void nearCallback(IntPtr data, dGeomID o1, dGeomID o2)
{
dBodyID b1 = ode.dGeomGetBody(o1);
dBodyID b2 = ode.dGeomGetBody(o2);
const int MAX_CONTACTS = 5;
ode.dContact[] contact = new ode.dContact[MAX_CONTACTS];
for (int i = 0; i < MAX_CONTACTS; i++)
{
contact[i].surface.mode = (int)(ode.dContactType.Bounce | ode.dContactType.SoftCFM);
contact[i].surface.mu = Mathf.Infinity;
contact[i].surface.mu2 = 0;
contact[i].surface.bounce = 0.01f;
contact[i].surface.bounce_vel = 0.1f;
contact[i].surface.soft_cfm = 0.01f;
}
int numc = ode.dCollide(o1, o2, MAX_CONTACTS, ref contact[0].geom, System.Runtime.InteropServices.Marshal.SizeOf(typeof(ode.dContact)));
if (numc > 0)
{
for (int i = 0; i < numc; i++)
{
dJointID c = ode.dJointCreateContact(world, contactgroup, ref contact[i]);
ode.dJointAttach(c, b1, b2);
}
}
}
void OnNewContact(ref ode.dContact contact, dBodyID body1, dBodyID body2)
{
dJointID c = ode.dJointCreateContact(world.ptr, world.contactgroup, ref contact);
ode.dJointAttach(c, body1, body2);
}
