bool PhysicsManager::update(float interval)
{
if (_dynamicsWorld)
{
_dynamicsWorld->stepSimulation(interval);
//optional but useful: debug drawing
//m_dynamicsWorld->debugDrawWorld();
int numManifolds = _dynamicsWorld->getDispatcher()->getNumManifolds();
for (int i=0;i<numManifolds;i++)
{
btPersistentManifold* contactManifold = _dynamicsWorld->getDispatcher()->getManifoldByIndexInternal(i);
btCollisionObject* obA = static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB = static_cast<btCollisionObject*>(contactManifold->getBody1());
void* gcA = obA->getUserPointer();
void* gcB = obB->getUserPointer();
if(gcA!= NULL)
{
PhysicsBody* body = static_cast<PhysicsBody*>(gcA);
// optimize for runtime update
if(body->needCallBack())
{
int numContacts = contactManifold->getNumContacts();
// hack: we know that one body collide with others,the count of contaced point could be more than 1
// but in this system, we just need invoke the registered callbcak function once! so we modify it manually
if(numContacts > 1) numContacts = 1;
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnB = pt.m_normalWorldOnB;
int lifeTime = pt.getLifeTime();
void* gcOther = obB->getUserPointer();
// we need convert btVector3 to Ogre::Vecntor3 because we don't need to expose bullet type to lua and we have exposed Ogre type to it
Ogre::Vector3 posA(ptA.getX(), ptA.getY(), ptA.getZ());
Ogre::Vector3 posB(ptB.getX(), ptB.getY(), ptB.getZ());
Ogre::Vector3 normal(normalOnB.getX(), normalOnB.getY(), normalOnB.getZ());
// convert the type of parameters
if(lifeTime == 1)
daisy_object_call_lua(_L, gcA, "startContacted", 10, gcA, "PhysicsBody", gcOther, "PhysicsBody", (void*)&posA, "Ogre::Vector3", (void*)&posB, "Ogre::Vector3", (void*)&normal, "Ogre::Vector3");
else if(lifeTime > 1 )
daisy_object_call_lua(_L, gcA, "contacting", 10, gcA, "PhysicsBody", gcOther, "PhysicsBody", (void*)&posA, "Ogre::Vector3", (void*)&posB, "Ogre::Vector3", (void*)&normal, "Ogre::Vector3");
}
}
}
}
if(gcB!= NULL)
{
PhysicsBody* body = static_cast<PhysicsBody*>(gcB);
// optimize for runtime update
if(body->needCallBack())
{
int numContacts = contactManifold->getNumContacts();
// hack: we know that one body collide with others,the count of contaced point could be more than 1
// but in this system, we just need invoke the registered callbcak function once! so we modify it manually
if(numContacts > 1) numContacts = 1;
for (int j=0;j<numContacts;j++)
{
btManifoldPoint& pt = contactManifold->getContactPoint(j);
if (pt.getDistance()<0.f)
{
const btVector3& ptA = pt.getPositionWorldOnA();
const btVector3& ptB = pt.getPositionWorldOnB();
const btVector3& normalOnA = pt.m_positionWorldOnA;
int lifeTime = pt.getLifeTime();
void* gcOther = obA->getUserPointer();
// we need convert btVector3 to Ogre::Vecntor3 because we don't need to expose bullet type to lua and we have exposed Ogre type to it
Ogre::Vector3 posA(ptA.getX(), ptA.getY(), ptA.getZ());
Ogre::Vector3 posB(ptB.getX(), ptB.getY(), ptB.getZ());
Ogre::Vector3 normal(normalOnA.getX(), normalOnA.getY(), normalOnA.getZ());
if(lifeTime == 1)
daisy_object_call_lua(_L, gcB, "startContacted", 10, gcB, "PhysicsBody", gcOther, "PhysicsBody", (void*)(&posB), "Ogre::Vector3", (void*)(&posA), "Ogre::Vector3", (void*)(&normal), "Ogre::Vector3");
else if(lifeTime > 1 )
daisy_object_call_lua(_L, gcB, "contacting", 10, gcB, "PhysicsBody", gcOther, "PhysicsBody", (void*)(&posB), "Ogre::Vector3", (void*)(&posA), "Ogre::Vector3", (void*)(&normal), "Ogre::Vector3");
}
}
}
}
}
}
return true;
}
