dNewtonCollision* dNewtonContactMaterial::GetShape1 (const void* const contact)
{
NewtonBody* const body = NewtonJointGetBody1 ((NewtonJoint*)m_materialHandle);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonCollision* const collision = NewtonMaterialGetBodyCollidingShape (material, body);
return (dNewtonCollision*)NewtonCollisionGetUserData(collision);
}
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);
}
}
void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
int isHightField;
NewtonBody* body;
NewtonCollision* collision;
NewtonCollisionInfoRecord info;
isHightField = 1;
body = NewtonJointGetBody0 (contactJoint);
collision = NewtonBodyGetCollision(body);
NewtonCollisionGetInfo(collision, &info);
if (info.m_collisionType != SERIALIZE_ID_HEIGHTFIELD) {
body = NewtonJointGetBody1 (contactJoint);
collision = NewtonBodyGetCollision(body);
NewtonCollisionGetInfo(collision, &info);
isHightField = (info.m_collisionType == SERIALIZE_ID_HEIGHTFIELD);
}
#define HOLE_IN_TERRAIN 10
if (isHightField) {
void* nextContact;
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = nextContact) {
int faceID;
NewtonMaterial* material;
nextContact = NewtonContactJointGetNextContact (contactJoint, contact);
material = NewtonContactGetMaterial (contact);
faceID = NewtonMaterialGetContactFaceAttribute (material);
if (faceID == HOLE_INTERRAIN) {
NewtonContactJointRemoveContact (contactJoint, contact);
}
}
}
}
void GetForceOnStaticBody (NewtonBody* body, NewtonBody* staticBody)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body); joint; joint = NewtonBodyGetNextContactJoint (body, joint)) {
NewtonBody* body0;
NewtonBody* body1;
body0 = NewtonJointGetBody0(joint);
body1 = NewtonJointGetBody1(joint);
if ((body0 == staticBody) || (body1 == staticBody)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
float forceMag;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
dVector force (normal.Scale (-forceMag));
// do wherever you want withteh force
}
}
}
}
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);
}
}
void CustomTriggerManager::UpdateTrigger (CustomTriggerController* const controller)
{
NewtonBody* const triggerBody = controller->GetBody();
dTree<NewtonBody*,NewtonBody*>& manifest = controller->m_manifest;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (triggerBody); joint; joint = NewtonBodyGetNextContactJoint (triggerBody, joint)) {
int isActive = NewtonJointIsActive (joint);
NewtonBody* const body0 = NewtonJointGetBody0(joint);
NewtonBody* const body1 = NewtonJointGetBody1(joint);
NewtonBody* const passangerBody = (body0 != triggerBody) ? body0 : body1;
if (isActive) {
dTree<NewtonBody*,NewtonBody*>::dTreeNode* const passengerNode = manifest.Find (passangerBody);
if (passengerNode) {
EventCallback (controller, m_inTrigger, passangerBody);
} else {
CustomScopeLock lock (&m_lock);
manifest.Insert (passangerBody, passangerBody);
EventCallback (controller, m_enterTrigger, passangerBody);
}
} else {
dTree<NewtonBody*,NewtonBody*>::dTreeNode* const passengerNode = manifest.Find (passangerBody);
if (passengerNode) {
EventCallback (controller, m_exitTrigger, passangerBody);
CustomScopeLock lock (&m_lock);
manifest.Remove (passengerNode);
}
}
}
}
static void PhysicsNewton_CollisionPuckSurfaceCB(const NewtonJoint *pContactJoint,dFloat fTimeStep,int ThreadIndex)
{
dVector Position(0.0f);
// Get pointer to body
NewtonBody* body = NewtonJointGetBody0(pContactJoint);
dFloat mass, Ixx, Iyy, Izz;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
if (mass == 0.0f)
{
body = NewtonJointGetBody1(pContactJoint);
}
dVector tableDir(0.0f, 0.0f, 1.0f, 0.0f);
// Test to see if it is the friction calculation that is causing the side force
// With this the Puck must go straight because it will be frictionless, the net force should not change direction
for (void* contact = NewtonContactJointGetFirstContact (pContactJoint); contact; contact = NewtonContactJointGetNextContact (pContactJoint, contact))
{
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialContactRotateTangentDirections(material, &tableDir[0]);
// this the wrong way to make a friction less contact
// NewtonMaterialSetContactFrictionCoef (material, 0.0f, 0.0f, 0);
// NewtonMaterialSetContactFrictionCoef (material, 0.0f, 0.0f, 1);
//This is the correct way to make a friction less contact
// NewtonMaterialSetContactFrictionState (material, 0, 0);
// NewtonMaterialSetContactFrictionState (material, 0, 1);
}
}
void GenericContactProcessCompatible(const void* const newtonContactJoint, float64 timestep, int threadIndex)
{
con_assert(newtonContactJoint != nullptr, "zero pointer")
NewtonBody* body0 = NewtonJointGetBody0(static_cast<const NewtonJoint*>(newtonContactJoint));
NewtonBody* body1 = NewtonJointGetBody1(static_cast<const NewtonJoint*>(newtonContactJoint));
con_assert(body0 != nullptr && body1 != nullptr, "zero pointers")
if (body0 != nullptr && body1 != nullptr)
{
iPhysicsBody* physicsBody0 = static_cast<iPhysicsBody*>(NewtonBodyGetUserData(static_cast<const NewtonBody*>(body0)));
iPhysicsBody* physicsBody1 = static_cast<iPhysicsBody*>(NewtonBodyGetUserData(static_cast<const NewtonBody*>(body1)));
con_assert(physicsBody0 != nullptr && physicsBody1 != nullptr, "zero pointers");
void* contact = NewtonContactJointGetFirstContact(static_cast<const NewtonJoint*>(newtonContactJoint));
NewtonMaterial* materialCombo = NewtonContactGetMaterial(contact);
iPhysicsMaterialCombo* physicsMaterialCombo = static_cast<iPhysicsMaterialCombo*>(NewtonMaterialGetMaterialPairUserData(materialCombo));
if (physicsMaterialCombo != nullptr && physicsBody0 != nullptr && physicsBody1 != nullptr)
{
physicsMaterialCombo->contact(physicsBody0, physicsBody1);
}
}
}
VALUE MSNewton::Bodies::get_force_in_between(VALUE self, VALUE v_body1, VALUE v_body2) {
const NewtonBody* body1 = Util::value_to_body(v_body1);
const NewtonBody* body2 = Util::value_to_body(v_body2);
Util::validate_two_bodies(body1, body2);
dVector net_force(0.0f, 0.0f, 0.0f);
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body1); joint; joint = NewtonBodyGetNextContactJoint(body1, joint)) {
if (NewtonJointGetBody0(joint) == body2 || NewtonJointGetBody1(joint) == body2) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial(contact);
dVector force;
NewtonMaterialGetContactForce(material, body1, &force[0]);
net_force += force;
}
}
}
const NewtonWorld* world = NewtonBodyGetWorld(body1);
WorldData* world_data = (WorldData*)NewtonWorldGetUserData(world);
//BodyData* body1_data = (BodyData*)NewtonBodyGetUserData(body1);
//BodyData* body2_data = (BodyData*)NewtonBodyGetUserData(body2);
/*if (world_data->gravity_enabled && (body1_data->gravity_enabled || body2_data->gravity_enabled)) {
for (int i = 0; i < 3; ++i)
net_force[i] *= world_data->inverse_scale;
}*/
return Util::vector_to_value(net_force, world_data->inverse_scale4);
}
static void MagneticField (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat magnetStregnth;
const NewtonBody* body0;
const NewtonBody* body1;
const NewtonBody* magneticField;
const NewtonBody* magneticPiece;
body0 = NewtonJointGetBody0 (contactJoint);
body1 = NewtonJointGetBody1 (contactJoint);
// get the magnetic field body
magneticPiece = body0;
magneticField = body1;
if (NewtonCollisionIsTriggerVolume (NewtonBodyGetCollision(body0))) {
magneticPiece = body1;
magneticField = body0;
}
_ASSERTE (NewtonCollisionIsTriggerVolume (NewtonBodyGetCollision(magneticField)));
// calculate the magnetic force field
dMatrix center;
dMatrix location;
NewtonBodyGetMatrix (magneticField, ¢er[0][0]);
NewtonBodyGetMatrix (magneticPiece, &location[0][0]);
Magnet* magnet;
magnet = (Magnet*)NewtonBodyGetUserData(magneticField);
magnetStregnth = magnet->m_magnetStregnth;
// calculate the magnetic force;
dFloat den;
dVector force (center.m_posit - location.m_posit);
den = force % force;
den = magnetStregnth / (den * dSqrt (den) + 0.1f);
force = force.Scale (den);
// because we are modifiing one of the bodies membber in the call back, there uis a chace that
// another materail can be operations on the same object at the same time of aother thread
// therfore we need to make the assigmnet in a critical section.
NewtonWorldCriticalSectionLock (NewtonBodyGetWorld (magneticPiece));
// add the magner force
NewtonBodyAddForce (magneticPiece, &force[0]);
force = force.Scale (-1.0f);
NewtonBodyAddForce (magnet->m_magneticCore, &force[0]);
// also if the body is sleeping fore it to wake up for this frame
NewtonBodySetFreezeState (magneticPiece, 0);
NewtonBodySetFreezeState (magnet->m_magneticCore, 0);
// unlock the critical section
NewtonWorldCriticalSectionUnlock (NewtonBodyGetWorld (magneticPiece));
}
static void OnGettingTheCollisionSubShapeFromMaterialCallback (const NewtonJoint* const contactJoint, dFloat timestep, int threadIndex)
{
NewtonBody* const body0 = NewtonJointGetBody0(contactJoint);
GetCollisionSubShape(contactJoint, body0);
NewtonBody* const body1 = NewtonJointGetBody1(contactJoint);
GetCollisionSubShape(contactJoint, body1);
}
// return the collision joint, if the body collide
NewtonJoint* CheckIfBodiesCollide (NewtonBody* const body0, NewtonBody* const body1)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body0); joint; joint = NewtonBodyGetNextContactJoint (body0, joint)) {
if ((NewtonJointGetBody0(joint) == body1) || (NewtonJointGetBody1(joint) == body1)) {
return joint;
}
}
return NULL;
}
void GetContactOnBody (NewtonBody* const body)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body); joint; joint = NewtonBodyGetNextContactJoint (body, joint)) {
NewtonBody* const body0 = NewtonJointGetBody0(joint);
NewtonBody* const body1 = NewtonJointGetBody1(joint);
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial (contact);
//dFloat forceMag;
dVector point;
dVector normal;
//NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, body1, &point.m_x, &normal.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body0, &point.m_x, &normal.m_x);
// do whatever you want with the force
}
}
}
//to get the collision points
void HandlecollisionPoints (NewtonJoint* const contactjoint)
{
NewtonBody* const body0 = NewtonJointGetBody0(contactjoint);
NewtonBody* const body1 = NewtonJointGetBody1(contactjoint);
for (void* contact = NewtonContactJointGetFirstContact (contactjoint); contact; contact = NewtonContactJointGetNextContact (contactjoint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial (contact);
// do whatever you want here
//dFloat forceMag;
dVector point;
dVector normal;
//NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, body0, &point.m_x, &normal.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body1, &point.m_x, &normal.m_x);
// do whatever you want with the force
}
}
void PhysicsWorld::onContactCallback(const NewtonJoint* contactJoint, F32 timestep, int threadIndex)
{
const NewtonBody* body0 = NewtonJointGetBody0(contactJoint);
const NewtonBody* body1 = NewtonJointGetBody1(contactJoint);
F32 friction0 = 0.01;
F32 elasticity0 = 0.001;
F32 friction1 = friction0;
F32 elasticity1 = elasticity0;
void* userData = NewtonBodyGetUserData(body0);
if(userData)
{
friction0 = static_cast<PhysicsBody*>(userData)->getFriction();
elasticity0 = static_cast<PhysicsBody*>(userData)->getElasticity();
}
userData = NewtonBodyGetUserData(body1);
if(userData)
{
friction1 = static_cast<PhysicsBody*>(userData)->getFriction();
elasticity1 = static_cast<PhysicsBody*>(userData)->getElasticity();
}
F32 friction = friction0 + friction1;
F32 elasticity = elasticity0 + elasticity1;
void* contact = NewtonContactJointGetFirstContact(contactJoint);
while(contact)
{
NewtonMaterial* material = NewtonContactGetMaterial(contact);
NewtonMaterialSetContactFrictionCoef(material, friction + 0.1, friction, 0);
NewtonMaterialSetContactFrictionCoef(material, friction + 0.1, friction, 1);
NewtonMaterialSetContactElasticity(material, elasticity);
contact = NewtonContactJointGetNextContact(contactJoint, contact);
}
}
void applyCarCollisionForce(const NewtonJoint* contact, dFloat timestep, int threadIndex) {
void * userData1 = NewtonBodyGetUserData(NewtonJointGetBody0(contact));
void * userData2 = NewtonBodyGetUserData(NewtonJointGetBody1(contact));
if(userData1 == 0 || userData2 == 0) {
return;
}
Car * car1 = (Car *)userData1;
Car * car2 = (Car *)userData2;
NewtonJoint * carContact = (NewtonJoint *) NewtonContactJointGetFirstContact(contact);
do {
dFloat collisionSpeed = NewtonMaterialGetContactNormalSpeed(
NewtonContactGetMaterial(carContact)
);
collisionSpeed = dAbs(collisionSpeed);
if(collisionSpeed > 3) {
car1->applyDamagePoints(collisionSpeed);
car2->applyDamagePoints(collisionSpeed);
break;
}
carContact = (NewtonJoint *) NewtonContactJointGetNextContact(contact, carContact);
} while(carContact);
}
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);
}
}
void PhysWorld3D::ProcessContact(const NewtonJoint* const contactJoint, float timestep, int threadIndex)
{
RigidBody3D* bodyA = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody0(contactJoint)));
RigidBody3D* bodyB = static_cast<RigidBody3D*>(NewtonBodyGetUserData(NewtonJointGetBody1(contactJoint)));
assert(bodyA && bodyB);
using ContactJoint = void*;
// Query all joints first, to prevent removing a joint from the list while iterating on it
StackVector<ContactJoint> contacts = NazaraStackVector(ContactJoint, NewtonContactJointGetContactCount(contactJoint));
for (ContactJoint contact = NewtonContactJointGetFirstContact(contactJoint); contact; contact = NewtonContactJointGetNextContact(contactJoint, contact))
contacts.push_back(contact);
for (ContactJoint contact : contacts)
{
NewtonMaterial* material = NewtonContactGetMaterial(contact);
Callback* callbackData = static_cast<Callback*>(NewtonMaterialGetMaterialPairUserData(material));
assert(callbackData);
assert(callbackData->collisionCallback);
if (!callbackData->collisionCallback(*bodyA, *bodyB))
NewtonContactJointRemoveContact(contactJoint, contact);
}
}
void cPhysicsMaterialNewton::ProcessContactCallback(const NewtonJoint* apJoint,
float afTimeStep,
int alThreadIndex)
{
cPhysicsContactData ContactData;
int lContactNum = 0;
iPhysicsBody * pContactBody1 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody0(apJoint));
iPhysicsBody * pContactBody2 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody1(apJoint));
for (void* pContact = NewtonContactJointGetFirstContact(apJoint);
pContact;
pContact = NewtonContactJointGetNextContact(apJoint, pContact))
{
NewtonMaterial* pMaterial = NewtonContactGetMaterial(pContact);
//Log(" Process contact between body '%s' and '%s'.\n",pContactBody1->GetName().c_str(),
// pContactBody2->GetName().c_str());
//Normal speed
float fNormSpeed = NewtonMaterialGetContactNormalSpeed(pMaterial);
if (ContactData.mfMaxContactNormalSpeed < fNormSpeed)
ContactData.mfMaxContactNormalSpeed = fNormSpeed;
//Tangent speed
float fTanSpeed0 = NewtonMaterialGetContactTangentSpeed(pMaterial, 0);
float fTanSpeed1 = NewtonMaterialGetContactTangentSpeed(pMaterial, 1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed0))
ContactData.mfMaxContactTangentSpeed = fTanSpeed0;
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed1))
ContactData.mfMaxContactTangentSpeed = fTanSpeed1;
//Force
cVector3f vForce;
NewtonMaterialGetContactForce(pMaterial,vForce.v);
ContactData.mvForce += vForce;
//Position and normal
cVector3f vPos, vNormal;
NewtonMaterialGetContactPositionAndNormal(pMaterial,vPos.v, vNormal.v);
ContactData.mvContactNormal += vNormal;
ContactData.mvContactPosition += vPos;
//Log(" Norm: %f Tan0: %f Tan1: %f\n",fNormSpeed, fTanSpeed0, fTanSpeed1);
//Log("Force: %s step %f\n", vForce.ToString().c_str(), afTimestep);
if(pContactBody1->GetWorld()->GetSaveContactPoints())
{
cCollidePoint collidePoint;
collidePoint.mfDepth = 1;
NewtonMaterialGetContactPositionAndNormal (pMaterial, collidePoint.mvPoint.v,
collidePoint.mvNormal.v);
pContactBody1->GetWorld()->GetContactPoints()->push_back(collidePoint);
}
lContactNum++;
}
//Log("--- End contact between body '%s' and '%s'.\n",mpContactBody1->GetName().c_str(),
// mpContactBody2->GetName().c_str());
if(lContactNum <= 0) return;
iPhysicsMaterial *pMaterial1 = pContactBody1->GetMaterial();
iPhysicsMaterial *pMaterial2 = pContactBody2->GetMaterial();
ContactData.mvContactNormal = ContactData.mvContactNormal / (float)lContactNum;
ContactData.mvContactPosition = ContactData.mvContactPosition / (float)lContactNum;
pMaterial1->GetSurfaceData()->CreateImpactEffect(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pMaterial2->GetSurfaceData());
int lPrio1 = pMaterial1->GetSurfaceData()->GetPriority();
int lPrio2 = pMaterial2->GetSurfaceData()->GetPriority();
if(lPrio1 >= lPrio2)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial1->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial1->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1,pContactBody2);
}
if(lPrio2 >= lPrio1 && pMaterial2 != pMaterial1)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial2->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial2->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2,pContactBody1);
}
pContactBody1->OnCollide(pContactBody2,&ContactData);
pContactBody2->OnCollide(pContactBody1,&ContactData);
}
void ApplyTracktionForce (dFloat timestep, const NewtonBody* track)
{
dVector veloc;
dVector omega;
dMatrix matrix;
NewtonBodyGetOmega(m_body0, &omega[0]);
NewtonBodyGetVelocity(m_body0, &veloc[0]);
NewtonBodyGetMatrix (m_body0, &matrix[0][0]);
// itetate over the contact list and condition each contact direction anc contact acclerations
for (NewtonJoint* contactJoint = NewtonBodyGetFirstContactJoint (track); contactJoint; contactJoint = NewtonBodyGetNextContactJoint (track, contactJoint)) {
_ASSERTE ((NewtonJointGetBody0 (contactJoint) == track) || (NewtonJointGetBody1 (contactJoint) == track));
#ifdef REMOVE_REDUNDAT_CONTACT
int contactCount;
contactCount = NewtonContactJointGetContactCount(contactJoint);
if (contactCount > 2) {
// project the contact to the bounday of the conve hull o fteh trhread foot ptint
dFloat maxDist;
dFloat minDist;
void* minContact;
void* maxContact;
dMatrix matrix;
minContact = NULL;
maxContact = NULL;
NewtonBodyGetMatrix (track, &matrix[0][0]);
maxDist = -1.0e10f;
minDist = -1.0e10f;
//find the best two contacts and remove all others
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat dist;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
dist = matrix.m_front % point;
if (dist > maxDist) {
maxDist = dist;
maxContact = contact;
}
if (-dist > minDist) {
minDist = -dist;
minContact = contact;
}
}
// now delete all reduntact contacts
void* nextContact;
NewtonWorld* world;
world = NewtonBodyGetWorld (track);
NewtonWorldCriticalSectionLock(world);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = nextContact) {
nextContact = NewtonContactJointGetNextContact (contactJoint, contact);
if (!((contact == minContact) || (contact == maxContact))) {
NewtonContactJointRemoveContact (contactJoint, contact);
}
}
NewtonWorldCriticalSectionUnlock(world);
}
#endif
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat speed;
dFloat accel;
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialContactRotateTangentDirections (material, &matrix.m_front[0]);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
NewtonMaterialGetContactTangentDirections (material, &dir0[0], &dir1[0]);
dVector posit (point - matrix.m_posit);
veloc += omega * posit;
speed = veloc % dir0;
// accel = m_accel - 0.1f * speed + (((posit % m_matrix.m_right) > 0.0f) ? m_turnAccel : - m_turnAccel);
accel = m_veloc + (((posit % matrix.m_right) > 0.0f) ? m_turnVeloc : - m_turnVeloc);
accel = (accel - speed) * 0.5f / timestep;
// NewtonMaterialSetContactStaticFrictionCoef (material, 1.0f, 0);
// NewtonMaterialSetContactKineticFrictionCoef (material, 1.0f, 0);
NewtonMaterialSetContactFrictionCoef (material, 1.0f, 1.0f, 0);
// NewtonMaterialSetContactStaticFrictionCoef (material, 0.5f, 1);
// NewtonMaterialSetContactKineticFrictionCoef (material, 0.5f, 1);
NewtonMaterialSetContactFrictionCoef (material, 0.5f, 0.5f, 1);
NewtonMaterialSetContactTangentAcceleration (material, accel, 0);
}
// for debug purpose show the contact
ShowJointContacts (contactJoint);
}
}
dNewtonBody* dNewtonContactMaterial::GetBody1 () const
{
NewtonBody* const body = NewtonJointGetBody1 ((NewtonJoint*)m_materialHandle);
return (dNewtonBody*) NewtonBodyGetUserData (body);
}
