static void printGeom (PrintingContext &c, dxGeom *g)
{
unsigned long category = dGeomGetCategoryBits (g);
if (category != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"category_bits = %lu\n",category);
}
unsigned long collide = dGeomGetCollideBits (g);
if (collide != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"collide_bits = %lu\n",collide);
}
if (!dGeomIsEnabled (g)) {
c.print ("disabled",1);
}
switch (g->type) {
case dSphereClass: printSphere (c,g); break;
case dBoxClass: printBox (c,g); break;
case dCapsuleClass: printCapsule (c,g); break;
case dCylinderClass: printCylinder (c,g); break;
case dPlaneClass: printPlane (c,g); break;
case dRayClass: printRay (c,g); break;
case dConvexClass: printConvex (c,g); break;
case dTriMeshClass: printTriMesh (c,g); break;
case dHeightfieldClass: printHeightfieldClass (c,g); break;
}
}
/***************************************************************************\
* Instance methods *
\***************************************************************************/
void PhysicsPlaneGeom::onCreate(const PhysicsPlaneGeom *)
{
PhysicsPlaneGeomPtr tmpPtr(*this);
tmpPtr->id = dCreatePlane(0, 0, 0, 1, 0);
PhysicsPlaneGeomBase::setParams(tmpPtr->getParams());
PhysicsGeomBase::setCategoryBits(dGeomGetCategoryBits(id));
PhysicsGeomBase::setCollideBits(dGeomGetCollideBits(id));
}
int get_phys_geom_attr_i(dGeomID geom, int p)
{
switch (p)
{
case GEOM_ATTR_CATEGORY: return dGeomGetCategoryBits(geom);
case GEOM_ATTR_COLLIDER: return dGeomGetCollideBits (geom);
case GEOM_ATTR_RESPONSE: return get_data(geom)->response;
case GEOM_ATTR_CALLBACK: return get_data(geom)->callback;
}
return 0;
}
/*-------------------------------------------------------------------------*\
- public -
\*-------------------------------------------------------------------------*/
void PhysicsTriMeshGeom::onCreate(const PhysicsTriMeshGeom *)
{
PhysicsTriMeshGeomPtr tmpPtr(*this);
tmpPtr->id = dCreateTriMesh(0, 0, 0, 0, 0);
data = 0;
numVertices = 0;
numFaces = 0;
vertexData = 0;
faceData = 0;
normalData = 0;
geoNode=NullFC;
PhysicsGeomBase::setCategoryBits(dGeomGetCategoryBits(id));
PhysicsGeomBase::setCollideBits(dGeomGetCollideBits(id));
}
unsigned long ODE_Particle::getCollideBits()
{
return dGeomGetCollideBits(geom);
}
void PhysicsCapsuleGeom::onCreate(const PhysicsCapsuleGeom *)
{
_GeomID = dCreateCapsule(0, getRadius(), getLength());
setCategoryBits(dGeomGetCategoryBits(_GeomID));
setCollideBits(dGeomGetCollideBits(_GeomID));
}
void PhysicsPlaneGeom::onCreate(const PhysicsPlaneGeom *)
{
_GeomID = dCreatePlane(0, getParameters().x(), getParameters().y(), getParameters().z(), getParameters().w());
setCategoryBits(dGeomGetCategoryBits(_GeomID));
setCollideBits(dGeomGetCollideBits(_GeomID));
}
unsigned long ODEGeom::getGeomCollideBits()
{
return dGeomGetCollideBits(geom);
}
void PhysicsSpace::collisionCallback (dGeomID o1, dGeomID o2)
{
StatRealElem *NCollisionTestsStatElem = StatCollector::getGlobalElem(PhysicsHandler::statNCollisionTests);
if(NCollisionTestsStatElem) { NCollisionTestsStatElem->add(1.0f); }
if (dGeomIsSpace (o1) || dGeomIsSpace (o2))
{
// colliding a space with something
dSpaceCollide2 (o1,o2,reinterpret_cast<void *>(this),&PhysicsSpace::collisionCallback);
// collide all geoms internal to the space(s)
if (dGeomIsSpace (o1)) dSpaceCollide (dGeomGetSpace(o1),reinterpret_cast<void *>(this),&PhysicsSpace::collisionCallback);
if (dGeomIsSpace (o2)) dSpaceCollide (dGeomGetSpace(o2),reinterpret_cast<void *>(this),&PhysicsSpace::collisionCallback);
}
else
{
_DiscardCollision = false;
// colliding two non-space geoms, so generate contact
// points between o1 and o2
Int32 numContacts = dCollide(o1, o2, _ContactJoints.size(),
&(_ContactJoints[0].geom), sizeof(dContact));
StatRealElem *NCollisionsStatElem = StatCollector::getGlobalElem(PhysicsHandler::statNCollisions);
if(NCollisionsStatElem) { NCollisionsStatElem->add(static_cast<Real32>(numContacts)); }
if(numContacts>0)
{
Vec3f v1,v2,normal;
Pnt3f position;
dVector3 odeVec;
Real32 projectedNormalSpeed;
for (Int32 i=0; i < numContacts; i++)
{
normal += Vec3f(&_ContactJoints[i].geom.normal[0]);
position += Vec3f(&_ContactJoints[i].geom.pos[0]);
if(dGeomGetBody(o1))
{
dBodyGetPointVel(dGeomGetBody(o1), _ContactJoints[i].geom.pos[0], _ContactJoints[i].geom.pos[1], _ContactJoints[i].geom.pos[2],odeVec);
v1 += Vec3f(&odeVec[0]);
}
if(dGeomGetBody(o2))
{
dBodyGetPointVel(dGeomGetBody(o2), _ContactJoints[i].geom.pos[0], _ContactJoints[i].geom.pos[1], _ContactJoints[i].geom.pos[2],odeVec);
v2 += Vec3f(&odeVec[0]);
}
}
normal = normal * (1.0f/static_cast<Real32>(numContacts));
position = position * (1.0f/static_cast<Real32>(numContacts));
v1 = v1 * (1.0f/static_cast<Real32>(numContacts));
v2 = v2 * (1.0f/static_cast<Real32>(numContacts));
projectedNormalSpeed = (v1+v2).projectTo(normal);
//TODO: Add a way to get the PhysicsGeomUnrecPtr from the GeomIDs so that the PhysicsGeomUnrecPtr can be
//sent to the collision event
produceCollision(position,
normal,
NULL,
NULL,
dGeomGetCategoryBits(o1),
dGeomGetCollideBits (o1),
dGeomGetCategoryBits(o2),
dGeomGetCollideBits (o2),
v1,
v2,
osgAbs(projectedNormalSpeed));
UInt32 Index(0);
for(; Index<_CollisionListenParamsVec.size() ; ++Index)
{
if((dGeomGetCategoryBits(o1) & _CollisionListenParamsVec[Index]._Category) || (dGeomGetCategoryBits(o2) & _CollisionListenParamsVec[Index]._Category))
{
break;
}
}
if(Index < _CollisionListenParamsVec.size())
{
for(UInt32 i(0); i<_CollisionListenParamsVec.size() ; ++i)
{
if( ((dGeomGetCategoryBits(o1) & _CollisionListenParamsVec[i]._Category) || (dGeomGetCategoryBits(o2) & _CollisionListenParamsVec[i]._Category)) &&
(osgAbs(projectedNormalSpeed) >= _CollisionListenParamsVec[i]._SpeedThreshold)
)
{
//TODO: Add a way to get the PhysicsGeomUnrecPtr from the GeomIDs so that the PhysicsGeomUnrecPtr can be
//sent to the collision event
produceCollision(_CollisionListenParamsVec[i]._Listener,
position,
normal,
NULL,
NULL,
dGeomGetCategoryBits(o1),
dGeomGetCollideBits (o1),
dGeomGetCategoryBits(o2),
dGeomGetCollideBits (o2),
v1,
v2,
osgAbs(projectedNormalSpeed));
}
}
}
}
if(!_DiscardCollision)
{
// add these contact points to the simulation
for (Int32 i=0; i < numContacts; i++)
{
getCollisionContact(dGeomGetCategoryBits(o1), dGeomGetCategoryBits(o2))->updateODEContactJoint(_ContactJoints[i]);
dJointID jointId = dJointCreateContact(_CollideWorldID,
_ColJointGroupId,
&_ContactJoints[i]);
dJointAttach(jointId, dGeomGetBody(o1), dGeomGetBody(o2));
}
}
}
}
