// this callback is called for every contact between the two bodies
int Physics::genericContactProcess( const NewtonMaterial* p_material, const NewtonContact* p_contact )
{
float speed0;
float speed1;
osg::Vec3f normal;
// get the maximun normal speed of this impact.
speed0 = NewtonMaterialGetContactNormalSpeed( p_material, p_contact );
if ( speed0 > s_colStruct->_contactMaxNormalSpeed ) {
// save the position of the contact ( e.g. for 3d sound for particle effects )
s_colStruct->_contactMaxNormalSpeed = speed0;
NewtonMaterialGetContactPositionAndNormal( p_material, &s_colStruct->_position._v[ 0 ], &normal._v[ 0 ] );
}
// get the maximun of the two sliding contact speeds
speed0 = NewtonMaterialGetContactTangentSpeed( p_material, p_contact, 0 );
speed1 = NewtonMaterialGetContactTangentSpeed( p_material, p_contact, 1 );
if ( speed1 > speed0 )
speed0 = speed1;
// get the maximun tangent speed of this contact. this can be used e.g. for particles(sparks) or playing scratch sounds
if ( speed0 > s_colStruct->_contactMaxTangentSpeed ) {
// save the position of the contact (for 3d sound or particle effects)
s_colStruct->_contactMaxTangentSpeed = speed0;
NewtonMaterialGetContactPositionAndNormal( p_material, &s_colStruct->_position._v[ 0 ], &normal._v[ 0 ] );
}
// return one to tell Newton we want to accept this contact
return 1;
}
void cPhysicsMaterialNewton::ProcessContactCallback(const NewtonJoint* apJoint,
float afTimeStep,
int alThreadIndex)
{
cPhysicsContactData ContactData;
int lContactNum = 0;
iPhysicsBody * pContactBody1 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody0(apJoint));
iPhysicsBody * pContactBody2 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody1(apJoint));
for (void* pContact = NewtonContactJointGetFirstContact(apJoint);
pContact;
pContact = NewtonContactJointGetNextContact(apJoint, pContact))
{
NewtonMaterial* pMaterial = NewtonContactGetMaterial(pContact);
//Log(" Process contact between body '%s' and '%s'.\n",pContactBody1->GetName().c_str(),
// pContactBody2->GetName().c_str());
//Normal speed
float fNormSpeed = NewtonMaterialGetContactNormalSpeed(pMaterial);
if (ContactData.mfMaxContactNormalSpeed < fNormSpeed)
ContactData.mfMaxContactNormalSpeed = fNormSpeed;
//Tangent speed
float fTanSpeed0 = NewtonMaterialGetContactTangentSpeed(pMaterial, 0);
float fTanSpeed1 = NewtonMaterialGetContactTangentSpeed(pMaterial, 1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed0))
ContactData.mfMaxContactTangentSpeed = fTanSpeed0;
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed1))
ContactData.mfMaxContactTangentSpeed = fTanSpeed1;
//Force
cVector3f vForce;
NewtonMaterialGetContactForce(pMaterial,vForce.v);
ContactData.mvForce += vForce;
//Position and normal
cVector3f vPos, vNormal;
NewtonMaterialGetContactPositionAndNormal(pMaterial,vPos.v, vNormal.v);
ContactData.mvContactNormal += vNormal;
ContactData.mvContactPosition += vPos;
//Log(" Norm: %f Tan0: %f Tan1: %f\n",fNormSpeed, fTanSpeed0, fTanSpeed1);
//Log("Force: %s step %f\n", vForce.ToString().c_str(), afTimestep);
if(pContactBody1->GetWorld()->GetSaveContactPoints())
{
cCollidePoint collidePoint;
collidePoint.mfDepth = 1;
NewtonMaterialGetContactPositionAndNormal (pMaterial, collidePoint.mvPoint.v,
collidePoint.mvNormal.v);
pContactBody1->GetWorld()->GetContactPoints()->push_back(collidePoint);
}
lContactNum++;
}
//Log("--- End contact between body '%s' and '%s'.\n",mpContactBody1->GetName().c_str(),
// mpContactBody2->GetName().c_str());
if(lContactNum <= 0) return;
iPhysicsMaterial *pMaterial1 = pContactBody1->GetMaterial();
iPhysicsMaterial *pMaterial2 = pContactBody2->GetMaterial();
ContactData.mvContactNormal = ContactData.mvContactNormal / (float)lContactNum;
ContactData.mvContactPosition = ContactData.mvContactPosition / (float)lContactNum;
pMaterial1->GetSurfaceData()->CreateImpactEffect(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pMaterial2->GetSurfaceData());
int lPrio1 = pMaterial1->GetSurfaceData()->GetPriority();
int lPrio2 = pMaterial2->GetSurfaceData()->GetPriority();
if(lPrio1 >= lPrio2)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial1->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial1->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1,pContactBody2);
}
if(lPrio2 >= lPrio1 && pMaterial2 != pMaterial1)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial2->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial2->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2,pContactBody1);
}
pContactBody1->OnCollide(pContactBody2,&ContactData);
pContactBody2->OnCollide(pContactBody1,&ContactData);
}
void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
#if 0
dFloat speed0;
dFloat speed1;
SpecialEffectStruct* currectEffect;
// get the pointer to the special effect structure
currectEffect = (SpecialEffectStruct *)NewtonMaterialGetMaterialPairUserData (material);
// save the contact information
NewtonMaterialGetContactPositionAndNormal (material, &currectEffect->m_position.m_x, &currectEffect->m_normal.m_x);
NewtonMaterialGetContactTangentDirections (material, &currectEffect->m_tangentDir0.m_x, &currectEffect->m_tangentDir1.m_x);
// Get the maximum normal speed of this impact. this can be used for positioning collision sound
speed0 = NewtonMaterialGetContactNormalSpeed (material);
if (speed0 > currectEffect->m_contactMaxNormalSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxNormalSpeed = speed0;
}
// get the maximum of the two sliding contact speed
speed0 = NewtonMaterialGetContactTangentSpeed (material, 0);
speed1 = NewtonMaterialGetContactTangentSpeed (material, 1);
if (speed1 > speed0) {
speed0 = speed1;
}
// Get the maximum tangent speed of this contact. this can be used for particles(sparks) of playing scratch sounds
if (speed0 > currectEffect->m_contactMaxTangentSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxTangentSpeed = speed0;
}
#endif
// read the table direction
// dVector dir (tableDir);
// dVector updir (TableDir);
// NewtonBody* const body = NewtonJointGetBody0(contactJoint);
// for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
// dFloat speed;
// dVector point;
// dVector normal;
// dVector dir0;
// dVector dir1;
// dVector force;
// NewtonMaterial* material;
//
// material = NewtonContactGetMaterial (contact);
// NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
//
// // if the normal is vertical is large the say 40 degrees
// if (fabsf (normal % upDir) > 0.7f) {
// // rotate the normal to be aligned with the table direction
// NewtonMaterialContactRotateTangentDirections (material, dir);
// }
// }
NewtonBody* const body = NewtonJointGetBody0(contactJoint);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
dVector force;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, body, &force.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
NewtonMaterialGetContactTangentDirections (material, body, &dir0.m_x, &dir1.m_x);
//dFloat speed = NewtonMaterialGetContactNormalSpeed(material);
//speed = NewtonMaterialGetContactNormalSpeed(material);
// play sound base of the contact speed.
//
}
}
dFloat Material::GetContactTangentSpeed ( const NewtonContact* contactlHandle, int index)
{
return NewtonMaterialGetContactTangentSpeed( m_material, contactlHandle, index );
}
virtual Math::Real getContactTangentSpeed(bool _primary = true) const
{
return NewtonMaterialGetContactTangentSpeed(m_pMaterial, m_pContact, _primary ? 0 : 1);
}
