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added collide callback to OdeWorld

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git-svn-id: svn://anubis/misc/OdeWorld@144 bd8a9e45-a331-0410-811e-c64571078777
This commit is contained in:
josh 2009-09-27 22:02:43 +00:00
parent 4a1ad7b56c
commit 91517f2931
2 changed files with 43 additions and 0 deletions
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39
OdeWorld.cc
View File

@ -1,6 +1,37 @@
#include "OdeWorld.h"
#define WORLD_STEP 0.001
/* used by ODE to perform collision detection */
void OdeWorld_collide_callback(void * data, dGeomID o1, dGeomID o2)
{
const int maxNumContacts = 4;
OdeWorld * ow = (OdeWorld *) data;
static dContact contact[maxNumContacts];
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);
if ((b1 == b2) || (b1 && b2 && dAreConnected(b1, b2)))
return;
int num = dCollide(o1, o2, maxNumContacts,
&contact[0].geom, sizeof(contact[0]));
for (int i = 0; i < num; i++)
{
contact[i].surface.mode =
dContactSlip1 | dContactSlip2 | dContactBounce |
dContactSoftERP | dContactSoftCFM | dContactApprox1;
contact[i].surface.mu = 0.5;
contact[i].surface.slip1 = 0.0;
contact[i].surface.slip2 = 0.0;
contact[i].surface.soft_erp = 0.8;
contact[i].surface.soft_cfm = 0.01;
contact[i].surface.bounce = 0.0;
dJointID joint = dJointCreateContact(ow->m_world,
ow->m_contactJointGroup, contact + i);
dJointAttach(joint, b1, b2);
}
}
OdeWorld::OdeWorld()
{
m_world = dWorldCreate();
@ -15,3 +46,11 @@ OdeWorld::~OdeWorld()
dSpaceDestroy(m_space);
dWorldDestroy(m_world);
}
/* invokes ODE to do physics on our world */
void OdeWorld::worldStep()
{
dSpaceCollide(m_space, this, OdeWorld_collide_callback);
dWorldQuickStep(m_world, WORLD_STEP);
dJointGroupEmpty(m_contactJointGroup);
}

4
OdeWorld.h
View File

@ -13,6 +13,10 @@ class OdeWorld
{
dWorldSetGravity(m_world, x, y, z);
}
void worldStep();
friend void OdeWorld_collide_callback(void * data,
dGeomID o1, dGeomID o2);
protected:
dWorldID m_world;