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roboticslibrary 简称rl库,sg里面的类按照scene / model / body / shape层次创建,在
class Body{
…
::rl::sg::Shape* create(::SoVRMLShape* shape);
…
}
是传入coin3d的vrmlshape来创建的
using namespace rl::sg::solid; void test() { Scene* sce=new Scene(); Model* mde=sce->creat(); Body* bdy=mde->create(); SoDb::init(); //这个必须要调一次 //创建SoVRMLShape SoVRMLShape* sosap0=new SoVRMLShape; SoVRMLCone* cone0=new SoVRMLCone(); //设置cone参数 sosap->geometry=cone0; //同样再创建sosap1 Shape* sap0=bdy->create(sosap0); Shape* sap1=bdy->create(sosap1); //下面判断colliding bool flag= sce->areColliding(sap0, sap1); delete sce; }
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