public void NearCallback(IntPtr data, IntPtr Geom1, IntPtr Geom2)
{
int MAX_COLLISIONS = 20;
IntPtr body1 = Ode.dGeomGetBody(Geom1);
IntPtr body2 = Ode.dGeomGetBody(Geom2);
if (body1 != IntPtr.Zero &&
body2 != IntPtr.Zero &&
Ode.dAreConnectedExcluding(body1, body2, (int)Ode.dJointTypes.dJointTypeContact) == 1)
{
return;
}
Ode.dContactGeom[] contactGeoms = new Ode.dContactGeom[MAX_COLLISIONS];
int numContacts = Ode.dCollide(Geom1, Geom2, MAX_COLLISIONS, contactGeoms,
System.Runtime.InteropServices.Marshal.SizeOf(contactGeoms[0]));
Ode.dContact[] contacts = new Ode.dContact[numContacts];
for (int i = 0; i < numContacts; i++)
{
contacts[i].surface.mode = (int)(Ode.dContactFlags.dContactApprox1);
contacts[i].surface.mu = Ode.dInfinity;
contacts[i].surface.mu2 = 0;
contacts[i].surface.bounce = 0.01f;
contacts[i].surface.bounce_vel = 0.01f;
//contacts[i].surface.soft_erp = 0.5f;
contacts[i].surface.soft_cfm = 0.001f;
contacts[i].geom = contactGeoms[i];
IntPtr joint = Ode.dJointCreateContact(hostWorld.getID(), contactGroup, ref contacts[i]);
Ode.dJointAttach(joint, body1, body2);
}
}
public BodyBox(World hostWorld, Space space, Vector3f position, Vector3f size, Vector3f force)
{
this.hostWorld = hostWorld;
this.space = space;
bodyID = Ode.dBodyCreate(hostWorld.getID());
// create a mass object, in this case a box of size 50 x 0.2 x 50
Ode.dMass mass = new Ode.dMass();
//Ode.dMassSetBox(ref mass, 200.0f, radius, radius, radius);
Ode.dMassSetBoxTotal(ref mass, 200.0f, size.x, size.y, size.z);
// set it's mass to 1000.0f. If this value is too low,
// you'll get some wierd collisions
//mass.mass = 1000.0f;
// set the mass object on the body
Ode.dBodySetMass(bodyID, ref mass);
// Set the body's position
Ode.dBodySetPosition(bodyID, position.x, position.y, position.z);
// Set an initial force on the body. This will be
// wiped to zero after the first frame.
Ode.dBodyAddForce( bodyID, force.x, force.y, force.z );
// create a collion geometry to go with our rigid body.
// without this, the rigid body will not collide with anything.
geomID = Ode.dCreateBox(space.getSpaceID(), size.x, size.y, size.z);
// assign a rigid body to the collision geometry. If we didn't do this,
// the object would be a static object much like our ground plane.
Ode.dGeomSetBody(geomID, bodyID);
this.position = position.copy();
this.rotationOGL = new Color4f(0.0f, 0.0f, 0.0f, 0.0f);
}
public BodyBox(World hostWorld, Space space, Vector3f position, Vector3f size, Vector3f force)
{
this.hostWorld = hostWorld;
this.space = space;
bodyID = Ode.dBodyCreate(hostWorld.getID());
// create a mass object, in this case a box of size 50 x 0.2 x 50
Ode.dMass mass = new Ode.dMass();
//Ode.dMassSetBox(ref mass, 200.0f, radius, radius, radius);
Ode.dMassSetBoxTotal(ref mass, 200.0f, size.x, size.y, size.z);
// set it's mass to 1000.0f. If this value is too low,
// you'll get some wierd collisions
//mass.mass = 1000.0f;
// set the mass object on the body
Ode.dBodySetMass(bodyID, ref mass);
// Set the body's position
Ode.dBodySetPosition(bodyID, position.x, position.y, position.z);
// Set an initial force on the body. This will be
// wiped to zero after the first frame.
Ode.dBodyAddForce(bodyID, force.x, force.y, force.z);
// create a collion geometry to go with our rigid body.
// without this, the rigid body will not collide with anything.
geomID = Ode.dCreateBox(space.getSpaceID(), size.x, size.y, size.z);
// assign a rigid body to the collision geometry. If we didn't do this,
// the object would be a static object much like our ground plane.
Ode.dGeomSetBody(geomID, bodyID);
this.position = position.copy();
this.rotationOGL = new Color4f(0.0f, 0.0f, 0.0f, 0.0f);
}