/// Main collision callback functor.
static unsafe internal void CollisionCallback(IntPtr data, dGeomID o0, dGeomID o1)
{
if (o0.IsSpace || o1.IsSpace)
{
// Colliding a space with either a geom or another space.
Tao.Ode.Ode.dSpaceCollide2(o0, o1, data, CollisionCallbackRunner);
if (o0.IsSpace)
{
// Colliding all geoms internal to the space.
Tao.Ode.Ode.dSpaceCollide(o0, data, CollisionCallbackRunner);
}
if (o1.IsSpace)
{
// Colliding all geoms internal to the space.
Tao.Ode.Ode.dSpaceCollide(o1, data, CollisionCallbackRunner);
}
}
else
{
// Colliding two geoms.
// The following is a set of special cases where we might
// want to skip collision detection (but not all are
// enforced here for various reasons):
// 1. Two static Solids (neither geom has a body) AND
// neither Solid has a CollisionEventHandler AND there are
// not global handlers: this is enforced.
// 2. Two Shapes that are part of the same Solid (they
// share a body): this is not enforced because ODE
// already takes care of it.
// 3. Two sleeping Solids (note: both must have bodies to
// check this): this is enforced. (ODE should handle
// this, but it doesn't.)
// 4. Two Solids connected by a fixed Joint: this is
// enforced.
// 5. Two Solids connected by a Joint (besides ODE
// contact joints, which should never generate more
// contacts) with contacts disabled (note: both must have
// bodies to check this): this is enforced.
// 6. Solid0 is static, Solid1 is dynamic and is sleeping,
// static-to-sleeping contacts are ignored by the
// Simulator, and neither Solid has a
// CollisionEventHandler AND there are no global handlers:
// this is enforced.
// 7. Solid1 is static, Solid0 is dynamic and is sleeping,
// static-to-sleeping contacts are ignored by the
// Simulator, and neither Solid has a
// CollisionEventHandler AND there are no global handlers:
// this is enforced.
// 8. The two Solids' contact groups do not generate
// contacts when they collide AND neither Solid has a
// CollisionEventHandler AND there are no global handlers.
// Get the geoms' ODE body IDs.
dBodyID o0BodyID = o0.RigidBody;
dBodyID o1BodyID = o1.RigidBody;
bool solid0Static = PtrWrapper.IsEmpty(o0BodyID); // (mike)
bool solid1Static = PtrWrapper.IsEmpty(o1BodyID); // {mike}
// Check if both Solids are dynamic (i.e. have ODE bodies).
bool bothHaveBodies = true;
if (solid0Static || solid1Static)
{
bothHaveBodies = false;
}
// If the two Solids are connected by a common Joint, get
// a pointer to that Joint.
Joint commonJoint = null;
if (bothHaveBodies)
{
int connExcluding = Tao.Ode.Ode.dAreConnectedExcluding(o0BodyID, o1BodyID, (int)Tao.Ode.Ode.dJointTypes.dJointTypeContact);
if (connExcluding != 0)
{
// This will become non-NULL only if there exists an ODE
// joint connecting the two bodies.
commonJoint = GetCommonJoint(o0BodyID, o1BodyID);
}
}
// Get pointers to the geoms' GeomData structures.
GeomData geomData0 = GCHandle.FromIntPtr(Tao.Ode.Ode.dGeomGetData(o0)).Target as GeomData;
GeomData geomData1 = GCHandle.FromIntPtr(Tao.Ode.Ode.dGeomGetData(o1)).Target as GeomData;
// Get pointers to the geoms' ShapeData structures.
ShapeData shape0 = geomData0.Shape;
ShapeData shape1 = geomData1.Shape;
// Get a pointer to the ODESimulator.
OdeSimulator sim = GCHandle.FromIntPtr(data).Target as OdeSimulator;
// Check if the two Solids' contact groups generate contacts
// when they collide.
bool makeContacts = sim.GroupsMakeContacts(shape0.ContactGroup, shape1.ContactGroup);
// Find out whether the Simulator has static-to-sleeping
// contacts disabled.
bool ignoreStaticSleepingContacts = !sim.IsStaticSleepingContactsEnabled;
// Get pointers to the geoms' Solids.
Solid solid0 = geomData0.Solid;
Solid solid1 = geomData1.Solid;
// Get pointers to the two Solids' CollisionEventHandlers.
// These will be NULL if the Solids don't use
// CollisionEventHandlers.
CollisionEventProcessor handler0 = solid0.CollisionEventHandler;
CollisionEventProcessor handler1 = solid1.CollisionEventHandler;
bool neitherHasEventHandler = !(handler0 != null || handler1 != null);
bool hasNoGlobalHandler = sim.NumGlobalCollisionEventHandlers == 0;
// Now do the actual tests to see if we should return early.
// It is important here that we don't call dBodyIsEnabled on
// a static body because that crashes ODE.
bool case1 = neitherHasEventHandler && hasNoGlobalHandler &&
solid0Static && solid1Static;
//bool case2= o0BodyID == o1BodyID;
bool case3 = bothHaveBodies && Tao.Ode.Ode.dBodyIsEnabled(o0BodyID) == 0 &&
Tao.Ode.Ode.dBodyIsEnabled(o1BodyID) == 0;
bool case4 = commonJoint != null &&
commonJoint.Type == JointType.Fixed;
bool case5 = commonJoint != null &&
!commonJoint.ContactsEnabled;
bool case6 = solid0Static && null != o1BodyID && o1BodyID.IsNotNull() &&
Tao.Ode.Ode.dBodyIsEnabled(o1BodyID) == 0 &&
ignoreStaticSleepingContacts &&
neitherHasEventHandler && hasNoGlobalHandler;
bool case7 = solid1Static && null != o0BodyID && o0BodyID.IsNotNull() &&
Tao.Ode.Ode.dBodyIsEnabled(o0BodyID) == 0 &&
ignoreStaticSleepingContacts &&
neitherHasEventHandler && hasNoGlobalHandler;
bool case8 = !makeContacts && neitherHasEventHandler &&
hasNoGlobalHandler;
if (case1 || case3 || case4 || case5 || case6 || case7 || case8)
{
return;
}
// Now actually test for collision between the two geoms.
// This is one of the more expensive operations.
IntPtr theWorldID = sim.World;
IntPtr theJointGroupID = sim.JointGroup;
int contGeomSize = sizeof(Tao.Ode.Ode.dContactGeom);
Tao.Ode.Ode.dContactGeom[] contactArray = new Tao.Ode.Ode.dContactGeom[sim.MaxContacts];
int numContacts = 0;
/*try
* {*/
numContacts = Tao.Ode.Ode.dCollide(o0, o1, sim.MaxContacts /*was 15*/, contactArray, contGeomSize);
// Was big perfomance problem here (KleMiX)
/*}
* catch(Exception)
* {
* return;
* }*/
// If the two objects didn't make any contacts, they weren't
// touching, so just return.
if (0 == numContacts)
{
return;
}
// If at least one of the Solids has a CollisionEventHandler,
// send it a CollisionEvent.
if (handler0 != null || handler1 != null || !hasNoGlobalHandler)
{
// Call the CollisionEventHandlers. Note that we only
// use one contact point per collision: just the first one
// in the contact array. The order of the Solids
// passed to the event handlers is important: the first
// one should be the one whose event handler is
// getting called.
CollisionEvent e = new CollisionEvent();
e.ThisSolid = solid0;
e.OtherSolid = solid1;
e.Position.X = contactArray[0].pos.X;
e.Position.Y = contactArray[0].pos.Y;
e.Position.Z = contactArray[0].pos.Z;
e.Normal.X = contactArray[0].normal.X;
e.Normal.Y = contactArray[0].normal.Y;
e.Normal.Z = contactArray[0].normal.Z;
e.Depth = contactArray[0].depth;
if (handler0 != null)
{
handler0.HandleCollisionEvent(e);
}
if (handler1 != null)
{
// For the other Solid's CollisionEventHandler, we need
// to invert the normal and swap the Solid pointers.
e.Normal *= -1;
e.ThisSolid = solid1;
e.OtherSolid = solid0;
handler1.HandleCollisionEvent(e);
}
sim.InternalRecordCollision(e);
}
if (makeContacts)
{
// Invalidate the "freely-spinning" parameters.
((OdeSolid)solid0).InternalSetFreelySpinning(false);
((OdeSolid)solid1).InternalSetFreelySpinning(false);
for (int i = 0; i < numContacts; ++i)
{
Material m0 = shape0.Material;
Material m1 = shape1.Material;
Tao.Ode.Ode.dContact tempContact = new Tao.Ode.Ode.dContact();
tempContact.surface.mode = (int)Tao.Ode.Ode.dContactFlags.dContactBounce |
(int)Tao.Ode.Ode.dContactFlags.dContactSoftERP;
// Average the hardness of the two materials.
float hardness = (m0.Hardness + m1.Hardness) * 0.5f;
// Convert hardness to ERP. As hardness goes from
// 0.0 to 1.0, ERP goes from min to max.
tempContact.surface.soft_erp = hardness *
(Defaults.Ode.MaxERP - Defaults.Ode.MinERP) +
Defaults.Ode.MinERP;
// Don't use contact CFM anymore. Just let it use
// the global value set in the ODE world.
//tempContact.surface.soft_cfm =
// defaults::ode::minCFM;
// As friction goes from 0.0 to 1.0, mu goes from 0.0
// to max, though it is set to dInfinity when
// friction == 1.0.
if (1.0 == m0.Friction && 1.0 == m1.Friction)
{
tempContact.surface.mu = float.PositiveInfinity;
}
else
{
tempContact.surface.mu = (float)Math.Sqrt(m0.Friction * m1.Friction) * Defaults.Ode.MaxFriction;
}
// Average the bounciness of the two materials.
float bounciness = (m0.Bounciness + m1.Bounciness) * 0.5f;
// ODE's bounce parameter, a.k.a. restitution.
tempContact.surface.bounce = bounciness;
// ODE's bounce_vel parameter is a threshold:
// the relative velocity of the two objects must be
// greater than this for bouncing to occur at all.
tempContact.surface.bounce_vel = Defaults.BounceThreshold;
tempContact.geom = contactArray[i];
//ODE.Joints.Contact contactJoint = new ODE.Joints.Contact(theWorldID, tempContact, theJointGroupID);
IntPtr contactJoint = Tao.Ode.Ode.dJointCreateContact(theWorldID, theJointGroupID, ref tempContact);
//contactJoint.Attach(o0BodyID, o1BodyID);
Tao.Ode.Ode.dJointAttach(contactJoint, o0BodyID, o1BodyID);
}
}
}
}
