Coin3D+Qt+C++碰撞检测

#include "CollisionTest.h" CollisionTest::CollisionTest(QWidget *parent, Qt::WFlags flags) : QWidget(parent, flags) { ui.setupUi(this); SoQt::init(ui.widget); ////根节点 pRootSeparator = new SoSeparator; pRootSeparator->ref(); pRootSeparator->setName("pRootSeparator"); ////******构建场景 ////pRootSeparator(根节点) //// 0--pSon1Separator //// 0--Transform //// 1--Pendulum //// 2--Separator (iv文件节点) //// 1--pRootSphere //// 0--Transform //// 1--Material //// 2--Sphere //子节点1 SoSeparator *pSon1Separator = new SoSeparator; pSon1Separator->setName("pSon1Separator"); SoPendulum *mySon1Pend = new SoPendulum; pRootSeparator->addChild(pSon1Separator); SoTransform *mySon1Tform=new SoTransform; pSon1Separator->addChild(mySon1Tform); mySon1Tform->translation.setValue(0.04f, 0.0, 0.00); pSon1Separator->addChild(mySon1Pend); mySon1Pend->rotation0.setValue(SbVec3f(0,0,1),0.0); mySon1Pend->rotation1.setValue(SbVec3f(0,0,1),-1.0); mySon1Pend->speed=0.2; pSon1Separator->addChild(readIVFile("model.iv")); ///添加球节点根节点 SoSeparator *pRootSphere=new SoSeparator; pRootSphere->setName("pSphereRoot"); pRootSeparator->addChild(pRootSphere); ///添加球节点位移 SoTransform *spheretran=new SoTransform; spheretran->translation.setValue(0.04f,-0.02f,0.007f); pRootSphere->addChild(spheretran); ///添加球节点材料 SoMaterial *spherecol = new SoMaterial; pRootSphere->addChild(spherecol); spherecol->diffuseColor.setValue(0.82f,0.82f,0.82f); ///添加球节点 SoSphere *mysphere1= new SoSphere; mysphere1->setName("Sphere"); mysphere1->radius=0.01f; pRootSphere->addChild(mysphere1); /////******场景构建完毕 // 创建view窗体显示COIN三维内容 SoQtExaminerViewer *viewer = new SoQtExaminerViewer(ui.widget); // 设置显示的根节点 viewer->setSceneGraph(pRootSeparator); // view窗体显示三维内容 viewer->show(); // 显示物体全部查看模式 viewer->viewAll(); IDAction = new SoIntersectionDetectionAction; //回调函数 IDAction->addIntersectionCallback(onIntersection, NULL); //过滤函数 IDAction->setFilterCallback(filterCB,NULL); //应用到根节点 IDAction->apply(pRootSeparator); timer = new QTimer(); ////设置碰撞检测标志信号槽 connect(ui.pushButton_Start,SIGNAL(clicked()),this,SLOT(startDetect())); connect(ui.pushButton_Stop,SIGNAL(clicked()),this,SLOT(stopDetect())); connect(timer,SIGNAL(timeout()),this,SLOT(start())); } ///初始化标志 bool CollisionTest::b_detectEnabled = false; CollisionTest::~CollisionTest() { } void CollisionTest::stopDetect() { timer->stop(); this->b_detectEnabled = false; } void CollisionTest::startDetect() { b_detectEnabled = true; timer->start(); } void CollisionTest::start() { IDAction->apply(pRootSeparator); } SoSeparator* CollisionTest::readIVFile(QString filename) { char *fileName; QByteArray ba = filename.toLatin1(); fileName = ba.data(); SoInput input; // 加载iv文件并读取全部内容 if (input.openFile(fileName)) { return (SoDB::readAll(&input)); } } SoIntersectionDetectionAction::Resp CollisionTest::onIntersection(void *userdata, const SoIntersectingPrimitive *primitive1, const SoIntersectingPrimitive *primitive2) { // These two primitive have an intersection. qDebug()<<"Intersection hit!/n"; SoPath* primitivePath1 = primitive1->path; for(int i=0;i<primitivePath1->getLength();i++) { SoNode* tmpNode = primitivePath1->getNode(i); QString tmpName = tmpNode->getName().getString(); QString tmpType = tmpNode->getTypeId().getName().getString(); //qDebug()<<i<<" Name:"<<tmpName<<"\tType:"<<tmpType; } SoPath* primitivePath2 = primitive2->path; for(int i=0;i<primitivePath2->getLength();i++) { SoNode* tmpNode = primitivePath2->getNode(i); QString tmpName = tmpNode->getName().getString(); QString tmpType = tmpNode->getTypeId().getName().getString(); //qDebug()<<i<<" Name:"<<tmpName<<"\tType:"<<tmpType; } // This callback will be called for the two next colliding shapes return SoIntersectionDetectionAction::NEXT_SHAPE; } SbBool CollisionTest::filterCB(void * userdata, const SoPath * p1, const SoPath * p2) { qDebug()<<"filterCB"; return true; }