C++ (Cpp) GenericContactProcess Examples

Example #1

File: BasicRestitution.cpp Project: alexsaen/newton-dynamics

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);
	}
}

Example #2

File: BasicFriction.cpp Project: Shaderd00d/newton-dynamics

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);
	}
}

Example #3

File: BasicRestitution.cpp Project: Hurleyworks/newton-dynamics

static void UserContactRestitution (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
	// call  the basic call back
	GenericContactProcess (contactJoint, timestep, threadIndex);

	const NewtonBody* const body0 = NewtonJointGetBody0(contactJoint);
	const NewtonBody* const body1 = NewtonJointGetBody1(contactJoint);

	//now core 3.14 can have per collision user data
	const NewtonCollision* const collision0 = NewtonBodyGetCollision(body0);
	const NewtonCollision* const collision1 = NewtonBodyGetCollision(body1);

	NewtonCollisionMaterial material0;
	NewtonCollisionMaterial material1;
	NewtonCollisionGetMaterial(collision0, &material0);
	NewtonCollisionGetMaterial(collision1, &material1);
	dAssert((material0.m_userId == 1) || (material1.m_userId == 1));
	dFloat restitution = dMax(material0.m_userParam[0], material1.m_userParam[0]);

	for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
		NewtonMaterial* const material = NewtonContactGetMaterial (contact);
		NewtonMaterialSetContactElasticity (material, restitution);
	}
}