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make qpqmodel with glvertices #146

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Oct 1, 2015
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make qpqmodel with glvertices #146

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42 changes: 29 additions & 13 deletions euscollada/src/euscollada-robot.l
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Original file line number Diff line number Diff line change
Expand Up @@ -64,19 +64,35 @@
(:make-collision-model-for-links
(&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
(dolist (ll ls)
(send ll
(read-from-string
(format nil ":make-~Amodel"
(string-right-trim "-COLLISION-CHECK" (string collision-func))))
:fat fat
:faces (flatten (mapcar #'(lambda (x)
(cond
((find-method x :def-gl-vertices)
(send x :glvertices :convert-to-faces :wrt :world))
(t
(send x :faces))))
(send ll :bodies)))))
)
(let (fs glv usefs)
(dolist (bd (send ll :bodies))
(if (find-method bd :def-gl-vertices)
(push (send bd :glvertices) glv)
(push (send bd :faces) fs)))
(setq fs (flatten fs))
(cond
((and (not fs) glv) ;; if there is no faces, use glvertices for creating pqpmodel
(setq usefs (instance gl::glvertices :init nil))
(send usefs :transform (send (car glv) :worldcoords))
(send usefs :append-glvertices glv)
(let ((m (send usefs (read-from-string
(format nil ":make-~Amodel"
(string-right-trim "-COLLISION-CHECK" (string collision-func))))
:fat fat)))
(setf (get ll :pqpmodel) m)
))
(fs
(setq usefs
(append fs
(mapcar #'(lambda (gv) (send gv :convert-to-faces :wrt :world)) glv)))
(send ll
(read-from-string
(format nil ":make-~Amodel"
(string-right-trim "-COLLISION-CHECK" (string collision-func))))
:fat fat
:faces usefs))
))
))
)

;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
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