static dFloat RayCastFilter (const NewtonBody* const body, const NewtonCollision* const collisionHit, const dFloat* const contact, const dFloat* const normal, dLong collisionID, void* const userData, dFloat intersetParam)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
// check if we are hitting a sub shape
const NewtonCollision* const parent = NewtonCollisionGetParentInstance(collisionHit);
if (parent) {
// you can use this to filter sub collision shapes.
dAssert (NewtonCollisionGetSubCollisionHandle (collisionHit));
}
dMousePickClass* const data = (dMousePickClass*) userData;
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
if ((mass > 0.0f) || (NewtonBodyGetType(body) == NEWTON_KINEMATIC_BODY)) {
data->m_body = body;
}
if (intersetParam < data->m_param) {
data->m_param = intersetParam;
data->m_normal = dVector (normal[0], normal[1], normal[2]);
}
return intersetParam;
}
static void DebugShowBodyCollision (const NewtonBody* const body, DEBUG_DRAW_MODE mode)
{
switch (NewtonBodyGetType(body))
{
case NEWTON_DYNAMIC_BODY:
{
int sleepState = NewtonBodyGetSleepState(body);
if (sleepState == 1) {
// indicate when body is sleeping
glColor3f(0.42f, 0.73f, 0.98f);
} else {
// body is active
glColor3f(1.0f, 1.0f, 1.0f);
}
break;
}
case NEWTON_KINEMATIC_BODY:
glColor3f(1.0f, 1.0f, 0.0f);
break;
case NEWTON_DEFORMABLE_BODY:
glColor3f (0.0f, 1.0f, 1.0f);
break;
}
dMatrix matrix;
NewtonBodyGetMatrix(body, &matrix[0][0]);
NewtonCollisionForEachPolygonDo (NewtonBodyGetCollision(body), &matrix[0][0], DebugShowGeometryCollision, (void*) mode);
}
// implement a ray cast pre-filter
static unsigned RayCastPrefilter (const NewtonBody* body, const NewtonCollision* const collision, void* const userData)
{
// ray cannot pick trigger volumes
//return NewtonCollisionIsTriggerVolume(collision) ? 0 : 1;
const NewtonCollision* const parent = NewtonCollisionGetParentInstance(collision);
if (parent) {
// you can use this to filter sub collision shapes.
dAssert (NewtonCollisionGetSubCollisionHandle (collision));
}
return (NewtonBodyGetType(body) == NEWTON_DYNAMIC_BODY) ? 1 : 0;
}