Pre-build RBD Objects for Collision Detection

We are using the PhysX feature for checking collision, so, if there is "collide" related channels in input sentence, system need create pre-build RBD object in agent memory. These RBD objects are controlled by action and the user may not notice them. Our system will use these RBD objects for collision checking and returning check result.
Our system will only create Pre-build RBD for the marked bones and make them check collide. You can visualize check these RBD objects directly from the wireframe mode, in the previously section, we mentioned that the bones with "dot" inside is the RBD bone existence. Also, you may notice there is a "cross" sign inside, that is means, No only this bone contain pre-build RBD, but also this bone can feel collide.

The cross sign means this bone can feel collide