static void nearCallback(void *data, dGeomID o1, dGeomID o2) //o1,o2: geometries likely to collide
{
// inner collision detecting
innerCollision = innerCollision || (o1 != ground && o2 != ground);
const int N = 30;
dContact contact[N];
// Don’t do anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
int isGround = ((ground == o1) || (ground == o2)); //Collision with ground
int n = dCollide(o1,o2,N,&contact[0].geom,sizeof(dContact)); //n: Number of collision points
if (isGround) {//If there is a collision with the ground
for (int i = 0; i < n; i++) {
contact[i].surface.mode = dContactSoftERP | dContactSoftCFM;
contact[i].surface.mu = dInfinity; //Coulomb friction coef
contact[i].surface.soft_erp = 0.2; // 1.0 ideal
contact[i].surface.soft_cfm = 1e-4; // 0.0 ideal
dJointID c = dJointCreateContact(world,contactgroup,&contact[i]);
dJointAttach(c,dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i,n;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected(b1, b2))
return;
const int N = 4;
dContact contact[N];
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
for (i=0; i<n; i++) {
contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
contact[i].surface.mu = 20;
else
contact[i].surface.mu = 0.5;
contact[i].surface.slip1 = 0.0;
contact[i].surface.slip2 = 0.0;
contact[i].surface.soft_erp = 0.8;
contact[i].surface.soft_cfm = 0.01;
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
}
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
//if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;
if (b1 && b2 && dAreConnected (b1,b2) ) return;
dContact contact[MAX_CONTACTS]; // up to MAX_CONTACTS contacts per box-box
for (i=0; i<MAX_CONTACTS; i++) {
contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.1;
contact[i].surface.bounce_vel = 0.1;
contact[i].surface.soft_cfm = 0.01;
}
if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
sizeof(dContact))) {
//printf("%d\n",numc);
if (numc>3) numc=3;
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++) {
dJointID c = dJointCreateContact (ptr_world,ptr_contactgroup,contact+i);
dJointAttach (c,b1,b2);
}
}
}
//description
//Default behavior.
//Default collision of bodies
void ODEBaseScene::Collide(dGeomID g1, dGeomID g2)
{
int n;
dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2);
if (b1 && b2 && dAreConnected(b1, b2))
return;
const int N = 4;
dContact contact[N];
n = dCollide (g1,g2,N,&contact[0].geom,sizeof(dContact));
if (n > 0)
{
// printf("Body %d hits body %d.\n", (size_t) dGeomGetData(g1),(size_t) dGeomGetData(g2));
for (int i=0; i<n; ++i)
{
// contact[i].surface.mode = dContactBounce | dContactSoftCFM;
contact[i].surface.mode = dContactBounce;
//contact[i].surface.mu = dInfinity;
contact[i].surface.mu = 0.5;
//contact[i].surface.mu2 = 0.5;
contact[i].surface.bounce = 0.000999990;
//contact[i].surface.bounce_vel = 0.1;
//contact[i].surface.soft_cfm = 0.001;
//contact[i].surface.mode = dContactBounce|dContactSoftERP|dContactSoftCFM;
contact[i].surface.soft_erp = 1.0; //1.0;
contact[i].surface.soft_cfm = 1e-10;
dJointID j = dJointCreateContact (m_domain->getWorld(), m_domain->getContactGroup(), contact+i);
dJointAttach(j, b1, b2);
}
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
// @@@ it's still more convenient to use the C interface here.
dContact contact;
contact.surface.mode = 0;
contact.surface.mu = dInfinity;
if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
dJointAttach (c,b1,b2);
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
/* exit without doing anything if the two bodies are connected by a joint */
dBodyID b1,b2;
dContact contact;
b1 = dGeomGetBody(o1);
b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
contact.surface.mode = 0;
contact.surface.mu = 0.1;
contact.surface.mu2 = 0;
if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
dJointID c = dJointCreateContact (world,contactgroup,&contact);
dJointAttach (c,b1,b2);
}
}
// this is called by dSpaceCollide when two objects in space are
// potentially colliding.
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
dBodyID b1,b2;
dBodyID test;
assert(o1);
assert(o2);
b1 = dGeomGetBody(o1);
b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
if (o1 == floorplane || o2 == floorplane)
{
if (o1==floorplane)
test=b2;
if (o2==floorplane)
test=b1;
//test should equal the body that is colliding with floor
for (int x=0; x<creatures.size(); x++)
{
int bsize=creatures[x]->bodies.size();
for (int y=0; y<bsize; y++)
if (test==creatures[x]->bodies[y])
creatures[x]->onground[y]=true;
}
}
const int N = 32;
dContact contact[N];
int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
if (n > 0)
{
for (int i=0; i<n; i++)
{
contact[i].surface.mode = 0;
contact[i].surface.mu = dInfinity; //50.0; // was: dInfinity
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
}
}
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
dContact contact[32]; // up to 3 contacts per box
for (i=0; i<32; i++) {
contact[i].surface.mode = dContactBounce; //dContactMu2;
contact[i].surface.mu = dInfinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.5;
contact[i].surface.bounce_vel = 0.1;
}
if (int numc = dCollide (o1,o2,3,&contact[0].geom,sizeof(dContact))) {
dMatrix3 RI;
dRSetIdentity (RI);
const dReal ss[3] = {0.02,0.02,0.02};
for (i=0; i<numc; i++) {
if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
dMatrix3 Rotation;
dRSetIdentity(Rotation);
dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
continue;
}
dJointID c = dJointCreateContact (world,contactgroup,contact+i);
dJointAttach (c,b1,b2);
//dsDrawBox (contact[i].geom.pos,RI,ss);
}
}
}
void PhysicsServer::ProcessCollision( void *data, dGeomID o1, dGeomID o2 )
{
// skip connected bodies
dBodyID bodyID1 = dGeomGetBody( o1 );
dBodyID bodyID2 = dGeomGetBody( o2 );
if (bodyID1 && bodyID2 && dAreConnected( bodyID1, bodyID2 )) return;
if (!bodyID1 && !bodyID2) return;
// do collision
int nContacts = dCollide( o1, o2, c_MaxContacts, &m_Contacts[0].geom, sizeof( dContact ) );
if (nContacts == 0) return;
float scale = GetWorldScale();
nContacts = tmin( nContacts, c_MaxContacts - m_NContacts );
for (int i = 0; i < nContacts; i++)
{
PhysMaterial* pSurf1 = GetGeomSurface( o1 );
PhysMaterial* pSurf2 = GetGeomSurface( o2 );
dContact& contact = m_Contacts[i];
dSurfaceParameters& surface = contact.surface;
// TODO: proper flags setup
m_Contacts[i].surface.mode =
//dContactApprox1 |
//dContactFDir1 |
dContactSoftERP |
dContactSoftCFM |
//dContactSlip1 |
//dContactSlip2 |
dContactBounce;
if (!pSurf1 && !pSurf2)
{
surface.mu = 8.0f;
surface.mu2 = 8.0f;
surface.bounce = 1.0f;
surface.bounce_vel = 0.0f;
surface.soft_erp = 0.1f;
surface.soft_cfm = 1e-3f;
surface.motion1 = 0.0f;
surface.motion2 = 0.0f;
surface.slip1 = 0.1f;
surface.slip2 = 0.1f;
}
else if (pSurf2 == pSurf1)
{
surface.mu = pSurf1->m_Mu;
surface.mu2 = pSurf1->m_Mu2;
surface.bounce = pSurf1->m_Bounce;
surface.bounce_vel = pSurf1->m_BounceVel;
surface.soft_erp = pSurf1->m_SoftERP;
surface.soft_cfm = pSurf1->m_SoftCFM;
surface.motion1 = pSurf1->m_Motion1;
surface.motion2 = pSurf1->m_Motion2;
surface.slip1 = pSurf1->m_Slip1;
surface.slip2 = pSurf1->m_Slip2;
}
else
{
if (!pSurf1) pSurf1 = pSurf2;
if (!pSurf2) pSurf2 = pSurf1;
surface.mu = sqrtf( pSurf1->m_Mu * pSurf2->m_Mu );
surface.mu2 = sqrtf( pSurf1->m_Mu2 * pSurf2->m_Mu2 );
surface.bounce = 0.5f*( pSurf1->m_Bounce + pSurf2->m_Bounce );
surface.bounce_vel = tmin( pSurf1->m_BounceVel, pSurf2->m_BounceVel );
surface.soft_erp = sqrtf( pSurf1->m_SoftERP * pSurf2->m_SoftERP );
surface.soft_cfm = 0.5f*( pSurf1->m_SoftCFM + pSurf2->m_SoftCFM );
surface.motion1 = sqrtf( pSurf1->m_Motion1 * pSurf2->m_Motion1 );
surface.motion2 = sqrtf( pSurf1->m_Motion2 * pSurf2->m_Motion2 );
surface.slip1 = sqrtf( pSurf1->m_Slip1 * pSurf2->m_Slip1 );
surface.slip2 = sqrtf( pSurf1->m_Slip2 * pSurf2->m_Slip2 );
}
PhysObject* pObj1 = (PhysObject*)dGeomGetData( o1 );
PhysObject* pObj2 = (PhysObject*)dGeomGetData( o2 );
int obj1 = pObj1 ? pObj1->GetID() : -1;
int obj2 = pObj2 ? pObj2->GetID() : -1;
dContactGeom& geom = contact.geom;
m_NContacts++;
if (IsDrawBounds())
{
Vec3 pos = Vec3( geom.pos[0], geom.pos[1], geom.pos[2] );
pos /= scale;
Vec3 norm = Vec3( geom.normal[0], geom.normal[1], geom.normal[2] );
const float c_HandleSize = 0.3f;
g_pDrawServer->SetWorldTM( Mat4::identity );
g_pDrawServer->DrawBox( AABox( pos, c_HandleSize*0.5f ), 0x5500FF00, 0x22FFFF00 );
g_pDrawServer->DrawLine( pos, pos + norm*c_HandleSize, 0x5500FF00, 0x5500FF00 );
}
dJointID jID = dJointCreateContact( m_WorldID, m_ContactGroupID, &contact );
dJointAttach( jID, bodyID1, bodyID2 );
}
} // PhysicsServer::ProcessCollision
static void nearCB(void *data, dGeomID o1, dGeomID o2)
{
ODEObj *odeobj1 = ODEObjectContainer::getInstance()->getODEObjFromGeomID(o1);
ODEObj *odeobj2 = ODEObjectContainer::getInstance()->getODEObjFromGeomID(o2);
/*
SSimRobotEntity *ent1 = ODEObjectContainer::getInstance()->getSSimRobotEntityFromGeomID(o1);
SSimRobotEntity *ent2 = ODEObjectContainer::getInstance()->getSSimRobotEntityFromGeomID(o2);
if(ent1 != NULL && ent2 != NULL && ent1->name() == ent2->name()){
//LOG_MSG(("name (%s, %s)",ent1->name().c_str(), ent2->name().c_str()));
return;
}
*/
SParts *p1 = NULL;
SParts *p2 = NULL;
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if (b1 == b2) {
return;
}
ODEWorld *world = ODEWorld::get();
dGeomID ground = world->getGround();
if (b1 && b2) {
if (dAreConnected(b1, b2)) {
return;
}
}
if (b1) {
void *d = dBodyGetData(b1);
if (d) {
p1 = (SParts*)d;
if (p1->isBlind()) { return; }
}
}
if (b2) {
void *d = dBodyGetData(b2);
if (d) {
p2 = (SParts*)d;
if (p2->isBlind()) { return; }
}
}
if (p1 && p2 && p1->sameParent(*p2)) { return; }
if (dGeomIsSpace(o1) && dGeomIsSpace(o2)) {
dSpaceCollide2(o1, o2, data, &collideCB);
return;
}
#define F_SCHOLAR(V) sqrt(V[0]*V[0] + V[1]*V[1] + V[2]*V[2])
static dJointFeedback fb;
#define MAX_COLLISION 32
const int N = MAX_COLLISION;
dContact contacts[N];
int n = dCollide(o1, o2, N, &(contacts[0].geom), sizeof(contacts[0]));
if (n > 0) {
ODEWorld *world = ODEWorld::get();
for (int i=0; i<n; i++) {
dContact *c = &contacts[i];
dContactGeom &g = c->geom;
if (p1 && p2) {
#if 0
LOG_SYS(("Collision #%d/%d %s(geomID=%d) <-> %s(geomID=%d)", i, n,
p1->getParent()->name(), o1,
p2->getParent()->name(), o2));
LOG_SYS(("\tpos = (%f, %f, %f)", g.pos[0], g.pos[1], g.pos[2]));
LOG_SYS(("\tnormal = (%f, %f, %f)", g.normal[0], g.normal[1], g.normal[2]));
LOG_SYS(("\tfdir = (%f, %f, %f)", c->fdir1[0], c->fdir1[1], c->fdir1[2]));
LOG_SYS(("\tdepth = %f", g.depth));
#endif
const char *name1 = p1->getParent()->name();
const char *name2 = p2->getParent()->name();
std::string key = chash_key(name1, name2);
if (key.length() <= 0) { continue; }
if (chash_find(key)) { continue; }
s_chash[key] = true;
s_collisions.push_back(ODEWorld::Collision(name1, name2, p1->name(), p2->name()));
// Set the collision flag to be ON
p1->setOnCollision(true);
p2->setOnCollision(true);
}
//c->surface.mode = dContactBounce;
c->surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactBounce;
//c->surface.mode = dContactSlip1 | dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactBounce;
//
// Reflection of material parameters of the collided object
// Fliction force should be regarded as average of contiguous material (???)
// TODO: Calclation of fliction force sould be considered
//
#if 0
if (odeobj1 && odeobj2) {
c->surface.mu = ( odeobj1->getMu1() + odeobj2->getMu1() ) / 2.0;
c->surface.mu2 = ( odeobj1->getMu2() + odeobj2->getMu2() ) / 2.0;
c->surface.slip1 = ( odeobj1->getSlip1() + odeobj2->getSlip1() ) / 2.0;
c->surface.slip2 = ( odeobj1->getSlip2() + odeobj2->getSlip2() ) / 2.0;
c->surface.soft_erp = ( odeobj1->getSoftErp() + odeobj2->getSoftErp() ) / 2.0;
c->surface.soft_cfm = ( odeobj1->getSoftCfm() + odeobj2->getSoftCfm() ) / 2.0;
c->surface.bounce = ( odeobj1->getBounce() + odeobj2->getBounce() ) / 2.0;
}
else {
c->surface.bounce_vel = world->getCollisionParam("bounce_vel");
c->surface.bounce = world->getCollisionParam("bounce");
c->surface.mu = world->getCollisionParam("mu");
c->surface.mu2 = world->getCollisionParam("mu2");
c->surface.slip1 = world->getCollisionParam("slip1");
c->surface.slip2 = world->getCollisionParam("slip2");
c->surface.soft_erp = world->getCollisionParam("soft_erp");
c->surface.soft_cfm = world->getCollisionParam("soft_cfm");
}
#else
c->surface.mu = SPARTS_MU1;
c->surface.mu2 = SPARTS_MU2;
c->surface.slip1 = SPARTS_SLIP1;
c->surface.slip2 = SPARTS_SLIP2;
c->surface.soft_erp = SPARTS_ERP; // parameter for modify the error of Joint position (0..1); if it is 1, modification will be perfect
c->surface.soft_cfm = SPARTS_CFM; // If this value=0, joint velocity is strange
c->surface.bounce = SPARTS_BOUNCE; // is a little smaller than ball
c->surface.bounce_vel = 0.0;
#endif
dJointID cj = dJointCreateContact(world->world(), world->jointGroup(), c);
//dJointAttach(cj, dGeomGetBody(o1), dGeomGetBody(o2)); //by MSI
dJointAttach(cj, dGeomGetBody(c->geom.g1), dGeomGetBody(c->geom.g2)); // by Demura.net
#if 0
if (p1 && p2) {
dJointSetFeedback(cj, &fb);
dJointFeedback *pfb = dJointGetFeedback(cj);
if (F_SCHOLAR(pfb->f1) > 1.0) {
LOG_SYS(("\tF1 = (%f, %f, %f)", pfb->f1[0], pfb->f1[1], pfb->f1[2]));
LOG_SYS(("\tF2 = (%f, %f, %f)\n", pfb->f2[0], pfb->f2[1], pfb->f2[2]));
}
}
#endif
}
}
}
void Simulation::nearCallback(void* data, dGeomID o1, dGeomID o2)
{
int i;
// if (o1->body && o2->body) return;
// exit without doing anything if the two bodies are connected by a joint
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
//PEXP(b1);
//PEXP(b2);
//if (dAreConnected (b1, b2)) cout << "debug: CONNECTED CONNECTED OVER\n";
if (b1 && b2 && dAreConnected(b1, b2))
return;
int g1 = (o1 == this->ground);
int g2 = (o2 == this->ground);
int not_ground = (!(g1 ^ g2));
int one_is_link = (o1 != this->ground) && (b1) && ( dBodyGetData(b1) == (void*)tagLink);
int two_is_link = (o2 != this->ground) && (b2) && ( dBodyGetData(b2) == (void*)tagLink);
int link_link = one_is_link && two_is_link;
double mu;
// determine friction
if (link_link)
mu = 0;
else if (not_ground)
mu = this->mu_non_ground;
else mu = this->mu_ground;
// profiling
this->callback_count++;
// debug
//if (b1 == sprocket || b2 == sprocket) { cout << "debug: collision with sprocket\n"; }
dContact contact[3]; // up to 3 contacts per box
if (not_ground) { // except for mu, link_link and link_sprocket are bundled together
for (i = 0; i < 3; i++) {
// contact[i].surface.mode = dContactSoftCFM | dContactApprox1;
contact[i].surface.mode = 0;
contact[i].surface.mu = mu;
contact[i].surface.soft_cfm = 0.01;
}
} else {
for (i = 0; i < 3; i++) {
contact[i].surface.mode =
dContactSlip1 | dContactSlip2 | dContactSoftERP
| dContactSoftCFM | dContactApprox1; // Approx1 means friction only for non zero normal
contact[i].surface.mu = mu;//dInfinity;
contact[i].surface.slip1 = 0.1;
contact[i].surface.slip2 = 0.1;
contact[i].surface.soft_erp = this->ground_soft_erp; //0.3;
contact[i].surface.soft_cfm = this->ground_soft_cfm; //0.5;
}
}
if (int numc =
dCollide(o1, o2, 3, &contact[0].geom, sizeof(dContact))) {
// profiling
if (not_ground) {
this->not_ground_count++;
// std::cout << "debug: not_ground collision\n";
} else {
this->ground_count++;
//cout << "debug: ground collision\n";
// if a link is involved, increment its count of contact joints
dBodyID one_link = (o1 == this->ground? b2 : b1);
dBodySetData(one_link, (void*)((int)dBodyGetData(one_link) + numc));
};
//dMatrix3 RI;
//dRSetIdentity (RI);
//const dReal ss[3] = {0.02,0.02,0.02};
//PEXP(numc);
for (i = 0; i < numc; i++) {
dJointID c =
dJointCreateContact(this->world, this->contactgroup,
contact + i);
dJointAttach(c, b1, b2);
// dsDrawBox (contact[i].geom.pos,RI,ss);
}
}
}
void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
int i,n;
dBodyID b1,b2;
// only collide things with the ground
int g1 = (o1 == ground );
int g2 = (o2 == ground );
if (!(g1 ^ g2))
{
//printf ("Ground colliding..\n");
//return;
}
b1 = dGeomGetBody(o1);
b2 = dGeomGetBody(o2);
if (b1 && b2 && dAreConnected (b1,b2)) return;
if (b1 && isAction(b1) && b2 && (isType(b2,WALRUS) || (isType(b2,MANTA))) && isMineFire(gVehicle(b2),(Gunshot*)gVehicle(b1)) ) return;
if (b2 && isAction(b2) && b1 && (isType(b1,WALRUS) || (isType(b1,MANTA))) && isMineFire(gVehicle(b1),(Gunshot*)gVehicle(b2)) ) return;
int val[]={CARRIER,WALRUS,MANTA};
if (o1 && isRay(o1) && b2 && isType(b2,val,3) && rayHit(gVehicle(b2),(LaserRay*)gVehicle(o1))) {return;}
if (o2 && isRay(o2) && b1 && isType(b1,val,3) && rayHit(gVehicle(b1),(LaserRay*)gVehicle(o2))) {return;}
const int N = 10;
dContact contact[N];
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
if (n > 0) {
for (i=0; i<n; i++) {
Vehicle *v1=NULL,*v2=NULL;
Structure *s1=NULL, *s2=NULL;
gVehicle(v1,v2,dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2),s1,s2,contact[i].geom.g1,contact[i].geom.g2);
// Bullets
if ((isAction(v1) && isWalrus(v2) && isMineFire(v2,(Gunshot*)v1))
||
(isAction(v2) && isWalrus(v1) && isMineFire(v1,(Gunshot*)v2)))
{
// Water buyoncy reaction
contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 0.0f;
contact[i].surface.slip1 = 1.0f;
contact[i].surface.slip2 = 1.0f;
contact[i].surface.soft_erp = 1.0f; // 0 in both will force the surface to be tight.
contact[i].surface.soft_cfm = 1.0f;
} else
if ( isAction(v1) || isAction(v2))
{
contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 0;
contact[i].surface.slip1 = 0.1f;
contact[i].surface.slip2 = 0.1f;
if (isAction(v1) && isCarrier(v2) && hit(v2,(Gunshot*)v1)) {}
if (isAction(v2) && isCarrier(v1) && hit(v1,(Gunshot*)v2)) {}
if (isAction(v1) && isManta(v2) && hit(v2,(Gunshot*)v1)) {}
if (isAction(v2) && isManta(v1) && hit(v1,(Gunshot*)v2)) {}
if (isAction(v1) && isWalrus(v2) && hit(v2,(Gunshot*)v1)) {}
if (isAction(v2) && isWalrus(v1) && hit(v1,(Gunshot*)v2)) {}
if (isAction(v1) && s2 && hit(s2)) {}
if (isAction(v2) && s1 && hit(s1)) {}
} else
if ( ( isManta(v1) && isCarrier(v2) && releasecontrol(v1) ) ||
( isManta(v2) && isCarrier(v1) && releasecontrol(v2) ) )
{
// Manta landing on Carrier
contact[i].surface.mode = dContactBounce |
dContactApprox1;
contact[i].surface.mu = dInfinity;
contact[i].surface.slip1 = 0.0f;
contact[i].surface.slip2 = 0.0f;
contact[i].surface.bounce = 0.2f;
} else
if (isRunway(s1) || isRunway(s2))
{
// Manta landing on Runways.
contact[i].surface.mode = dContactBounce |
dContactApprox1;
contact[i].surface.mu = 0.99f;
contact[i].surface.slip1 = 0.9f;
contact[i].surface.slip2 = 0.9f;
contact[i].surface.bounce = 0.2f;
if ( isRunway(s1) && isManta(v2) && landed(v2, s1->island)) {}
if ( isRunway(s2) && isManta(v1) && landed(v1, s2->island)) {}
} else
if (isIsland(contact[i].geom.g1) || isIsland(contact[i].geom.g2))
{
// Island reaction
contact[i].surface.mode = dContactBounce |
dContactApprox1;
contact[i].surface.mu = 0;
contact[i].surface.bounce = 0.2f;
contact[i].surface.slip1 = 0.1f;
contact[i].surface.slip2 = 0.1f;
contact[i].surface.soft_erp = 0; // 0 in both will force the surface to be tight.
contact[i].surface.soft_cfm = 0;
// Carrier stranded and Walrus arrived on island.
if (isIsland(contact[i].geom.g1) && isCarrier(v2) && stranded(v2,getIsland(contact[i].geom.g1))) {}
if (isIsland(contact[i].geom.g2) && isCarrier(v1) && stranded(v1,getIsland(contact[i].geom.g2))) {}
if (isIsland(contact[i].geom.g1) && isWalrus(v2) && arrived(v2,getIsland(contact[i].geom.g1))) {}
if (isIsland(contact[i].geom.g2) && isWalrus(v1) && arrived(v1,getIsland(contact[i].geom.g2))) {}
} else
if (ground == contact[i].geom.g1 || ground == contact[i].geom.g2 ) {
// Water buyoncy reaction
contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 0.0f;
contact[i].surface.slip1 = 0.1f;
contact[i].surface.slip2 = 0.1f;
contact[i].surface.soft_erp = .5f; // 0 in both will force the surface to be tight.
contact[i].surface.soft_cfm = .3f;
// Walrus reaching shore.
if (ground == contact[i].geom.g1 && isWalrus(v2) && departed(v2)) {}
if (ground == contact[i].geom.g2 && isWalrus(v1) && departed(v1)) {}
if (ground == contact[i].geom.g1 && v2 && isManta(v2) && groundcollisions(v2)) {}
if (ground == contact[i].geom.g2 && v1 && isManta(v1) && groundcollisions(v1)) {}
} else {
/**
// Water buyoncy reaction
contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 0.0f;
contact[i].surface.slip1 = 0.1f;
contact[i].surface.slip2 = 0.1f;
contact[i].surface.soft_erp = .5f; // 0 in both will force the surface to be tight.
contact[i].surface.soft_cfm = .3f;
**/
if (v1 && isManta(v1) && groundcollisions(v1)) {}
if (v2 && isManta(v2) && groundcollisions(v2)) {}
}
dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
dJointAttach (c,
dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
