virtual void onContactNotify(NxContactPair& pair, NxU32 events)
{
NxU32 carIndex = 0;
if (isCar(pair.actors[0]))
carIndex = 0;
else if (isCar(pair.actors[1]))
carIndex = 1;
else
return;
//ignore the 'both are cars' case for now.
// Iterate through contact points
NxContactStreamIterator i(pair.stream);
//user can call getNumPairs() here
while (i.goNextPair())
{
//user can also call getShape() and getNumPatches() here
NxShape * s = i.getShape(carIndex);
while (i.goNextPatch())
{
//user can also call getPatchNormal() and getNumPoints() here
const NxVec3& contactNormal = i.getPatchNormal();
while (i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
const NxVec3& contactPoint = i.getPoint();
NxVec3 contactNormalForce = pair.sumNormalForce;
NxVec3 contactFrictionForce = pair.sumFrictionForce;
//add forces:
//assuming front wheel drive we need to apply a force at the wheels.
if (s->is(NX_SHAPE_CAPSULE)) //assuming only the wheels of the car are capsules, otherwise we need more checks.
//this branch can't be pulled out of loops because we have to do a full iteration through the stream
{
CarWheelContact cwc;
cwc.car = pair.actors[carIndex];
cwc.wheel = s;
cwc.contactPoint = contactPoint;
cwc.contactNormalForce = contactNormalForce;
cwc.contactFrictionForce = contactFrictionForce;
wheelContactPoints.pushBack(cwc);
//#error too bad this is illegal (reentry) and also technically busted because the accumulators get zeroed after this returns.
//pair.actors[carIndex]->addForceAtPos(NxVec3(100,0,0),contactPoint);
}
}
}
}
}
void NxVehicle::handleContactPair(NxContactPair& pair, NxU32 carIndex)
{
NxContactStreamIterator i(pair.stream);
while(i.goNextPair())
{
NxShape * s = i.getShape(carIndex);
while(i.goNextPatch())
{
const NxVec3& contactNormal = i.getPatchNormal();
while(i.goNextPoint())
{
//user can also call getPoint() and getSeparation() here
const NxVec3& contactPoint = i.getPoint();
//add forces:
//assuming front wheel drive we need to apply a force at the wheels.
if (s->is(NX_SHAPE_CAPSULE) && s->userData != NULL) {
//assuming only the wheels of the car are capsules, otherwise we need more checks.
//this branch can't be pulled out of loops because we have to do a full iteration through the stream
NxQuat local2global = s->getActor().getGlobalOrientationQuat();
NxWheel* w = (NxWheel*)s->userData;
if (!w->getWheelFlag(NX_WF_USE_WHEELSHAPE))
{
NxWheel1 * wheel = static_cast<NxWheel1*>(w);
wheel->contactInfo.otherActor = pair.actors[1-carIndex];
wheel->contactInfo.contactPosition = contactPoint;
wheel->contactInfo.contactPositionLocal = contactPoint;
wheel->contactInfo.contactPositionLocal -= _bodyActor->getGlobalPosition();
local2global.inverseRotate(wheel->contactInfo.contactPositionLocal);
wheel->contactInfo.contactNormal = contactNormal;
if (wheel->contactInfo.otherActor->isDynamic())
{
NxVec3 globalV = s->getActor().getLocalPointVelocity(wheel->getWheelPos());
globalV -= wheel->contactInfo.otherActor->getLinearVelocity();
local2global.inverseRotate(globalV);
wheel->contactInfo.relativeVelocity = globalV.x;
//printf("%2.3f (%2.3f %2.3f %2.3f)\n", wheel->contactInfo.relativeVelocity,
// globalV.x, globalV.y, globalV.z);
}
else
{
NxVec3 vel = s->getActor().getLocalPointVelocity(wheel->getWheelPos());
local2global.inverseRotate(vel);
wheel->contactInfo.relativeVelocity = vel.x;
wheel->contactInfo.relativeVelocitySide = vel.z;
}
NX_ASSERT(wheel->hasGroundContact());
//printf(" Wheel %x is touching\n", wheel);
}
}
}
}
}
//printf("----\n");
}