void CCollisionManager::DetectCollisions()
{
m_collisionsArray.clear();
for( int i=0; i<m_cubes.size(); i++ )
{
for( int j=i; j<m_cubes.size(); j++ )
{
if( i != j )
{
vector<vec3> hitPoints;
int numHitPoints = 0;
float penetrationBox = 0.0f;
vec3 hitNormalBox;
bool hitBox = CubeCubeCollisionCheck( m_cubes[i], m_cubes[j], hitPoints, numHitPoints, penetrationBox, hitNormalBox );
if (hitBox)
{
for (int k=0; k<numHitPoints; k++)
{
AddCollision( m_cubes[i], m_cubes[j], hitPoints[k], hitNormalBox, penetrationBox );
}
}
}
}
}
}
void* OgreNewtonSceneBody::AddCollisionTree (SceneNode* const treeNode)
{
OgreNewtonWorld* const world = (OgreNewtonWorld*) GetNewton();
// convert the nod and all its children to a newton mesh
OgreNewtonMesh mesh (world, treeNode);
mesh.Polygonize();
// create a collision tree mesh
dNewtonCollisionMesh meshCollision (world, mesh, 0);
// add this collision to the scene body
return AddCollision (&meshCollision);
}
void* OgreNewtonSceneBody::AddTerrain (Terrain* const terrain)
{
OgreNewtonWorld* const world = (OgreNewtonWorld*) GetNewton();
int width = terrain->getSize() - 1;
int height = terrain->getSize() - 1;
int size = width * height;
// Real min = terrain->getMinHeight();
// Real max = terrain->getMaxHeight();
Real horizontalScale = (terrain->getWorldSize() / (terrain->getSize() - 1));
dNewtonScopeBuffer<dFloat> elevations(size);
dNewtonScopeBuffer<char> attributes(size);
for (int i = 0; i < width; i++) {
int index = i * height;
for (int k = 0; k < height; k++) {
// for now make collsionID zero, until we can get material information from the terrain tile
attributes[index] = 0;
elevations[index] = terrain->getHeightAtPoint(i, k);
index ++;
}
}
// build the height field collision
dNewtonCollisionHeightField terrainCollision (world, width, height, 5, 0, 1.0f, horizontalScale, &elevations[0], &attributes[0], 0);
// set the offset matrix for this collision shape
Vector3 posit (-(width / 2.0f) * horizontalScale, 0.0f, (height / 2.0f) * horizontalScale);
Quaternion rot(Ogre::Degree(90.0f), Ogre::Vector3(0.0f, 1.0f, 0.0f));
Matrix4 matrix;
matrix.makeTransform (posit, Vector3(1.0f, 1.0f, 1.0f), rot);
matrix = matrix.transpose();
terrainCollision.SetMatrix (&matrix[0][0]);
return AddCollision (&terrainCollision);
}
