unsigned dNewtonRayCast::PrefilterCallback(const NewtonBody* const body, const NewtonCollision* const collision, void* const userData)
{
dNewtonRayCast* const me = (dNewtonRayCast*) userData;
const dNewtonBody* const myBody = (dNewtonBody*) NewtonBodyGetUserData(body);
const dNewtonCollision* const myCollision = (dNewtonCollision*) NewtonCollisionGetUserData(collision);
return me->OnPrefilter (myBody, myCollision);
}
static void UserContactRestitution (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBody* body;
NewtonBody* body0;
NewtonBody* body1;
// call the basic call back
GenericContactProcess (contactJoint, timestep, threadIndex);
body0 = NewtonJointGetBody0(contactJoint);
body1 = NewtonJointGetBody1(contactJoint);
body = body0;
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
if (mass == 0.0f) {
body = body1;
}
NewtonCollision* const collision = NewtonBodyGetCollision(body);
void* userData = NewtonCollisionGetUserData (collision);
dFloat restitution = *((float*)&userData);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialSetContactElasticity (material, restitution);
}
}
dNewtonCollision* dNewtonContactMaterial::GetShape1 (const void* const contact)
{
NewtonBody* const body = NewtonJointGetBody1 ((NewtonJoint*)m_materialHandle);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonCollision* const collision = NewtonMaterialGetBodyCollidingShape (material, body);
return (dNewtonCollision*)NewtonCollisionGetUserData(collision);
}
dFloat dNewtonRayCast::RayFilterCallback(const NewtonBody* const body, const NewtonCollision* const shapeHit, const dFloat* const hitContact, const dFloat* const hitNormal, dLong collisionID, void* const userData, dFloat intersectParam)
{
dNewtonRayCast* const me = (dNewtonRayCast*) userData;
const dNewtonBody* const myBody = (dNewtonBody*) NewtonBodyGetUserData(body);
const dNewtonCollision* const myCollision = (dNewtonCollision*) NewtonCollisionGetUserData(shapeHit);
return me->OnRayHit (myBody, myCollision, hitContact, hitNormal, collisionID, intersectParam);
}
static void UserContactFriction (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
// call the basic call back
GenericContactProcess (contactJoint, timestep, threadIndex);
const NewtonBody* const body0 = NewtonJointGetBody0(contactJoint);
const NewtonBody* const body1 = NewtonJointGetBody1(contactJoint);
const NewtonBody* body = body0;
NewtonBodyGetMass (body, &mass, &Ixx, &Iyy, &Izz);
if (mass == 0.0f) {
body = body1;
}
//now core 300 can have per collision user data
NewtonCollision* const collision = NewtonBodyGetCollision(body);
void* userData = NewtonCollisionGetUserData (collision);
dFloat frictionValue = *((dFloat*)&userData);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialSetContactFrictionCoef (material, frictionValue + 0.1f, frictionValue, 0);
NewtonMaterialSetContactFrictionCoef (material, frictionValue + 0.1f, frictionValue, 1);
}
}
virtual void Render(dFloat timeStep, DemoEntityManager* const scene) const
{
// save the model matrix before changing it Matrix
glPushMatrix();
// Set The matrix for this entity Node
glMultMatrix(&m_matrix[0][0]);
// Render mesh if there is one
for (void* proxyNode = NewtonSceneCollisionGetFirstNode(m_sceneCollision); proxyNode; proxyNode = NewtonSceneCollisionGetNextNode(m_sceneCollision, proxyNode)) {
dMatrix matrix;
NewtonCollision* const collision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxyNode);
DemoMesh* const mesh = (DemoMesh*) NewtonCollisionGetUserData(collision);
glPushMatrix();
NewtonCollisionGetMatrix (collision, &matrix[0][0]);
glMultMatrix(&matrix[0][0]);
mesh->Render(scene);
glPopMatrix();
}
// restore the matrix before leaving
glPopMatrix();
}
void dNewton::OnCollisionCopyConstruct (const NewtonWorld* const world, NewtonCollision* const collision, const NewtonCollision* const sourceCollision)
{
dNewtonCollision* const srcColl = (dNewtonCollision*) NewtonCollisionGetUserData(sourceCollision);
if (srcColl) {
srcColl->Clone(collision);
}
}
void dNewton::OnCollisionDestructorCallback (const NewtonWorld* const newtonWorld, const NewtonCollision* const collision)
{
dNewtonCollision* const srcColl = (dNewtonCollision*) NewtonCollisionGetUserData(collision);
if (srcColl) {
delete srcColl;
}
}
~ComplexScene ()
{
// release all meshes
for (void* proxyNode = NewtonSceneCollisionGetFirstNode(m_sceneCollision); proxyNode; proxyNode = NewtonSceneCollisionGetNextNode(m_sceneCollision, proxyNode)) {
NewtonCollision* const collision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxyNode);
DemoMesh* const mesh = (DemoMesh*) NewtonCollisionGetUserData(collision);
mesh->Release();
}
}
int dNewton::OnCompoundSubCollisionAABBOverlap (const NewtonMaterial* const material, const NewtonBody* const body0, const void* const collisionNode0, const NewtonBody* const body1, const void* const collisionNode1, int threadIndex)
{
dAssert (NewtonBodyGetWorld (body0) == NewtonBodyGetWorld (body1));
dNewton* const world = (dNewton*) NewtonWorldGetUserData(NewtonBodyGetWorld (body0));
dNewtonBody* const dBody0 = (dNewtonBody*) NewtonBodyGetUserData (body0);
dNewtonBody* const dBody1 = (dNewtonBody*) NewtonBodyGetUserData (body1);
NewtonCollision* const collision0 = NewtonBodyGetCollision(body0);
NewtonCollision* const collision1 = NewtonBodyGetCollision(body1);
NewtonCollision* const subCollision0 = collisionNode0 ? (NewtonCollision*) NewtonCompoundCollisionGetCollisionFromNode (collision0, (void*)collisionNode0) : collision0;
NewtonCollision* const subCollision1 = collisionNode1 ? (NewtonCollision*) NewtonCompoundCollisionGetCollisionFromNode (collision1, (void*)collisionNode1) : collision1;
dNewtonCollision* const dsubCollision0 = (dNewtonCollision*)NewtonCollisionGetUserData(subCollision0);
dNewtonCollision* const dsubCollision1 = (dNewtonCollision*)NewtonCollisionGetUserData(subCollision1);
dAssert (dsubCollision0);
dAssert (dsubCollision1);
return world->OnCompoundSubCollisionAABBOverlap (dBody0, dsubCollision0, dBody1, dsubCollision1, threadIndex);
}
static int OnBoneAABBOverlap (const NewtonMaterial* const material, const NewtonBody* const body0, const NewtonBody* const body1, int threadIndex)
{
dAssert (0);
NewtonCollision* const collision0 = NewtonBodyGetCollision(body0);
NewtonCollision* const collision1 = NewtonBodyGetCollision(body1);
dCustomActiveCharacterController::dSkeletonBone* const bone0 = (dCustomActiveCharacterController::dSkeletonBone*)NewtonCollisionGetUserData (collision0);
dCustomActiveCharacterController::dSkeletonBone* const bone1 = (dCustomActiveCharacterController::dSkeletonBone*)NewtonCollisionGetUserData (collision1);
dAssert (bone0);
dAssert (bone1);
if (bone0->m_myController && bone1->m_myController) {
return bone0->m_myController->SelfCollisionTest (bone0, bone1) ? 1 : 0;
}
*/
return 1;
}
