static void printGeom (PrintingContext &c, dxGeom *g)
{
unsigned long category = dGeomGetCategoryBits (g);
if (category != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"category_bits = %lu\n",category);
}
unsigned long collide = dGeomGetCollideBits (g);
if (collide != (unsigned long)(~0)) {
c.printIndent();
fprintf (c.file,"collide_bits = %lu\n",collide);
}
if (!dGeomIsEnabled (g)) {
c.print ("disabled",1);
}
switch (g->type) {
case dSphereClass: printSphere (c,g); break;
case dBoxClass: printBox (c,g); break;
case dCapsuleClass: printCapsule (c,g); break;
case dCylinderClass: printCylinder (c,g); break;
case dPlaneClass: printPlane (c,g); break;
case dRayClass: printRay (c,g); break;
case dConvexClass: printConvex (c,g); break;
case dTriMeshClass: printTriMesh (c,g); break;
case dHeightfieldClass: printHeightfieldClass (c,g); break;
}
}
bool EOSOdeCollisionObject::isActive()
{
if(this->collisionGeometry != 0)
{
return dGeomIsEnabled(this->collisionGeometry);
}
return false;
}
bool Construction::IsGeomActive()
{
for(int i=0; i<nObjects; i++)
{
if(ObjectList[i].HasGeom )
{
if(dGeomIsEnabled( ObjectList[i].Geom ) )
return true;
}
}
return false;
}
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
//make sure both of the geom's are enabled (otherwise this is
//a waste of our time
if( !dGeomIsEnabled( o1 ) || !dGeomIsEnabled (o2 ))
{
return;
}
//collide spaces if neccesary
if (dGeomIsSpace (o1) || dGeomIsSpace (o2))
{
// collide the space(s?)
dSpaceCollide2 (o1,o2,data,&nearCallback);
// collide all geoms/spaces within the spaces
//if (dGeomIsSpace (o1)) dSpaceCollide ((dSpaceID)o1,data,&nearCallback);
//if (dGeomIsSpace (o2)) dSpaceCollide ((dSpaceID)o2,data,&nearCallback);
}
//otherwise no spaces, just collide geoms
else
{
//make sure one of the geoms has a body
dBodyID body1 = dGeomGetBody( o1 );
dBodyID body2 = dGeomGetBody( o2 );
//if( body1 == 0 && body2 == 0)
//return;
//make sure that the bodies are enabled
//declarations
DynamicsObject* dynobj=NULL, *dynobj2=NULL;
int n;
DynamicsSolver* solver = (DynamicsSolver*)data;
//Get 64 contacts
const int N = 64;
dContact contact[N];
n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
//Sort all the contacts
dContact* sortedContacts[N];
for( int i=0; i<n; i++ ) sortedContacts[i] = &contact[i];
qsort( sortedContacts, n,sizeof( dContact*), compareContacts );
//determine how many contacts to actually care about
//if( n > 8 )
// n = 8;
if (n > 0)
{
//figure out surface desc stuff
DynamicsSurfaceDesc* sd1, *sd2;
DynamicsSurfaceDesc finaldesc;
sd1 = (DynamicsSurfaceDesc*)dGeomGetData(contact[0].geom.g1);
sd2 = (DynamicsSurfaceDesc*)dGeomGetData(contact[0].geom.g2);
finaldesc.Combine( sd1, sd2);
//Get the bodies involved in the collision
dBodyID b1, b2;
b1 = dGeomGetBody(contact[0].geom.g1);
b2 = dGeomGetBody(contact[0].geom.g2);
//Inform objects of the collision that occured.
if(b1) dynobj = (DynamicsObject*)dBodyGetData(b1);
if(b2) dynobj2 = (DynamicsObject*)dBodyGetData(b2);
if( dynobj ) dynobj->OnCollide ( dynobj2 );
if( dynobj2) dynobj2->OnCollide( dynobj);
//Generate contact joints
for (int i=0; i<n; i++)
{
contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;// | dContactBounce;
//contact[i].surface.mu = 0.5f;
contact[i].surface.mu = finaldesc.mu;
if(contact[i].geom.normal[1] < .8f )
{
contact[i].surface.mu = 0.1f;
}
contact[i].surface.slip1 = finaldesc.ContactSlip1 ;
contact[i].surface.slip2 = finaldesc.ContactSlip2 ;
contact[i].surface.soft_erp = finaldesc.SoftERP ;
contact[i].surface.soft_cfm = finaldesc.SoftCFM;
contact[i].surface.bounce = finaldesc.Bounce;
contact[i].surface.bounce_vel = finaldesc.BounceVelocity ;
dJointID c = dJointCreateContact (solver->WorldID,solver->ContactGroup,&contact[i]);
//Insert friction anisotropy code here
fixFrictionVector( b1, b2, contact[i] );
dJointAttach (c,
dGeomGetBody(contact[i].geom.g1),
dGeomGetBody(contact[i].geom.g2));
}
}
}
}
bool CollidableObject::GetCanCollide()
{
return dGeomIsEnabled(mGeom) != 0;
}
