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C++ dJointCreateContact函数代码示例

原作者: [db:作者] 来自: [db:来源] 收藏 邀请

本文整理汇总了C++中dJointCreateContact函数的典型用法代码示例。如果您正苦于以下问题：C++ dJointCreateContact函数的具体用法？C++ dJointCreateContact怎么用？C++ dJointCreateContact使用的例子？那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。



在下文中一共展示了dJointCreateContact函数的20个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于我们的系统推荐出更棒的C++代码示例。

示例1: dGeomGetBody

//description
//Default behavior. 
//Default collision of bodies
void ODEBaseScene::Collide(dGeomID g1, dGeomID g2)
{
    int n;
    
    dBodyID b1 = dGeomGetBody(g1);
    dBodyID b2 = dGeomGetBody(g2);
    if (b1 && b2 && dAreConnected(b1, b2))
            return;
 
    const int N = 4;
    dContact contact[N];
    n = dCollide (g1,g2,N,&contact[0].geom,sizeof(dContact));
    if (n > 0) 
    {
        // printf("Body %d hits body %d.\n", (size_t) dGeomGetData(g1),(size_t) dGeomGetData(g2));
        for (int i=0; i<n; ++i)
        {
            // contact[i].surface.mode = dContactBounce | dContactSoftCFM;
            contact[i].surface.mode = dContactBounce;        
            //contact[i].surface.mu = dInfinity;
            contact[i].surface.mu = 0.5;
            //contact[i].surface.mu2 = 0.5;
            contact[i].surface.bounce = 0.000999990;
            //contact[i].surface.bounce_vel = 0.1;
            //contact[i].surface.soft_cfm = 0.001;

            //contact[i].surface.mode = dContactBounce|dContactSoftERP|dContactSoftCFM;
            contact[i].surface.soft_erp = 1.0; //1.0;
            contact[i].surface.soft_cfm = 1e-10;
            dJointID j = dJointCreateContact (m_domain->getWorld(), m_domain->getContactGroup(), contact+i);
            dJointAttach(j, b1, b2);
        }
    }
}
开发者ID:saneku，项目名称:PODE2.0，代码行数:37，代码来源:ODEBaseScene.cpp


示例2: nearCallback

void nearCallback(void *data, dGeomID o1, dGeomID o2) {
    State* state = (State*)data;

    if(dGeomIsSpace(o1) || dGeomIsSpace(o2)) {
        dSpaceCollide2(o1, o2, data, &nearCallback);

        if(dGeomIsSpace(o1))
            dSpaceCollide((dSpaceID)o1, data, &nearCallback);
        if(dGeomIsSpace(o2))
            dSpaceCollide((dSpaceID)o2, data, &nearCallback);
    } else {
        dBodyID b1 = dGeomGetBody(o1);
        dBodyID b2 = dGeomGetBody(o2);

        const int MAX_CONTACTS = 18;
        dContact contact[MAX_CONTACTS];

        for(int i = 0; i < MAX_CONTACTS; i++) {
            contact[i].surface.mode = dContactBounce;
            contact[i].surface.mu = 2000;
            contact[i].surface.bounce = 0.1;
            contact[i].surface.bounce_vel = 0.15;
        }

        if(int numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact))) {
            for(int i = 0; i < numc; i++) {
                dJointID c = dJointCreateContact(state->world, state->physicsContactgroup, &contact[i]);
                dJointAttach(c, b1, b2);
            }
        }
    }
}
开发者ID:xenris，项目名称:ode-car-jump，代码行数:32，代码来源:main.cpp


示例3: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  int i,n;

  // only collide things with the ground
  int g1 = (o1 == ground || o1 == ground_box);
  int g2 = (o2 == ground || o2 == ground_box);
  if (!(g1 ^ g2)) return;

  const int N = 10;
  dContact contact[N];
  n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
  if (n > 0) {
    for (i=0; i<n; i++) {
      contact[i].surface.mode = dContactSlip1 | dContactSlip2 |
	dContactSoftERP | dContactSoftCFM | dContactApprox1;
      contact[i].surface.mu = dInfinity;
      contact[i].surface.slip1 = 0.1;
      contact[i].surface.slip2 = 0.1;
      contact[i].surface.soft_erp = 0.5;
      contact[i].surface.soft_cfm = 0.3;
      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
      dJointAttach (c,
		    dGeomGetBody(contact[i].geom.g1),
		    dGeomGetBody(contact[i].geom.g2));
    }
  }
}
开发者ID:aliverobotics，项目名称:Pumas-SmallSize，代码行数:28，代码来源:test_buggy.cpp


示例4: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  int i;
  // if (o1->body && o2->body) return;

  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
  for (i=0; i<MAX_CONTACTS; i++) {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.01;
  }
  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
			   sizeof(dContact))) {
    dMatrix3 RI;
    dRSetIdentity (RI);
    const dReal ss[3] = {0.02,0.02,0.02};
    for (i=0; i<numc; i++) {
      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
      dJointAttach (c,b1,b2);
      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
    }
  }
}
开发者ID:CentreForBioRobotics，项目名称:lpzrobots，代码行数:31，代码来源:demo_moving_trimesh.cpp


示例5: nearCallback

//collision detection
static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
    int i,n;

    dBodyID b1 = dGeomGetBody (o1);
    dBodyID b2 = dGeomGetBody (o2);
    if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact) ) return;
    const int N = 10;
    dContact contact[N];
    n = dCollide (o1,o2,N,&contact[0].geom,sizeof (dContact) );
    if (n > 0)
    {
        for  (i=0; i<n; i++)
        {
            contact[i].surface.mode = (dContactSlip1 | dContactSlip2 |
                                       dContactSoftERP | dContactSoftCFM |
                                       dContactApprox1);
            contact[i].surface.mu = 0.1;
            contact[i].surface.slip1 = 0.02;
            contact[i].surface.slip2 = 0.02;
            contact[i].surface.soft_erp = 0.1;
            contact[i].surface.soft_cfm = 0.0001;
            dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
            dJointAttach (c,dGeomGetBody (contact[i].geom.g1),dGeomGetBody (contact[i].geom.g2) );
        }
    }
}
开发者ID:4nakin，项目名称:awesomeball，代码行数:28，代码来源:demo_piston.cpp


示例6: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  assert(o1);
  assert(o2);

  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
  {
    fprintf(stderr,"testing space %p %p\n", o1,o2);
    // colliding a space with something
    dSpaceCollide2(o1,o2,data,&nearCallback);
    // Note we do not want to test intersections within a space,
    // only between spaces.
    return;
  }

  const int N = 32;
  dContact contact[N];
  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
  if (n > 0) 
  {
    for (int i=0; i<n; i++) 
    {
      contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1;
      contact[i].surface.mu = 100.0;
      contact[i].surface.soft_erp = 0.96;
      contact[i].surface.soft_cfm = 0.02;
      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
      dJointAttach (c,
		    dGeomGetBody(contact[i].geom.g1),
		    dGeomGetBody(contact[i].geom.g2));
    }
  }
}
开发者ID:malvim，项目名称:fiedlerscubes，代码行数:33，代码来源:demo_feedback.cpp


示例7: dGeomGetData

void ODEEngine::near_callback(dGeomID o1, dGeomID o2) {
    ODECollidable* c1 = (ODECollidable*) dGeomGetData(o1);
    ODECollidable* c2 = (ODECollidable*) dGeomGetData(o2);

    dContact contact[MAX_CONTACTS];

    int collision_count = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));

    for(int32_t i = 0; i < collision_count; ++i) {
        //Calculate combined surface values to build contact joints

        contact[i].surface.mode = dContactBounce;
        contact[i].surface.bounce = c1->bounciness() * c2->bounciness();

        if(c1->has_infinite_friction() || c2->has_infinite_friction()) {
            contact[i].surface.mu = dInfinity;
        } else {
            contact[i].surface.mu = c1->friction() * c2->friction();
        }

        dBodyID body1 = dGeomGetBody(contact[i].geom.g1);
        dBodyID body2 = dGeomGetBody(contact[i].geom.g2);

        if(body1 == body2) {
            //Don't collide the same body against itself
            continue;
        }

        if(i == 0) {
            //Fire the collision signal on the first loop only
            c1->signal_collided_(*c2);
            c2->signal_collided_(*c1);

            //Fire any combined signals
            fire_collision_signals_for(*c1, *c2);
        }

        //Check to see if we should create response joints, or just ignore the collision

        if(c1->is_ghost() || c2->is_ghost()) {
            //Don't respond if we're not supposed to (e.g. we're a hit zone or something)
            continue;
        }

        if(c1->should_respond_callback_ && !c1->should_respond_callback_(*c2)) {
            continue;
        }

        if(c2->should_respond_callback_ && !c2->should_respond_callback_(*c1)) {
            continue;
        }

        dJointID c = dJointCreateContact(world(), contact_group_, &contact[i]);
        dJointAttach(c, body1, body2);
    }
}
开发者ID:gitter-badger，项目名称:KGLT，代码行数:56，代码来源:ode_engine.cpp


示例8: dJointCreateContact

//------------------------------------------------------------------------------
void OdeSimulator::addContactJoint(const dContact & contact,
                                   const OdeRigidBody * body1,
                                   const OdeRigidBody * body2)
{
    dJointID joint_id = dJointCreateContact(world_id_, contact_group_id_, &contact);

    dJointAttach(joint_id,
                 body1 ? body1->getId() : NULL,
                 body2 ? body2->getId() : NULL);
}
开发者ID:krichter722，项目名称:zeroballistics，代码行数:11，代码来源:OdeSimulator.cpp


示例9: dSpaceCollide2

// main collision handling function
void PhysicsServer::checkCollision(void *data, dGeomID o1, dGeomID o2)
{
	int i,n;
    if( dGeomIsSpace( o1 ) || dGeomIsSpace( o2 ) )
	{
		dSpaceCollide2( o1, o2, data, &collisionCallback );
	}
	else
	{
		int		mode	= 0;
		double	slip1	= 0;
		double	slip2	= 0;

		// get bodies
		dBodyID body1 = dGeomGetBody(o1);
		dBodyID body2 = dGeomGetBody(o2);

		// get geom data
		PhysGeomData* pData1 = (PhysGeomData*)dGeomGetData(o1);
		PhysGeomData* pData2 = (PhysGeomData*)dGeomGetData(o2);

		// set contact params according to geom data
		if (pData1 != NULL)
			slip1 = pData1->slip;
	
		if (pData2 != NULL)
			slip2 = pData2->slip;
	
		// set mode
		if (slip1 != 0)
			mode |= dContactSlip1;

		if (slip2 != 0)
			mode |= dContactSlip2;

		static const int N = 8; // max number of contact points
		dContact contact[N];
		n = dCollide (o1,o2,N,&contact[0].geom,sizeof(dContact));
		if (n > 0) 
		{
			for (i=0; i<n; i++) 
			{
			  contact[i].surface.mode = mode; /*dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM;*/
			  contact[i].surface.mu = dInfinity;
			  contact[i].surface.slip1 = slip1;
			  contact[i].surface.slip2 = slip2;
//			  contact[i].surface.soft_erp = 0.7;
//			  contact[i].surface.soft_cfm = 0.1;
			  dJointID c = dJointCreateContact (_world, _contactgroup, &contact[i]);
			  dJointAttach (c, body1, body2);
			}
		}
	}

}
开发者ID:gpertzov，项目名称:CarND，代码行数:56，代码来源:PhysicsServer.cpp


示例10: nearCallback

static void nearCallback (void *, dGeomID o1, dGeomID o2)
{
  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);

  dContact contact;
  contact.surface.mode = 0;
  contact.surface.mu = dInfinity;
  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
    dJointID c = dJointCreateContact (world,contactgroup,&contact);
    dJointAttach (c,b1,b2);
  }
}
开发者ID:Yanzqing，项目名称:BHumanCodeRelease，代码行数:14，代码来源:demo_motor.cpp


示例11: dGeomGetBody

void TurbulentDispersionScene::Collide(dGeomID g1, dGeomID g2)
{
    dBodyID b1 = dGeomGetBody(g1);
    dBodyID b2 = dGeomGetBody(g2);
    
    dContact contact[MAX_CONTACTS];
    int n = dCollide(g1, g2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
     
    if(n>0)
    {
        //Particle g1 collides with ground g2
        if ((dGeomGetClass(g1) == dSphereClass)&&(g2==ground_wall))
        {                                                    
            unsigned int index=(size_t) dGeomGetData(g1);
            //bodies_prts_indexes_to_remove.push_back(FindPrtsIndexByGlobalId(index)); 
            Add_prts_body_index_to_remove(FindPrtsIndexByGlobalId(index));
            
            return;
        }

        //Particle g2 collides with ground g1
        if((dGeomGetClass(g2) == dSphereClass)&&(g1==ground_wall))
        {            
            unsigned int index=(size_t) dGeomGetData(g2);
            //bodies_prts_indexes_to_remove.push_back(FindPrtsIndexByGlobalId(index));                        
            Add_prts_body_index_to_remove(FindPrtsIndexByGlobalId(index));
            
            return;
        }
    }
    
    for (int i=0; i<n; ++i)
    {
        // contact[i].surface.mode = dContactBounce | dContactSoftCFM;
        contact[i].surface.mode = dContactBounce;        
        //contact[i].surface.mu = dInfinity;
        contact[i].surface.mu = 0.5;
        //contact[i].surface.mu2 = 0.5;
        contact[i].surface.bounce = 0.000999990;
        //contact[i].surface.bounce_vel = 0.1;
        //contact[i].surface.soft_cfm = 0.001;

        //contact[i].surface.mode = dContactBounce|dContactSoftERP|dContactSoftCFM;
        contact[i].surface.soft_erp = 1.0; //1.0;
        contact[i].surface.soft_cfm = 1e-10;
        dJointID j = dJointCreateContact (domain->getWorld(), domain->getContactGroup(), contact+i);
        dJointAttach(j, b1, b2);
    }
}
开发者ID:saneku，项目名称:ELAFoam，代码行数:49，代码来源:TurbulentDispersionScene.cpp


示例12: collideCB

static void collideCB(void *data, dGeomID o1, dGeomID o2)
{
	ODEObj *odeobj1 = ODEObjectContainer::getInstance()->getODEObjFromGeomID(o1);
	ODEObj *odeobj2 = ODEObjectContainer::getInstance()->getODEObjFromGeomID(o2);

	//	const int N = 32;
	const int N = 10; // TODO: Magic number should be removed
	dContact contacts[N];

	int n = dCollide(o1, o2, N, &(contacts[0].geom),  sizeof(contacts[0]));

	if (n > 0) {

		ODEWorld *world = ODEWorld::get();

		for (int i=0; i<n; i++) {

			dContact *c = &contacts[i];

			c->surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactBounce;
			//
			// Reflection of material parameters of the collided object
			// Fliction force should be regarded as average of contiguous material (???)
			// TODO: Calclation of fliction force sould be considered
			//
			if (odeobj1 && odeobj2) {
				c->surface.mu       = ( odeobj1->getMu1()     + odeobj2->getMu1() )     / 2.0;
				c->surface.mu2      = ( odeobj1->getMu2()     + odeobj2->getMu2() )     / 2.0;
				c->surface.slip1    = ( odeobj1->getSlip1()   + odeobj2->getSlip1() )   / 2.0;
				c->surface.slip2    = ( odeobj1->getSlip2()   + odeobj2->getSlip2() )   / 2.0;
				c->surface.soft_erp = ( odeobj1->getSoftErp() + odeobj2->getSoftErp() ) / 2.0;
				c->surface.soft_cfm = ( odeobj1->getSoftCfm() + odeobj2->getSoftCfm() ) / 2.0;
				c->surface.bounce   = ( odeobj1->getBounce()  + odeobj2->getBounce() )  / 2.0;
			}
			else {
				c->surface.mu       = SPARTS_MU1;
				c->surface.mu2      = SPARTS_MU2;
				c->surface.slip1    = SPARTS_SLIP1;
				c->surface.slip2    = SPARTS_SLIP2;
				c->surface.soft_erp = SPARTS_ERP;
				c->surface.soft_cfm = SPARTS_CFM;
				c->surface.bounce   = SPARTS_BOUNCE;
			}
			dJointID cj = dJointCreateContact(world->world(), world->jointGroup(), c);
			dJointAttach(cj, dGeomGetBody(o1), dGeomGetBody(o2));
		}
	}
}
开发者ID:SIGVerse，项目名称:SIGServer，代码行数:48，代码来源:ODEWorld.cpp


示例13: nearCallback

//All pairs of geoms that are potentially intersecting will be passed by dSpaceCollide to this function.
//Here we can determine which objects are actually colliding by making a call to dCollide and change the
//behavior of the joints before adding them to the joint group. The first parameter would be the user data
//pointer passed to dSpaceCollide if we had provided it. The second and third parameters are the two potentially intersecting geoms.
void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
    //Temporary index for each contact
    int i;
    int numc = 0;

    //Get the dynamics body for each geom
    dBodyID b1 = dGeomGetBody(o1);
    dBodyID b2 = dGeomGetBody(o2);

    //Create an array of dContact objects to hold the contact joints
    dContact contact[MAX_CONTACTS];

    // Now we set the joint properties of each contact. Going into the full details here would require a tutorial of its
    // own. I'll just say that the members of the dContact structure control the joint behaviour, such as friction,
    // velocity and bounciness. See section 7.3.7 of the ODE manual and have fun experimenting to learn more.

    for (i = 0; i < MAX_CONTACTS; i++)
    {
        contact[i].surface.mode = dContactBounce | dContactSoftCFM;
        contact[i].surface.mu = dInfinity;
        contact[i].surface.mu2 = 5000;
        contact[i].surface.bounce = 0.98;
        contact[i].surface.bounce_vel = 0.5;
        contact[i].surface.soft_cfm = 0.01;
    }

    // Here we do the actual collision test by calling dCollide. It returns the number of actual contact points or zero
    // if there were none. As well as the geom IDs, max number of contacts we also pass the address of a dContactGeom
    // as the fourth parameter. dContactGeom is a substructure of a dContact object so we simply pass the address of
    // the first dContactGeom from our array of dContact objects and then pass the offset to the next dContactGeom
    // as the fifth paramater, which is the size of a dContact structure. That made sense didn't it?
    numc = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
    if (numc > 0)
    {
        // To add each contact point found to our joint group we call dJointCreateContact which is just one of the many
        // different joint types available.
        for (i = 0; i < numc; i++)
        {
            //dJointCreateContact needs to know which world and joint group to work with as well as the dContact
            //object itself. It returns a new dJointID which we then use with dJointAttach to finally create the
            //temporary contact joint between the two geom bodies.

            dJointID c = dJointCreateContact(world, contactgroup, &contact[i]);
            dJointAttach(c, b1, b2);
        }
    }
}
开发者ID:BenedictRM，项目名称:Final_Project，代码行数:52，代码来源:ode.c


示例14: StaticEnvironment

void	StaticEnvironment ( bool& do_colide, bool bo1, dContact& c, SGameMtl* material_1, SGameMtl* material_2 )
{
	dJointID contact_joint	= dJointCreateContact(0, ContactGroup, &c);

	if(bo1)
	{
		((CPHActivationShape*)(retrieveGeomUserData(c.geom.g1)->callback_data))->DActiveIsland()->ConnectJoint(contact_joint);
		dJointAttach			(contact_joint, dGeomGetBody(c.geom.g1), 0);
	}
	else
	{
		((CPHActivationShape*)(retrieveGeomUserData(c.geom.g2)->callback_data))->DActiveIsland()->ConnectJoint(contact_joint);
		dJointAttach			(contact_joint, 0, dGeomGetBody(c.geom.g2));
	}
	do_colide=false;
}
开发者ID:AntonioModer，项目名称:xray-16，代码行数:16，代码来源:PHActivationShape.cpp


示例15: nearCallback

static void nearCallback(void *data, dGeomID o1, dGeomID o2)
{
	const int N = 10;
	dContact contact[N];

	int n =  dCollide(o1, o2, N, &contact[0].geom, sizeof(dContact));

	for (int i = 0; i < n; i++) {
		contact[i].surface.mode = dContactBounce;
		contact[i].surface.mu         = 0.0;
		contact[i].surface.bounce     = 0.7;
		contact[i].surface.bounce_vel = 0.01;
		dJointID c = dJointCreateContact(world, contactgroup, &contact[i]);
		dJointAttach(c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
	}
}
开发者ID:yoggy，项目名称:odetest，代码行数:16，代码来源:odetest02.cpp


示例16: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnected (b1,b2)) return;

  // @@@ it's still more convenient to use the C interface here.

  dContact contact;
  contact.surface.mode = 0;
  contact.surface.mu = dInfinity;
  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
    dJointID c = dJointCreateContact (world.id(),contactgroup.id(),&contact);
    dJointAttach (c,b1,b2);
  }
}
开发者ID:CentreForBioRobotics，项目名称:lpzrobots，代码行数:17，代码来源:demo_chain2.cpp


示例17: nearCallback

static void nearCallback (void *, dGeomID o1, dGeomID o2)
{
  int i;
  // if (o1->body && o2->body) return;

  // exit without doing anything if the two bodies are connected by a joint
  dBodyID b1 = dGeomGetBody(o1);
  dBodyID b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnectedExcluding (b1,b2,dJointTypeContact)) return;

  dContact contact[MAX_CONTACTS];   // up to MAX_CONTACTS contacts per box-box
  for (i=0; i<MAX_CONTACTS; i++) {
    contact[i].surface.mode = dContactBounce | dContactSoftCFM;
    contact[i].surface.mu = dInfinity;
    contact[i].surface.mu2 = 0;
    contact[i].surface.bounce = 0.1;
    contact[i].surface.bounce_vel = 0.1;
    contact[i].surface.soft_cfm = 0.01;
  }
  if (int numc = dCollide (o1,o2,MAX_CONTACTS,&contact[0].geom,
			   sizeof(dContact))) {
    dMatrix3 RI;
    dRSetIdentity (RI);
    const dReal ss[3] = {0.02,0.02,0.02};
    for (i=0; i<numc; i++) {
		if (dGeomGetClass(o1) == dRayClass || dGeomGetClass(o2) == dRayClass){
			dMatrix3 Rotation;
			dRSetIdentity(Rotation);
			dsDrawSphere(contact[i].geom.pos, Rotation, REAL(0.01));
			
			dVector3 End;
			End[0] = contact[i].geom.pos[0] + (contact[i].geom.normal[0] * contact[i].geom.depth);
			End[1] = contact[i].geom.pos[1] + (contact[i].geom.normal[1] * contact[i].geom.depth);
			End[2] = contact[i].geom.pos[2] + (contact[i].geom.normal[2] * contact[i].geom.depth);
			End[3] = contact[i].geom.pos[3] + (contact[i].geom.normal[3] * contact[i].geom.depth);
			
			dsDrawLine(contact[i].geom.pos, End);
			continue;
		}
		
      dJointID c = dJointCreateContact (world,contactgroup,contact+i);
      dJointAttach (c,b1,b2);
      if (show_contacts) dsDrawBox (contact[i].geom.pos,RI,ss);
    }
  }
}
开发者ID:weilandetian，项目名称:Yoyo，代码行数:46，代码来源:demo_trimesh.cpp


示例18: nearCallback

/*** コールバック関数 ***/
void nearCallback(void *data, dGeomID o1, dGeomID o2)
{
	static const int N = 10; // 接触点数の最大値
	dContact contact[N];     // 接触点

	// 衝突情報の生成 nは衝突点数
	int n = dCollide(o1,o2,N,&contact[0].geom,sizeof(dContact));

	for (int i = 0; i < n; i++){
		contact[i].surface.mode = dContactBounce; // 接触面の反発性を設定

		// ボールとバーが接触したら反発係数を1.5に設定
		if(((ball.geom == o1) && (bar.geom == o2)) || ((ball.geom == o2) && (bar.geom == o1))){
			contact[i].surface.bounce = 1.2;          // 反発係数(実際の世界では0.0から1.0)
		}
		// ボールと床が接触したら反発係数を0.5に設定
		else if (((ball.geom == o1) && (field.geom == o2)) || ((ball.geom == o2) && (field.geom == o1))){
			contact[i].surface.bounce = 0.5;
		}
		// ボールとブロック１が接触したら。block1_hitを１に設定
		else if (((ball.geom == o1) && (block1.geom == o2)) || ((ball.geom == o2) && (block1.geom == o1))){
			 block1_hit = 1;
		}
		// ボールとブロック2が接触したら。block2_hitを１に設定
		else if (((ball.geom == o1) && (block2.geom == o2)) || ((ball.geom == o2) && (block2.geom == o1))){
			 block2_hit = 1;
		}
		// ボールとブロック3が接触したら。block2_hitを１に設定
		else if (((ball.geom == o1) && (block3.geom == o2)) || ((ball.geom == o2) && (block3.geom == o1))){
			 block3_hit = 1;
		}
		// その他は反発係数を0.8に設定
		else{
			contact[i].surface.bounce = 0.8;
		}

		//contact[i].surface.bounce_vel = 0.05;            // 反発に必要な最低速度
		contact[i].surface.mu = 0.0;// dInfinity;        // 摩擦係数

		// 接触ジョイントの生成
		dJointID c = dJointCreateContact(world, contactgroup, &contact[i]);
		// 接触している２つの剛体を接触ジョイントにより拘束
		dJointAttach(c,dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
	}
}
开发者ID:Ry0，项目名称:ODE，代码行数:46，代码来源:dm6.cpp


示例19: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  /* exit without doing anything if the two bodies are connected by a joint */
  dBodyID b1,b2;
  dContact contact;

  b1 = dGeomGetBody(o1);
  b2 = dGeomGetBody(o2);
  if (b1 && b2 && dAreConnected (b1,b2)) return;

  contact.surface.mode = 0;
  contact.surface.mu = 0.1;
  contact.surface.mu2 = 0;
  if (dCollide (o1,o2,1,&contact.geom,sizeof(dContactGeom))) {
    dJointID c = dJointCreateContact (world,contactgroup,&contact);
    dJointAttach (c,b1,b2);
  }
}
开发者ID:soubok，项目名称:libset，代码行数:18，代码来源:demo_chain1.c


示例20: nearCallback

static void nearCallback (void *data, dGeomID o1, dGeomID o2)
{
  assert(o1);
  assert(o2);

  if (dGeomIsSpace(o1) || dGeomIsSpace(o2))
  {
      fprintf(stderr,"testing space %p %p\n", (void*)o1, (void*)o2);
    // colliding a space with something
    dSpaceCollide2(o1,o2,data,&nearCallback);
    // Note we do not want to test intersections within a space,
    // only between spaces.
    return;
  }

  const int N = 32;
  dContact contact[N];
  int n = dCollide (o1,o2,N,&(contact[0].geom),sizeof(dContact));
  if (n > 0) 
  {
    for (int i=0; i<n; i++) 
    {
      contact[i].surface.mode = 0;
      contact[i].surface.mu = 50.0; // was: dInfinity
      dJointID c = dJointCreateContact (world,contactgroup,&contact[i]);
      dJointAttach (c, dGeomGetBody(contact[i].geom.g1), dGeomGetBody(contact[i].geom.g2));
      if (show_contacts) 
      {
        dMatrix3 RI;
        dRSetIdentity (RI);
        const dReal ss[3] = {0.12,0.12,0.12};
        dsSetColorAlpha (0,0,1,0.5);
        dsDrawBox (contact[i].geom.pos,RI,ss);
        dReal *pos  = contact[i].geom.pos;
        dReal depth = contact[i].geom.depth;
        dReal *norm = contact[i].geom.normal;
        dReal endp[3] = {pos[0]+depth*norm[0], pos[1]+depth*norm[1], pos[2]+depth*norm[2]};
        dsSetColorAlpha (1,1,1,1);
        dsDrawLine (contact[i].geom.pos, endp);
      }
    }
  }
}
开发者ID:JohnCrash，项目名称:ode，代码行数:43，代码来源:demo_cylvssphere.cpp



注：本文中的dJointCreateContact函数示例由纯净天空整理自Github/MSDocs等源码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。

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