Merge branch 'master' of https://gitlab.com/Simox/simox

VirtualRobot/Nodes/RobotNodeFixedFactory.cpp

@@ -28,7 +28,7 @@ namespace VirtualRobot
      */
     RobotNodePtr RobotNodeFixedFactory::createRobotNode(RobotPtr robot, const std::string& nodeName, VisualizationNodePtr visualizationModel, CollisionModelPtr collisionModel, float /*limitLow*/, float /*limitHigh*/, float /*jointValueOffset*/, const Eigen::Matrix4f& preJointTransform, const Eigen::Vector3f& /*axis*/, const Eigen::Vector3f& /*translationDirection*/, const SceneObject::Physics& p, RobotNode::RobotNodeType rntype) const
     {
-        RobotNodePtr robotNode(new RobotNodeFixed(robot, nodeName, preJointTransform, visualizationModel, collisionModel, p, CollisionCheckerPtr(), rntype));
+        RobotNodePtr robotNode(new RobotNodeFixed(robot, nodeName, preJointTransform, visualizationModel, collisionModel, p, (collisionModel ? collisionModel->getCollisionChecker() : CollisionCheckerPtr()), rntype));
 
         return robotNode;
     }

VirtualRobot/Nodes/RobotNodePrismaticFactory.cpp

@@ -29,7 +29,7 @@ namespace VirtualRobot
      */
     RobotNodePtr RobotNodePrismaticFactory::createRobotNode(RobotPtr robot, const std::string& nodeName, VisualizationNodePtr visualizationModel, CollisionModelPtr collisionModel, float limitLow, float limitHigh, float jointValueOffset, const Eigen::Matrix4f& preJointTransform, const Eigen::Vector3f& /*axis*/, const Eigen::Vector3f& translationDirection, const SceneObject::Physics& p, RobotNode::RobotNodeType rntype) const
     {
-        RobotNodePtr robotNode(new RobotNodePrismatic(robot, nodeName, limitLow, limitHigh, preJointTransform, translationDirection, visualizationModel, collisionModel, jointValueOffset, p, CollisionCheckerPtr(), rntype));
+        RobotNodePtr robotNode(new RobotNodePrismatic(robot, nodeName, limitLow, limitHigh, preJointTransform, translationDirection, visualizationModel, collisionModel, jointValueOffset, p, (collisionModel ? collisionModel->getCollisionChecker() : CollisionCheckerPtr()), rntype));
 
         return robotNode;
     }

VirtualRobot/Nodes/RobotNodeRevoluteFactory.cpp

@@ -29,7 +29,7 @@ namespace VirtualRobot
      */
     RobotNodePtr RobotNodeRevoluteFactory::createRobotNode(RobotPtr robot, const std::string& nodeName, VisualizationNodePtr visualizationModel, CollisionModelPtr collisionModel, float limitLow, float limitHigh, float jointValueOffset, const Eigen::Matrix4f& preJointTransform, const Eigen::Vector3f& axis, const Eigen::Vector3f& /*translationDirection*/, const SceneObject::Physics& p, RobotNode::RobotNodeType rntype) const
     {
-        RobotNodePtr robotNode(new RobotNodeRevolute(robot, nodeName, limitLow, limitHigh, preJointTransform, axis, visualizationModel, collisionModel, jointValueOffset, p,  CollisionCheckerPtr(), rntype));
+        RobotNodePtr robotNode(new RobotNodeRevolute(robot, nodeName, limitLow, limitHigh, preJointTransform, axis, visualizationModel, collisionModel, jointValueOffset, p, (collisionModel ? collisionModel->getCollisionChecker() : CollisionCheckerPtr()), rntype));
 
         return robotNode;
     }

VirtualRobot/RobotFactory.cpp

@@ -302,7 +302,7 @@ namespace VirtualRobot
 
         if (o->getCollisionModel())
         {
-            c = o->getCollisionModel()->clone();
+            c = o->getCollisionModel();
         }
 
         auto rnf = RobotNodeFixedFactory::createInstance(NULL);