本文整理汇总了C++中URDFImporterInterface::getCollisionGroupAndMask方法的典型用法代码示例。如果您正苦于以下问题：C++ URDFImporterInterface::getCollisionGroupAndMask方法的具体用法？C++ URDFImporterInterface::getCollisionGroupAndMask怎么用？C++ URDFImporterInterface::getCollisionGroupAndMask使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类URDFImporterInterface的用法示例。
在下文中一共展示了URDFImporterInterface::getCollisionGroupAndMask方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: ConvertURDF2BulletInternal
//.........这里部分代码省略.........
if (createMultiBody)
{
//if (compoundShape->getNumChildShapes()>0)
{
btMultiBodyLinkCollider* col = creation.allocateMultiBodyLinkCollider(urdfLinkIndex, mbLinkIndex, cache.m_bulletMultiBody);
compoundShape->setUserIndex(graphicsIndex);
col->setCollisionShape(compoundShape);
if (compoundShape->getShapeType() == TRIANGLE_MESH_SHAPE_PROXYTYPE)
{
btBvhTriangleMeshShape* trimeshShape = (btBvhTriangleMeshShape*)compoundShape;
if (trimeshShape->getTriangleInfoMap())
{
col->setCollisionFlags(col->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
}
}
btTransform tr;
tr.setIdentity();
tr = linkTransformInWorldSpace;
//if we don't set the initial pose of the btCollisionObject, the simulator will do this
//when syncing the btMultiBody link transforms to the btMultiBodyLinkCollider
col->setWorldTransform(tr);
//base and fixed? -> static, otherwise flag as dynamic
bool isDynamic = (mbLinkIndex < 0 && cache.m_bulletMultiBody->hasFixedBase()) ? false : true;
int collisionFilterGroup = isDynamic ? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic ? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
int colGroup = 0, colMask = 0;
int collisionFlags = u2b.getCollisionGroupAndMask(urdfLinkIndex, colGroup, colMask);
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
world1->addCollisionObject(col, collisionFilterGroup, collisionFilterMask);
btVector4 color2 = selectColor2(); //(0.0,0.0,0.5);
btVector3 specularColor(1, 1, 1);
UrdfMaterialColor matCol;
if (u2b.getLinkColor2(urdfLinkIndex, matCol))
{
color2 = matCol.m_rgbaColor;
specularColor = matCol.m_specularColor;
}
{
B3_PROFILE("createCollisionObjectGraphicsInstance2");
creation.createCollisionObjectGraphicsInstance2(urdfLinkIndex, col, color2, specularColor);
}
{
B3_PROFILE("convertLinkVisualShapes2");
u2b.convertLinkVisualShapes2(mbLinkIndex, urdfLinkIndex, pathPrefix, localInertialFrame, col, u2b.getBodyUniqueId());
}
URDFLinkContactInfo contactInfo;
u2b.getLinkContactInfo(urdfLinkIndex, contactInfo);
processContactParameters(contactInfo, col);
if (mbLinkIndex >= 0) //???? double-check +/- 1