int Physics::levelContactProcess( const NewtonMaterial* p_material, const NewtonContact* /*p_contact*/ )
{
// handle level submaterials
unsigned int materialType = static_cast< unsigned int >( NewtonMaterialGetContactFaceAttribute( p_material ) );
switch ( materialType )
{
case Physics::MAT_DEFAULT:
NewtonMaterialSetContactElasticity( p_material, 0.3f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.6f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.3f, 0 );
break;
case Physics::MAT_WOOD:
NewtonMaterialSetContactElasticity( p_material, 0.5f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.6f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.4f, 0 );
break;
case Physics::MAT_STONE:
NewtonMaterialSetContactElasticity( p_material, 0.4f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.55f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.35f, 0 );
break;
case Physics::MAT_METALL:
NewtonMaterialSetContactElasticity( p_material, 0.6f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.5f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.4f, 0 );
break;
case Physics::MAT_GRASS:
NewtonMaterialSetContactElasticity( p_material, 0.4f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.8f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.6f, 0 );
break;
case Physics::MAT_WALL:
NewtonMaterialSetContactElasticity( p_material, 0.8f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.1f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.1f, 0 );
break;
// simply return 0 for non-colliding pairs
case Physics::MAT_NOCOL:
return 0;
break;
default:
;
}
return 1;
}
void Material::SetContactStaticFrictionCoef ( dFloat coef, int index)
{
NewtonMaterialSetContactStaticFrictionCoef( m_material, coef, index );
}
virtual void setStaticFrictionCoefficient(Math::Real _coefficent, bool _primary = true)
{
NewtonMaterialSetContactStaticFrictionCoef(m_pMaterial, _coefficent, _primary ? 0 : 1);
}