
if (iAct->didHit())
{
HitT = iAct->getHitT();
if(HitT > 0.0f && HitT*HitT<ParticlePos.dist2(ParticleSecPos))
{
produceParticleCollision(System, i, iAct);
for(UInt32 j(0) ; j<getMFCollisionAffectors()->size(); ++j)
{
getCollisionAffectors(i)->affect(System,i,elps);
}
}
}
}
}
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::removeCollisionSkeletonNode(
dynamics::BodyNode* _bodyNode, bool _isRecursive) {
assert(_bodyNode != NULL && "Invalid body node.");
// If a collision node is already created for _bodyNode, then we just return
CollisionNode* collNode = getCollisionNode(_bodyNode);
if (collNode == NULL) {
std::cout << "The collision detector does not have any collision node "
<< "for body node [" << _bodyNode->getName() << "]."
<< std::endl;
return;
}
// Update index of collision nodes.
int iCollNode = collNode->getIndex();
for (int i = iCollNode + 1; i < mCollisionNodes.size(); ++i)
mCollisionNodes[i]->setIndex(mCollisionNodes[i]->getIndex() - 1);
// Remove collNode from mCollisionNodes
mCollisionNodes.erase(remove(mCollisionNodes.begin(), mCollisionNodes.end(),
collNode),
mCollisionNodes.end());
// Remove collNode-_bodyNode pair from mBodyCollisionMap
mBodyCollisionMap.erase(_bodyNode);
// Delete collNode
delete collNode;
// Update mCollidablePairs
for (int i = iCollNode + 1; i < mCollidablePairs.size(); ++i) {
for (int j = 0; j < iCollNode; ++j)
mCollidablePairs[i-1][j] = mCollidablePairs[i][j];
for (int j = iCollNode + 1; j < mCollidablePairs[i].size(); ++j)
mCollidablePairs[i-1][j-1] = mCollidablePairs[i][j];
}
mCollidablePairs.pop_back();
if (_isRecursive) {
for (int i = 0; i < _bodyNode->getNumChildBodyNodes(); i++)
removeCollisionSkeletonNode(_bodyNode->getChildBodyNode(i), true);
}
}
void CollisionDetector::enablePair(kinematics::BodyNode* _node1, kinematics::BodyNode* _node2) {
CollisionNode* collisionNode1 = getCollisionNode(_node1);
CollisionNode* collisionNode2 = getCollisionNode(_node2);
if(collisionNode1 && collisionNode2)
getPairCollidable(collisionNode1, collisionNode2) = true;
}
