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);
}
}
}
}
int Physics::levelContactProcess( const NewtonMaterial* p_material, const NewtonContact* /*p_contact*/ )
{
// handle level submaterials
unsigned int materialType = static_cast< unsigned int >( NewtonMaterialGetContactFaceAttribute( p_material ) );
switch ( materialType )
{
case Physics::MAT_DEFAULT:
NewtonMaterialSetContactElasticity( p_material, 0.3f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.6f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.3f, 0 );
break;
case Physics::MAT_WOOD:
NewtonMaterialSetContactElasticity( p_material, 0.5f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.6f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.4f, 0 );
break;
case Physics::MAT_STONE:
NewtonMaterialSetContactElasticity( p_material, 0.4f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.55f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.35f, 0 );
break;
case Physics::MAT_METALL:
NewtonMaterialSetContactElasticity( p_material, 0.6f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.5f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.4f, 0 );
break;
case Physics::MAT_GRASS:
NewtonMaterialSetContactElasticity( p_material, 0.4f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.8f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.6f, 0 );
break;
case Physics::MAT_WALL:
NewtonMaterialSetContactElasticity( p_material, 0.8f );
NewtonMaterialSetContactStaticFrictionCoef( p_material, 0.1f, 0 );
NewtonMaterialSetContactKineticFrictionCoef( p_material, 0.1f, 0 );
break;
// simply return 0 for non-colliding pairs
case Physics::MAT_NOCOL:
return 0;
break;
default:
;
}
return 1;
}
unsigned Material::GetContactFaceAttribute ()
{
return NewtonMaterialGetContactFaceAttribute( m_material );
}
