SO3Engine: SO3Engine/SO3PhysicGraph/SO3ContactCallback.cpp Source File

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00001 
00007 #include "SO3ContactCallBack.h"
00008 #include "SO3Body.h"
00009 #include "../SO3PhysicGraph/SO3MaterialPair.h"
00010 #include "../SO3SceneGraph/SO3NodeScol.h"
00011 #include "../SO3SceneGraph/SO3Scene.h"
00012 #include "../SCOLPack/SO3SCOL.h"
00013 
00014 extern HWND hwndScol;
00015 extern mmachine mm;
00016 extern int SO3_MATERIALPAIR_FLUID_CONTACT;
00017 extern int getMaterialOverlapStartedCallback(mmachine m, int id, MCOLL * result);
00018 extern int getMaterialContactCallback(mmachine m, int id, MCOLL * result);
00019 
00020 
00021 SContactCallback::SContactCallback(SMaterialPair* matPair): OgreNewt::ContactCallback()
00022 {
00023         this->matPair = matPair;
00024 }
00025 
00026 
00027 SContactCallback::~SContactCallback()
00028 {
00029 }
00030 
00031 int SContactCallback::onAABBOverlap(OgreNewt::Body* body0, OgreNewt::Body* body1, int threadIndex )
00032 {
00033   // Process further contact detection.
00034   /*
00035   SBody* b0;
00036   SBody* b1;
00037   SNode* nodeScol0                = Ogre::any_cast<SNode*>(body0->getUserData()); 
00038   SNode* nodeScol1                = Ogre::any_cast<SNode*>(body1->getUserData()); 
00039   b0 = nodeScol0->nodeBody;
00040   b1 = nodeScol1->nodeBody;
00041 
00042   if(b0->isFluid)
00043   {
00044     b1->setBuoyancyForce(b0);
00045     // Construct CollResult
00046     SScene* mScene = nodeScol0->GetParentScene();
00047     MCOLL* mCollResult = (MCOLL*)malloc(sizeof (MCOLL));
00048     mCollResult->body0 = nodeScol0->nodeBody;
00049     mCollResult->body1 = nodeScol1->nodeBody;
00050     mCollResult->curScene = mScene;
00051     //SendMessage( hwndScol, SO3_MATERIALPAIR_FLUID_CONTACT, (int)b0,(LPARAM)mCollResult);
00052     free(mCollResult);
00053   }
00054   else if(b1->isFluid)
00055   {
00056     b0->setBuoyancyForce(b1);
00057     // Construct CollResult
00058     SScene* mScene = nodeScol0->GetParentScene();
00059     MCOLL* mCollResult = (MCOLL*)malloc(sizeof (MCOLL));
00060     mCollResult->body0 = nodeScol1->nodeBody;
00061     mCollResult->body1 = nodeScol0->nodeBody;
00062     mCollResult->curScene = mScene;
00063     //SendMessage( hwndScol, SO3_MATERIALPAIR_FLUID_CONTACT, (int)b1,(LPARAM)mCollResult);
00064     free(mCollResult);
00065   }
00066 */
00067   return 1;
00068 }
00069 
00070 void SContactCallback::contactsProcess(OgreNewt::ContactJoint &contactJoint, Ogre::Real timeStep, int threadIndex)
00071 {
00072   SNode* nodeScol0                = Ogre::any_cast<SNode*>(contactJoint.getBody0()->getUserData()); 
00073         SNode* nodeScol1                = Ogre::any_cast<SNode*>(contactJoint.getBody1()->getUserData()); 
00074   
00075         if(nodeScol0 != NULL && nodeScol1 != NULL)
00076         {
00077                 SBody* b0;
00078                 SBody* b1;
00079     SScene* mScene = nodeScol0->GetParentScene();
00080 
00081     // Contact begin detection
00082     BodyPairMap::iterator iBodyPairSearched = mScene->bodyPairMap.find(nodeScol0->nodeBody);
00083     if(iBodyPairSearched == mScene->bodyPairMap.end())
00084     {
00085       iBodyPairSearched = mScene->bodyPairMap.find(nodeScol1->nodeBody);
00086       if(iBodyPairSearched == mScene->bodyPairMap.end())
00087       {
00088         // Construct CollResult
00089         MCOLL* mCollResult = (MCOLL*)malloc(sizeof (MCOLL));
00090                     mCollResult->body0 = nodeScol0->nodeBody;
00091                     mCollResult->body1 = nodeScol1->nodeBody;
00092                     mCollResult->curScene = mScene;
00093 
00094         // Contact begin
00095         mScene->bodyPairMap.insert(BodyPairMap::value_type(nodeScol0->nodeBody, nodeScol1->nodeBody));
00096         getMaterialOverlapStartedCallback(mm, (int)this->matPair, mCollResult);
00097 
00098         // Release memory.
00099         free(mCollResult);
00100       }
00101     }
00102 
00103     // For each contact point between those two bodies.
00104     for (OgreNewt::Contact contact = contactJoint.getFirstContact(); contact; contact = contact.getNext())
00105     {
00106       b0 = nodeScol0->nodeBody;
00107       b1 = nodeScol1->nodeBody;
00108       
00109       Ogre::Vector3 pos;
00110       Ogre::Vector3 normal;
00111       contact.getPositionAndNormal(pos, normal);
00112       
00113       MCOLL* mCollResult = (MCOLL*)malloc(sizeof (MCOLL));
00114       mCollResult->body0 = b0;
00115       mCollResult->body1 = b1;
00116       mCollResult->position = pos;
00117       mCollResult->normal = normal;
00118       mCollResult->normalspeed = contact.getNormalSpeed();
00119       mCollResult->force = contact.getForce();
00120                   mCollResult->curScene = mScene;
00121       
00122       // TODO: une seule callback pour tous les contacts de ce material pair
00123       getMaterialContactCallback(mm, (int)this->matPair, mCollResult);
00124 
00125       // Release memory.
00126       free(mCollResult);
00127     }
00128         }
00129 }