// this callback is called for every contact between the two bodies
int Physics::genericContactProcess( const NewtonMaterial* p_material, const NewtonContact* p_contact )
{
float speed0;
float speed1;
osg::Vec3f normal;
// get the maximun normal speed of this impact.
speed0 = NewtonMaterialGetContactNormalSpeed( p_material, p_contact );
if ( speed0 > s_colStruct->_contactMaxNormalSpeed ) {
// save the position of the contact ( e.g. for 3d sound for particle effects )
s_colStruct->_contactMaxNormalSpeed = speed0;
NewtonMaterialGetContactPositionAndNormal( p_material, &s_colStruct->_position._v[ 0 ], &normal._v[ 0 ] );
}
// get the maximun of the two sliding contact speeds
speed0 = NewtonMaterialGetContactTangentSpeed( p_material, p_contact, 0 );
speed1 = NewtonMaterialGetContactTangentSpeed( p_material, p_contact, 1 );
if ( speed1 > speed0 )
speed0 = speed1;
// get the maximun tangent speed of this contact. this can be used e.g. for particles(sparks) or playing scratch sounds
if ( speed0 > s_colStruct->_contactMaxTangentSpeed ) {
// save the position of the contact (for 3d sound or particle effects)
s_colStruct->_contactMaxTangentSpeed = speed0;
NewtonMaterialGetContactPositionAndNormal( p_material, &s_colStruct->_position._v[ 0 ], &normal._v[ 0 ] );
}
// return one to tell Newton we want to accept this contact
return 1;
}
void tContact::_newtonContactProcess(const NewtonJoint * contactJoint, dFloat timeStep, int threadIndex)
{
Vec3 contactPosit, contactNormal;
float contactBestSpeed = 0.5f;
tContact * mtl = NULL;
const NewtonBody * body0 = NewtonJointGetBody0(contactJoint);
void * contact = NewtonContactJointGetFirstContact (contactJoint);
while (contact)
{
float contactNormalSpeed;
NewtonMaterial * material;
// get the material for this contact;
material = NewtonContactGetMaterial (contact);
contactNormalSpeed = NewtonMaterialGetContactNormalSpeed (material);
if (contactNormalSpeed > contactBestSpeed){
contactBestSpeed = contactNormalSpeed;
contactBestSpeed = contactNormalSpeed;
NewtonMaterialGetContactPositionAndNormal(material, &contactPosit.x, &contactNormal[0]);
mtl = (tContact *)NewtonMaterialGetMaterialPairUserData(material);
}
contact = NewtonContactJointGetNextContact (contactJoint, contact);
}
if (mtl)
mtl->OnContactProcess(&contactPosit, &contactNormal);
}
/***************************
Auteur : Loïc Teyssier
Usage : Incremente reussi seulement si ce corps n'a pas déja été traité
et si la vitesse de collision est assez grande.
***************************/
int CMiniJeuCaisse::ContactProcessCaisse4 (const NewtonMaterial* material, const NewtonContact* contact)
{
const float MIN_SPEED = 100;
float speed = NewtonMaterialGetContactNormalSpeed (material, contact);
if (g_colC.c4 && speed>MIN_SPEED)
{
CMiniJeu::m_nReussi ++;
QSound::play("bris-bois.wav");
g_colC.c4 = false;
g_colC.suppr4 = true;
}
return 1;
}
static void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat contactBestSpeed;
dVector contactPosit;
SoundEffect* bestSound;
bestSound = NULL;
contactBestSpeed = 0.5f;
NewtonBody* const body0 = NewtonJointGetBody0(contactJoint);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat contactNormalSpeed;
NewtonMaterial* material;
// get the material for this contact;
material = NewtonContactGetMaterial (contact);
contactNormalSpeed = NewtonMaterialGetContactNormalSpeed (material);
if (contactNormalSpeed > contactBestSpeed){
dVector normal;
contactBestSpeed = contactNormalSpeed;
NewtonMaterialGetContactPositionAndNormal (material, body0, &contactPosit[0], &normal[0]);
bestSound = (SoundEffect *)NewtonMaterialGetMaterialPairUserData (material);
}
}
// now that we found we can play then
if (bestSound) {
// calculate the volume;
dFloat volume;
dFloat dist2;
dVector eyePoint (GetCameraEyePoint() - contactPosit);
dist2 = eyePoint % eyePoint;
if (dist2 < (MAX_SOUND_DISTANCE * MAX_SOUND_DISTANCE)) {
volume = 1.0f;
if (dist2 > (MIN_SOUND_DISTANCE * MIN_SOUND_DISTANCE)) {
volume = 1.0f - (dSqrt (dist2) - MIN_SOUND_DISTANCE) / (MAX_SOUND_DISTANCE - MIN_SOUND_DISTANCE);
}
bestSound->m_manager->Play(bestSound->m_sound, volume, 0);
}
}
}
void applyCarCollisionForce(const NewtonJoint* contact, dFloat timestep, int threadIndex) {
void * userData1 = NewtonBodyGetUserData(NewtonJointGetBody0(contact));
void * userData2 = NewtonBodyGetUserData(NewtonJointGetBody1(contact));
if(userData1 == 0 || userData2 == 0) {
return;
}
Car * car1 = (Car *)userData1;
Car * car2 = (Car *)userData2;
NewtonJoint * carContact = (NewtonJoint *) NewtonContactJointGetFirstContact(contact);
do {
dFloat collisionSpeed = NewtonMaterialGetContactNormalSpeed(
NewtonContactGetMaterial(carContact)
);
collisionSpeed = dAbs(collisionSpeed);
if(collisionSpeed > 3) {
car1->applyDamagePoints(collisionSpeed);
car2->applyDamagePoints(collisionSpeed);
break;
}
carContact = (NewtonJoint *) NewtonContactJointGetNextContact(contact, carContact);
} while(carContact);
}
void cPhysicsMaterialNewton::ProcessContactCallback(const NewtonJoint* apJoint,
float afTimeStep,
int alThreadIndex)
{
cPhysicsContactData ContactData;
int lContactNum = 0;
iPhysicsBody * pContactBody1 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody0(apJoint));
iPhysicsBody * pContactBody2 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody1(apJoint));
for (void* pContact = NewtonContactJointGetFirstContact(apJoint);
pContact;
pContact = NewtonContactJointGetNextContact(apJoint, pContact))
{
NewtonMaterial* pMaterial = NewtonContactGetMaterial(pContact);
//Log(" Process contact between body '%s' and '%s'.\n",pContactBody1->GetName().c_str(),
// pContactBody2->GetName().c_str());
//Normal speed
float fNormSpeed = NewtonMaterialGetContactNormalSpeed(pMaterial);
if (ContactData.mfMaxContactNormalSpeed < fNormSpeed)
ContactData.mfMaxContactNormalSpeed = fNormSpeed;
//Tangent speed
float fTanSpeed0 = NewtonMaterialGetContactTangentSpeed(pMaterial, 0);
float fTanSpeed1 = NewtonMaterialGetContactTangentSpeed(pMaterial, 1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed0))
ContactData.mfMaxContactTangentSpeed = fTanSpeed0;
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed1))
ContactData.mfMaxContactTangentSpeed = fTanSpeed1;
//Force
cVector3f vForce;
NewtonMaterialGetContactForce(pMaterial,vForce.v);
ContactData.mvForce += vForce;
//Position and normal
cVector3f vPos, vNormal;
NewtonMaterialGetContactPositionAndNormal(pMaterial,vPos.v, vNormal.v);
ContactData.mvContactNormal += vNormal;
ContactData.mvContactPosition += vPos;
//Log(" Norm: %f Tan0: %f Tan1: %f\n",fNormSpeed, fTanSpeed0, fTanSpeed1);
//Log("Force: %s step %f\n", vForce.ToString().c_str(), afTimestep);
if(pContactBody1->GetWorld()->GetSaveContactPoints())
{
cCollidePoint collidePoint;
collidePoint.mfDepth = 1;
NewtonMaterialGetContactPositionAndNormal (pMaterial, collidePoint.mvPoint.v,
collidePoint.mvNormal.v);
pContactBody1->GetWorld()->GetContactPoints()->push_back(collidePoint);
}
lContactNum++;
}
//Log("--- End contact between body '%s' and '%s'.\n",mpContactBody1->GetName().c_str(),
// mpContactBody2->GetName().c_str());
if(lContactNum <= 0) return;
iPhysicsMaterial *pMaterial1 = pContactBody1->GetMaterial();
iPhysicsMaterial *pMaterial2 = pContactBody2->GetMaterial();
ContactData.mvContactNormal = ContactData.mvContactNormal / (float)lContactNum;
ContactData.mvContactPosition = ContactData.mvContactPosition / (float)lContactNum;
pMaterial1->GetSurfaceData()->CreateImpactEffect(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pMaterial2->GetSurfaceData());
int lPrio1 = pMaterial1->GetSurfaceData()->GetPriority();
int lPrio2 = pMaterial2->GetSurfaceData()->GetPriority();
if(lPrio1 >= lPrio2)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial1->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial1->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1,pContactBody2);
}
if(lPrio2 >= lPrio1 && pMaterial2 != pMaterial1)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial2->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial2->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2,pContactBody1);
}
pContactBody1->OnCollide(pContactBody2,&ContactData);
pContactBody2->OnCollide(pContactBody1,&ContactData);
}
void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
#if 0
dFloat speed0;
dFloat speed1;
SpecialEffectStruct* currectEffect;
// get the pointer to the special effect structure
currectEffect = (SpecialEffectStruct *)NewtonMaterialGetMaterialPairUserData (material);
// save the contact information
NewtonMaterialGetContactPositionAndNormal (material, &currectEffect->m_position.m_x, &currectEffect->m_normal.m_x);
NewtonMaterialGetContactTangentDirections (material, &currectEffect->m_tangentDir0.m_x, &currectEffect->m_tangentDir1.m_x);
// Get the maximum normal speed of this impact. this can be used for positioning collision sound
speed0 = NewtonMaterialGetContactNormalSpeed (material);
if (speed0 > currectEffect->m_contactMaxNormalSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxNormalSpeed = speed0;
}
// get the maximum of the two sliding contact speed
speed0 = NewtonMaterialGetContactTangentSpeed (material, 0);
speed1 = NewtonMaterialGetContactTangentSpeed (material, 1);
if (speed1 > speed0) {
speed0 = speed1;
}
// Get the maximum tangent speed of this contact. this can be used for particles(sparks) of playing scratch sounds
if (speed0 > currectEffect->m_contactMaxTangentSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxTangentSpeed = speed0;
}
#endif
// read the table direction
// dVector dir (tableDir);
// dVector updir (TableDir);
// NewtonBody* const body = NewtonJointGetBody0(contactJoint);
// for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
// dFloat speed;
// dVector point;
// dVector normal;
// dVector dir0;
// dVector dir1;
// dVector force;
// NewtonMaterial* material;
//
// material = NewtonContactGetMaterial (contact);
// NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
//
// // if the normal is vertical is large the say 40 degrees
// if (fabsf (normal % upDir) > 0.7f) {
// // rotate the normal to be aligned with the table direction
// NewtonMaterialContactRotateTangentDirections (material, dir);
// }
// }
NewtonBody* const body = NewtonJointGetBody0(contactJoint);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
dVector force;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, body, &force.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
NewtonMaterialGetContactTangentDirections (material, body, &dir0.m_x, &dir1.m_x);
//dFloat speed = NewtonMaterialGetContactNormalSpeed(material);
//speed = NewtonMaterialGetContactNormalSpeed(material);
// play sound base of the contact speed.
//
}
}
dFloat Material::GetContactNormalSpeed ( const NewtonContact* contactlHandle)
{
return NewtonMaterialGetContactNormalSpeed( m_material, contactlHandle );
}
virtual Math::Real getContactSpeed() const
{
return NewtonMaterialGetContactNormalSpeed(m_pMaterial, m_pContact);
}
