bool CollisionDetection::collideEntityWithObj(Entity *e)
{
if( objCollision != NULL)
{
NewtonCollision *eCollision;
std::map<Entity *,NewtonCollision *>::const_iterator iter = collisionsMap.find(e);
if(iter != collisionsMap.end())
{
eCollision=iter->second;
}
else
{
cout << "in collideEntityWithObj(e), collision mesh for enitiy e could not be found in (cpp)map" << endl;
return false;
}
dFloat eMatrix[16];
getMatrix(e,eMatrix, true);
dFloat contacts[16];
dFloat normals[16];
dFloat penetration[16];
int numCollisionPoints = NewtonCollisionCollide (newtonWorld, 1,
eCollision, &eMatrix[0],
objCollision, &idmatrix[0],
&contacts[0], &normals[0], &penetration[0], 0);
if (numCollisionPoints > 0) return true;
else return false;
}
else
{
cout << "Objective collision mesh is NULL (most probably not initialised)" << endl;
return false;
}
}
int NewtonBodyCollide(NewtonWorld* world, int maxsize, NewtonBody* body0, NewtonBody* body1, float* contacts, float* normals, float* penetration)
{
NewtonCollision* collision[2];
float mat0[16];
float mat1[16];
collision[0]=NewtonBodyGetCollision(body0);
collision[1]=NewtonBodyGetCollision(body1);
NewtonBodyGetMatrix(body0,mat0);
NewtonBodyGetMatrix(body1,mat1);
return NewtonCollisionCollide(world,maxsize,collision[0],mat0,collision[1],mat1,contacts,normals,penetration,0);
}
//only to be used with map pieces where the second element is not transformed
Collision CollisionDetection::staicAndDynamicCollision(Entity *e1, Entity *e2, bool dynamic)
{
dFloat e1Matrix[16];
dFloat e2Matrix[16];
NewtonCollision *e1Collision;
NewtonCollision *e2Collision;
std::map<Entity *,NewtonCollision *>::const_iterator iter =
collisionsMap.find(e1);
if(iter != collisionsMap.end()) {
e1Collision=iter->second;
} else {
cout<<"in mapCollision(e1,e2) the collision mesh for enitiy e1 could not be found in (C++)map"<< endl;
dFloat contacts[16] = {0.0f};
dFloat normals[16] = {0.0f};
dFloat penetration[16] = {0.0f};
return Collision(false,normals,contacts,penetration);
}
iter = collisionsMap.find(e2);
if(iter != collisionsMap.end()) {
e2Collision=iter->second;
} else {
cout<<"in mapCollision(e1,e2) collision mesh for mapEnitiy e2 could not be found in (C++)map"<<endl;
dFloat contacts[16] = {0.0f};
dFloat normals[16] = {0.0f};
dFloat penetration[16] = {0.0f};
return Collision(false,normals,contacts,penetration);;
}
getMatrix(e1,e1Matrix, true); //allwarys transform
getMatrix(e2,e2Matrix, dynamic); //transfrom second entity only if not static
dFloat contacts[16];
dFloat normals[16];
dFloat penetration[16];
int numCollisionPoints = NewtonCollisionCollide (newtonWorld, 1,
e1Collision, &e1Matrix[0],
e2Collision, &e2Matrix[0],
&contacts[0], &normals[0], &penetration[0], 0);
if (numCollisionPoints > 0) {
return Collision(true,normals,contacts,penetration);
} else {
return Collision(false,normals,contacts,penetration);
}
}
static int CalculateContacts (const NewtonBody* const otherBody, void* const userData)
{
ShowCollisionCollide* const me = (ShowCollisionCollide*)userData;
if (me->m_body != otherBody) {
const int cMaxContacts = 15;
dFloat contacts[cMaxContacts][3];
dFloat normals[cMaxContacts][3];
dFloat penetrations[cMaxContacts];
dLong attributeA[cMaxContacts];
dLong attributeB[cMaxContacts];
NewtonWorld* const world = NewtonBodyGetWorld(otherBody);
//NewtonBodyGetMatrix(me->m_body, &matrixA[0][0]);
//NewtonBodyGetMatrix(otherBody, &matrixB[0][0]);
DemoEntity* const entityA = (DemoEntity*)NewtonBodyGetUserData(me->m_body);
DemoEntity* const entityB = (DemoEntity*)NewtonBodyGetUserData(otherBody);
const dMatrix& matrixA = entityA->GetRenderMatrix ();
const dMatrix& matrixB = entityB->GetRenderMatrix ();
NewtonCollision* const collisionA = NewtonBodyGetCollision(me->m_body);
NewtonCollision* const collisionB = NewtonBodyGetCollision(otherBody);
int count = NewtonCollisionCollide (world, cMaxContacts, collisionA, &matrixA[0][0], collisionB, &matrixB[0][0],
&contacts[0][0], &normals[0][0], penetrations, attributeA, attributeB, 0);
dVector originColor (1.0f, 0.0f, 0.0f, 0.0f);
dVector lineColor (0.0f, 0.0f, 1.0f, 0.0f);
for (int i = 0; i < count; i ++) {
dVector n (normals[i][0], normals[i][1], normals[i][2], 0.0f);
dVector p0 (contacts[i][0], contacts[i][1], contacts[i][2], 0.0f);
dVector p1 (p0 + n.Scale (0.5f));
p0 = matrixA.UntransformVector(p0);
p1 = matrixA.UntransformVector(p1);
ShowMousePicking (p0, p1, originColor, lineColor);
}
}
return 1;
}
