C++ (Cpp) dJointGroup::id示例

示例#1

文件： demo_kinematic.cpp 项目： 4nakin/awesomeball

void nearCallback(void *data, dGeomID g1, dGeomID g2)
{
    if (g1 == ground->id()) {
        queueRemoval(g2);
        return;
    }
    if (g2 == ground->id()) {
        queueRemoval(g1);
        return;
    }

    dBodyID b1 = dGeomGetBody(g1);
    dBodyID b2 = dGeomGetBody(g2);
    
    if (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact))
        return;

    const int MAX_CONTACTS = 10;
    dContact contact[MAX_CONTACTS];
    int n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
    for (int i=0; i<n; ++i) {
        contact[i].surface.mode = 0;
        contact[i].surface.mu = 1;
        dJointID j = dJointCreateContact (*world, joints.id(), contact+i);
        dJointAttach(j, b1, b2);
    }
}

示例#2

文件： demo_chain2.cpp 项目： CentreForBioRobotics/lpzrobots

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnected (b1,b2)) return;

  // @@@ it's still more convenient to use the C interface here.

  dContact contact;
  contact.surface.mode = 0;
  contact.surface.mu = dInfinity;
  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
    dJointAttach (c,b1,b2);
  }
}