void cPhysicsMaterialNewton::UpdateMaterials()
{
cPhysicsMaterialIterator MatIt = mpWorld->GetMaterialIterator();
while(MatIt.HasNext())
{
cPhysicsMaterialNewton* pMat = static_cast<cPhysicsMaterialNewton*>(MatIt.Next());
ePhysicsMaterialCombMode frictionMode = (ePhysicsMaterialCombMode) std::max(mFrictionMode,
pMat->mFrictionMode);
ePhysicsMaterialCombMode elasticityMode = (ePhysicsMaterialCombMode) std::max(mElasticityMode,
pMat->mElasticityMode);
//If the material is the same do not blend.
if(pMat == this){
frictionMode = ePhysicsMaterialCombMode_Average;
elasticityMode = ePhysicsMaterialCombMode_Average;
}
NewtonMaterialSetDefaultElasticity(mpNewtonWorld,mlMaterialId,pMat->mlMaterialId,
Combine(elasticityMode,mfElasticity, pMat->mfElasticity));
NewtonMaterialSetDefaultFriction(mpNewtonWorld,mlMaterialId,pMat->mlMaterialId,
Combine(frictionMode,mfStaticFriction, pMat->mfStaticFriction),
Combine(frictionMode,mfKineticFriction, pMat->mfKineticFriction));
NewtonMaterialSetContinuousCollisionMode(mpNewtonWorld,mlMaterialId,pMat->mlMaterialId,
1);
NewtonMaterialSetCollisionCallback(mpNewtonWorld,mlMaterialId,pMat->mlMaterialId,
(void*)NULL,BeginContactCallback,ProcessContactCallback);
}
}
world::world():
_world(NULL),
_accum(0),
_freq(1.0 / 60.0)
{
// default to global gravity
gravity.enabled = true;
_world = NewtonCreate();
const float WORLD_SIZE = 1000;
const vec3 A(-WORLD_SIZE, -WORLD_SIZE, -WORLD_SIZE), B(-A);
NewtonSetWorldSize(_world, &A.x, &B.x);
platform(PLAT_OPTMIZED);
solver(3);
friction(FRIC_ADAPTIVE);
threads(2);
clearCache();
int mid = NewtonMaterialGetDefaultGroupID(_world);
// allow bodies to be swept-tested
NewtonMaterialSetContinuousCollisionMode(_world, mid, mid, 1);
NewtonMaterialSetCollisionCallback(_world, mid, mid, NULL,
&beginContactCB, &processContactCB);
}
void tContact::SetContinuousCollisionMode(int state)
{
NewtonMaterialSetContinuousCollisionMode(tWorld::Instance()->_getNewtonWorld(), mId0->GetId(), mId1->GetId(), state);
}