@Override public ArrayList<CollisionMeshDescription> getCollisionObjects(String name) { // TODO: SDF collision stuff to RobotDescription collision stuff. for(SDFLinkHolder linkHolder : rootLinks) { if(linkHolder.getName().equals(name)) { SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(linkHolder.getCollisions(), resourceDirectories); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; } } SDFGraphics3DObject sdfGraphics3DObject = new SDFGraphics3DObject(joints.get(name).getChildLinkHolder().getCollisions(), resourceDirectories); CollisionMeshDescription collisionMeshDescription = new CollisionMeshDescription(); ArrayList<CollisionMeshDescription> collisionMeshDescriptions = new ArrayList<CollisionMeshDescription>(); //TODO: Figure out and add the collision meshes... return collisionMeshDescriptions; }
for (Collision collision : holder.getCollisions())
if(useCollisionMeshes) sdfGraphics3DObject = new SDFGraphics3DObject(link.getCollisions(), resourceDirectories, transformToModel);
for (Collision collision : holder.getCollisions())
private void checkJointChildren(SDFJointHolder joint) for (Collision collision : link.getCollisions())
private void checkJointChildren(SDFJointHolder joint) for (Collision collision : link.getCollisions())
List<Collision> cols = link.getCollisions(); YoAppearanceMaterial mat = new YoAppearanceMaterial(); mat.setAmbientColor(new MutableColor(0.5f,0.5f,0.5f));
CollisionMeshDescription collisionMeshDescription = new SDFCollisionMeshDescription(link.getCollisions(), rotationTransform); scsLink.addCollisionMesh(collisionMeshDescription);