OgreNewt_ContactJoint.cpp

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#include "External/ogrenewt/OgreNewt_Stdafx.h"
#include "External/ogrenewt/OgreNewt_ContactJoint.h"
#include "External/ogrenewt/OgreNewt_World.h"
 
 
namespace OgreNewt
{
 
 
  ContactJoint::ContactJoint(const NewtonJoint* contactJoint)
  {
    m_contactjoint = contactJoint;
  }
 
 
  ContactJoint::~ContactJoint()
  {
  }
 
 
  Contact ContactJoint::getFirstContact()
  {
    Contact contact(NewtonContactJointGetFirstContact(m_contactjoint), this);
    return contact;
  }
 
 
  MaterialPair* ContactJoint::getMaterialPair()
  {
    Body* body0 = getBody0();
    Body* body1 = getBody1();
    const World* world = body0->getWorld();
 
    return (MaterialPair*)NewtonMaterialGetUserData(world->getNewtonWorld(), body0->getMaterialGroupID()->getID(), body1->getMaterialGroupID()->getID());
  }
 
 
 
  Contact::Contact(void* contact, ContactJoint* parent)
  {
    m_parent = parent;
    m_contact = contact;
    m_material = NULL;
    if (contact)
    {
      m_material = NewtonContactGetMaterial(contact);
    }
  }
 
  Contact::~Contact()
  {
  }
 
  Contact Contact::getNext() const
  {
    Contact contact(NewtonContactJointGetNextContact(m_parent->_getNewtonContactJoint(), m_contact), m_parent);
    return contact;
  }
 
  Ogre::Vector3 Contact::getForce() const
  {
    dVector fVec;
    NewtonMaterialGetContactForce(m_material, getBody0()->getNewtonBody(), &fVec.m_x);
    return Ogre::Vector3(Ogre::Real(fVec.m_x), Ogre::Real(fVec.m_y), Ogre::Real(fVec.m_z));
  }
 
  void Contact::remove()
  {
    NewtonContactJointRemoveContact(m_parent->_getNewtonContactJoint(), m_contact);
    m_parent = NULL;
    m_material = NULL;
    m_contact = NULL;
  }
 
 
}