void tContact::_newtonContactProcess(const NewtonJoint * contactJoint, dFloat timeStep, int threadIndex)
{
Vec3 contactPosit, contactNormal;
float contactBestSpeed = 0.5f;
tContact * mtl = NULL;
const NewtonBody * body0 = NewtonJointGetBody0(contactJoint);
void * contact = NewtonContactJointGetFirstContact (contactJoint);
while (contact)
{
float contactNormalSpeed;
NewtonMaterial * material;
// get the material for this contact;
material = NewtonContactGetMaterial (contact);
contactNormalSpeed = NewtonMaterialGetContactNormalSpeed (material);
if (contactNormalSpeed > contactBestSpeed){
contactBestSpeed = contactNormalSpeed;
contactBestSpeed = contactNormalSpeed;
NewtonMaterialGetContactPositionAndNormal(material, &contactPosit.x, &contactNormal[0]);
mtl = (tContact *)NewtonMaterialGetMaterialPairUserData(material);
}
contact = NewtonContactJointGetNextContact (contactJoint, contact);
}
if (mtl)
mtl->OnContactProcess(&contactPosit, &contactNormal);
}
void _CDECL ContactCallback::contactEnd( const NewtonMaterial* material )
{
ContactCallback* me;
me = (ContactCallback*)NewtonMaterialGetMaterialPairUserData( material );
me->m_material = (NewtonMaterial*)material;
me->userEnd();
}
int _CDECL MaterialPair::collisionCallback_onAABBOverlap( const NewtonMaterial* material, const NewtonBody* newtonBody0, const NewtonBody* newtonBody1, int threadIndex )
{
MaterialPair* me;
me = (MaterialPair*)NewtonMaterialGetMaterialPairUserData( material );
Body* body0 = (OgreNewt::Body*)NewtonBodyGetUserData( newtonBody0 );
Body* body1 = (OgreNewt::Body*)NewtonBodyGetUserData( newtonBody1 );
return me->m_contactcallback->onAABBOverlap( body0, body1, threadIndex );
}
int PhysWorld3D::OnAABBOverlap(const NewtonMaterial* const material, const NewtonBody* const body0, const NewtonBody* const body1, int threadIndex)
{
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body0));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(body1));
assert(bodyA && bodyB);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->aabbOverlapCallback);
return callbackData->aabbOverlapCallback(*bodyA, *bodyB);
}
int _CDECL ContactCallback::contactProcess( const NewtonMaterial* material, const NewtonContact* contact )
{
ContactCallback *me;
me = (ContactCallback*)NewtonMaterialGetMaterialPairUserData( material );
me->m_material = (NewtonMaterial*)material;
me->m_contact = (NewtonContact*)contact;
// call the user-defined callback function!
return me->userProcess();
}
int _CDECL ContactCallback::contactBegin( const NewtonMaterial* material, const NewtonBody* body0, const NewtonBody* body1 )
{
ContactCallback* me;
me = (ContactCallback*)NewtonMaterialGetMaterialPairUserData( material );
me->m_material = (NewtonMaterial*)material;
//save the bodies...
me->m_body0 = (OgreNewt::Body*)NewtonBodyGetUserData( body0 );
me->m_body1 = (OgreNewt::Body*)NewtonBodyGetUserData( body1 );
return me->userBegin();
}
// this callback is called when the two aabb boxes of the colliding objects overlap
int Physics::genericContactBegin( const NewtonMaterial* p_material, const NewtonBody* p_body0, const NewtonBody* p_body1 )
{
// get the pointer to collision struture
s_colStruct = ( CollisionStruct* )NewtonMaterialGetMaterialPairUserData( p_material );
// save the colliding bodies
s_colStruct->_p_body0 = const_cast< NewtonBody* >( p_body0 );
s_colStruct->_p_body1 = const_cast< NewtonBody* >( p_body1 );
// clear the contact normal speed
s_colStruct->_contactMaxNormalSpeed = 0.0f;
// clear the contact sliding speed
s_colStruct->_contactMaxTangentSpeed = 0.0f;
// return one to tell Newton the application wants to proccess this contact
return 1;
}
int entityContactBegin( const NewtonMaterial* p_material, const NewtonBody* p_body0, const NewtonBody* p_body1 )
{
// get the pointer to collision struture
s_entityColStruct = static_cast< yaf3d::CollisionStruct* >( NewtonMaterialGetMaterialPairUserData( p_material ) );
// save the colliding bodies
s_entityColStruct->_p_body0 = const_cast< NewtonBody* >( p_body0 );
s_entityColStruct->_p_body1 = const_cast< NewtonBody* >( p_body1 );
// clear the contact normal speed
s_entityColStruct->_contactMaxNormalSpeed = 0.0f;
// clear the contact sliding speed
s_entityColStruct->_contactMaxTangentSpeed = 0.0f;
// set also Physics' col struct as we may need some useful Physics' callbacks during contanct processing
// see implementation of "entityContactProcessLevel"
yaf3d::Physics::setCollisionStruct( s_entityColStruct );
return 1;
}
static void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat contactBestSpeed;
dVector contactPosit;
SoundEffect* bestSound;
bestSound = NULL;
contactBestSpeed = 0.5f;
NewtonBody* const body0 = NewtonJointGetBody0(contactJoint);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat contactNormalSpeed;
NewtonMaterial* material;
// get the material for this contact;
material = NewtonContactGetMaterial (contact);
contactNormalSpeed = NewtonMaterialGetContactNormalSpeed (material);
if (contactNormalSpeed > contactBestSpeed){
dVector normal;
contactBestSpeed = contactNormalSpeed;
NewtonMaterialGetContactPositionAndNormal (material, body0, &contactPosit[0], &normal[0]);
bestSound = (SoundEffect *)NewtonMaterialGetMaterialPairUserData (material);
}
}
// now that we found we can play then
if (bestSound) {
// calculate the volume;
dFloat volume;
dFloat dist2;
dVector eyePoint (GetCameraEyePoint() - contactPosit);
dist2 = eyePoint % eyePoint;
if (dist2 < (MAX_SOUND_DISTANCE * MAX_SOUND_DISTANCE)) {
volume = 1.0f;
if (dist2 > (MIN_SOUND_DISTANCE * MIN_SOUND_DISTANCE)) {
volume = 1.0f - (dSqrt (dist2) - MIN_SOUND_DISTANCE) / (MAX_SOUND_DISTANCE - MIN_SOUND_DISTANCE);
}
bestSound->m_manager->Play(bestSound->m_sound, volume, 0);
}
}
}
void PhysWorld3D::ProcessContact(const NewtonJoint* const contactJoint, float timestep, int threadIndex)
{
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody0(contactJoint)));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody1(contactJoint)));
assert(bodyA && bodyB);
using ContactJoint = void*;
// Query all joints first, to prevent removing a joint from the list while iterating on it
StackVector<ContactJoint> contacts = NazaraStackVector(ContactJoint, NewtonContactJointGetContactCount(contactJoint));
for (ContactJoint contact = NewtonContactJointGetFirstContact(contactJoint); contact; contact = NewtonContactJointGetNextContact(contactJoint, contact))
contacts.push_back(contact);
for (ContactJoint contact : contacts)
{
NewtonMaterial* material = NewtonContactGetMaterial(contact);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->collisionCallback);
if (!callbackData->collisionCallback(*bodyA, *bodyB))
NewtonContactJointRemoveContact(contactJoint, contact);
}
}
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.
//
}
}
void GenericContactProcessCompatible(const void* const newtonContactJoint, float64 timestep, int threadIndex)
{
con_assert(newtonContactJoint != nullptr, "zero pointer")
NewtonBody* body0 = NewtonJointGetBody0(static_cast<const NewtonJoint*>(newtonContactJoint));
NewtonBody* body1 = NewtonJointGetBody1(static_cast<const NewtonJoint*>(newtonContactJoint));
con_assert(body0 != nullptr && body1 != nullptr, "zero pointers")
if (body0 != nullptr && body1 != nullptr)
{
iPhysicsBody* physicsBody0 = static_cast<iPhysicsBody*>(NewtonBodyGetUserData(static_cast<const NewtonBody*>(body0)));
iPhysicsBody* physicsBody1 = static_cast<iPhysicsBody*>(NewtonBodyGetUserData(static_cast<const NewtonBody*>(body1)));
con_assert(physicsBody0 != nullptr && physicsBody1 != nullptr, "zero pointers");
void* contact = NewtonContactJointGetFirstContact(static_cast<const NewtonJoint*>(newtonContactJoint));
NewtonMaterial* materialCombo = NewtonContactGetMaterial(contact);
iPhysicsMaterialCombo* physicsMaterialCombo = static_cast<iPhysicsMaterialCombo*>(NewtonMaterialGetMaterialPairUserData(materialCombo));
if (physicsMaterialCombo != nullptr && physicsBody0 != nullptr && physicsBody1 != nullptr)
{
physicsMaterialCombo->contact(physicsBody0, physicsBody1);
}
}
}
