void CcdPhysicsEnvironment::CallbackTriggers()
{
CcdPhysicsController* ctrl0=0,*ctrl1=0;
if (m_triggerCallbacks[PHY_OBJECT_RESPONSE] || (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints)))
{
//walk over all overlapping pairs, and if one of the involved bodies is registered for trigger callback, perform callback
int numManifolds = m_collisionWorld->GetDispatcher()->GetNumManifolds();
for (int i=0;i<numManifolds;i++)
{
PersistentManifold* manifold = m_collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
int numContacts = manifold->GetNumContacts();
if (numContacts)
{
if (m_debugDrawer && (m_debugDrawer->GetDebugMode() & IDebugDraw::DBG_DrawContactPoints))
{
for (int j=0;j<numContacts;j++)
{
SimdVector3 color(1,0,0);
const ManifoldPoint& cp = manifold->GetContactPoint(j);
if (m_debugDrawer)
m_debugDrawer->DrawContactPoint(cp.m_positionWorldOnB,cp.m_normalWorldOnB,cp.GetDistance(),cp.GetLifeTime(),color);
}
}
RigidBody* obj0 = static_cast<RigidBody* >(manifold->GetBody0());
RigidBody* obj1 = static_cast<RigidBody* >(manifold->GetBody1());
//m_userPointer is set in 'addPhysicsController
CcdPhysicsController* ctrl0 = static_cast<CcdPhysicsController*>(obj0->m_userPointer);
CcdPhysicsController* ctrl1 = static_cast<CcdPhysicsController*>(obj1->m_userPointer);
std::vector<CcdPhysicsController*>::iterator i =
std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl0);
if (i == m_triggerControllers.end())
{
i = std::find(m_triggerControllers.begin(), m_triggerControllers.end(), ctrl1);
}
if (!(i == m_triggerControllers.end()))
{
m_triggerCallbacks[PHY_OBJECT_RESPONSE](m_triggerCallbacksUserPtrs[PHY_OBJECT_RESPONSE],
ctrl0,ctrl1,0);
}
}
}
}
}
//
// todo: this is random access, it can be walked 'cache friendly'!
//
void ParallelIslandDispatcher::BuildAndProcessIslands(CollisionObjectArray& collisionObjects, IslandCallback* callback)
{
int numBodies = collisionObjects.size();
for (int islandId=0;islandId<numBodies;islandId++)
{
std::vector<PersistentManifold*> islandmanifold;
//int numSleeping = 0;
bool allSleeping = true;
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if (colObj0->GetActivationState()== ACTIVE_TAG)
{
allSleeping = false;
}
if (colObj0->GetActivationState()== DISABLE_DEACTIVATION)
{
allSleeping = false;
}
}
}
for (i=0;i<GetNumManifolds();i++)
{
PersistentManifold* manifold = this->GetManifoldByIndexInternal(i);
//filtering for response
CollisionObject* colObj0 = static_cast<CollisionObject*>(manifold->GetBody0());
CollisionObject* colObj1 = static_cast<CollisionObject*>(manifold->GetBody1());
{
if (((colObj0) && (colObj0)->m_islandTag1 == (islandId)) ||
((colObj1) && (colObj1)->m_islandTag1 == (islandId)))
{
if (NeedsResponse(*colObj0,*colObj1))
islandmanifold.push_back(manifold);
}
}
}
if (allSleeping)
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
colObj0->SetActivationState( ISLAND_SLEEPING );
}
}
} else
{
int i;
for (i=0;i<numBodies;i++)
{
CollisionObject* colObj0 = collisionObjects[i];
if (colObj0->m_islandTag1 == islandId)
{
if ( colObj0->GetActivationState() == ISLAND_SLEEPING)
{
colObj0->SetActivationState( WANTS_DEACTIVATION);
}
}
}
/// Process the actual simulation, only if not sleeping/deactivated
if (islandmanifold.size())
{
callback->ProcessIsland(&islandmanifold[0],islandmanifold.size());
}
}
}
}
void clientDisplay(void) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glDisable(GL_LIGHTING);
if (collisionWorld)
collisionWorld->PerformDiscreteCollisionDetection();
///one way to draw all the contact points is iterating over contact manifolds / points:
int i;
int numManifolds = collisionWorld->GetDispatcher()->GetNumManifolds();
for (i=0;i<numManifolds;i++)
{
PersistentManifold* contactManifold = collisionWorld->GetDispatcher()->GetManifoldByIndexInternal(i);
CollisionObject* obA = static_cast<CollisionObject*>(contactManifold->GetBody0());
CollisionObject* obB = static_cast<CollisionObject*>(contactManifold->GetBody1());
contactManifold->RefreshContactPoints(obA->m_worldTransform,obB->m_worldTransform);
int numContacts = contactManifold->GetNumContacts();
for (int j=0;j<numContacts;j++)
{
ManifoldPoint& pt = contactManifold->GetContactPoint(j);
glBegin(GL_LINES);
glColor3f(1, 0, 1);
SimdVector3 ptA = pt.GetPositionWorldOnA();
SimdVector3 ptB = pt.GetPositionWorldOnB();
glVertex3d(ptA.x(),ptA.y(),ptA.z());
glVertex3d(ptB.x(),ptB.y(),ptB.z());
glEnd();
}
}
//GL_ShapeDrawer::DrawCoordSystem();
float m[16];
for (i=0;i<numObjects;i++)
{
objects[i].m_worldTransform.getOpenGLMatrix( m );
GL_ShapeDrawer::DrawOpenGL(m,objects[i].m_collisionShape,SimdVector3(1,1,1),getDebugMode());
}
SimdQuaternion orn;
orn.setEuler(yaw,pitch,roll);
objects[1].m_worldTransform.setOrigin(objects[1].m_worldTransform.getOrigin()+SimdVector3(0,-0.01,0));
//objects[0].m_worldTransform.setRotation(orn);
pitch += 0.005f;
yaw += 0.01f;
glFlush();
glutSwapBuffers();
}
