void btSimulationIslandManager::addConstraintsToIslands( btAlignedObjectArray<btTypedConstraint*>& constraints )
{
// walk constraints
for ( int i = 0; i < constraints.size(); i++ )
{
// scatter constraints into various islands
btTypedConstraint* constraint = constraints[ i ];
if ( constraint->isEnabled() )
{
int islandId = btGetConstraintIslandId( constraint );
// if island is not sleeping,
if ( Island* island = getIsland( islandId ) )
{
island->constraintArray.push_back( constraint );
}
}
}
}
void btSimulationIslandManager::addManifoldsToIslands( btDispatcher* dispatcher )
{
// walk all the manifolds, activating bodies touched by kinematic objects, and add each manifold to its Island
int maxNumManifolds = dispatcher->getNumManifolds();
for ( int i = 0; i < maxNumManifolds; i++ )
{
btPersistentManifold* manifold = dispatcher->getManifoldByIndexInternal( i );
const btCollisionObject* colObj0 = static_cast<const btCollisionObject*>( manifold->getBody0() );
const btCollisionObject* colObj1 = static_cast<const btCollisionObject*>( manifold->getBody1() );
///@todo: check sleeping conditions!
if ( ( ( colObj0 ) && colObj0->getActivationState() != ISLAND_SLEEPING ) ||
( ( colObj1 ) && colObj1->getActivationState() != ISLAND_SLEEPING ) )
{
//kinematic objects don't merge islands, but wake up all connected objects
if ( colObj0->isKinematicObject() && colObj0->getActivationState() != ISLAND_SLEEPING )
{
if ( colObj0->hasContactResponse() )
colObj1->activate();
}
if ( colObj1->isKinematicObject() && colObj1->getActivationState() != ISLAND_SLEEPING )
{
if ( colObj1->hasContactResponse() )
colObj0->activate();
}
//filtering for response
if ( dispatcher->needsResponse( colObj0, colObj1 ) )
{
// scatter manifolds into various islands
int islandId = getIslandId( manifold );
// if island not sleeping,
if ( Island* island = getIsland( islandId ) )
{
island->manifoldArray.push_back( manifold );
}
}
}
}
}
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));
}
}
}
