Jump to content
  • Advertisement
Sign in to follow this  

How to colliding bodies x bodies and bodies x mesh in ODE?

This topic is 4832 days old which is more than the 365 day threshold we allow for new replies. Please post a new topic.

If you intended to correct an error in the post then please contact us.

Recommended Posts

How to colliding bodies x bodies and bodies x mesh in ODE? I read the doc and i no understand how to do this, and in the internet i no find more explanations about =Please anyone help me.

Share this post

Link to post
Share on other sites
Start with body x body collisions first, then once you've got them figured out, work on the mesh. Then you'll need the simulation and physics model code (the order in which everything gets updated/etc.), and the collision response function (the function that responds to collisions, and moves objects approprately). Information on both of these things can be found in the documentation (Section 3.10/3.11 for the simulation and physics model, and Section 10.5 for the collision response). Just to let you know, the collision response function is part 'd' of step 9. I assume you can get the basic model done (it's not too hard), so here's a slight modification of the collision response function mentioned in section 10.5, that should have the bodies colliding:

extern dWorldID worldID;
extern dJointGroupID contactGroup;
const int MAX_CONTACTS = 16;

//object parts can still collide with other parts...
void myCollisionResponse(void* data,dGeomID o1, dGeomID o2){
if (dGeomIsSpace(o1) || dGeomIsSpace(o2)){
if (dGeomIsSpace(o1)) dSpaceCollide((dSpaceID)o1,data,&myCollisionResponse);
if (dGeomIsSpace(o2)) dSpaceCollide((dSpaceID)o2,data,&myCollisionResponse);
dBodyID b1 = dGeomGetBody(o1);
dBodyID b2 = dGeomGetBody(o2);

// return without doing anything if both bodies are part of the static environment.
if (b1 == 0 && b2 == 0) return;

//return without doing anything if the two bodies are connected by a joint
if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact)) return;

dContact contacts[MAX_CONTACTS];
int i,numc;
if (numc = dCollide(o1,o2,MAX_CONTACTS,&contacts[0].geom,sizeof(dContact))){
for (i = 0;i < numc;i++){
contacts.surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
contacts.surface.mu = dInfinity;
contacts.surface.slip1 = 0.1;
contacts.surface.slip2 = 0.1;
contacts.surface.soft_erp = 0.5;
contacts.surface.soft_cfm = 0.0;

dJointID c = dJointCreateContact(worldID,contactGroup,&contacts);

Share this post

Link to post
Share on other sites
Sign in to follow this  

  • Advertisement

Important Information

By using GameDev.net, you agree to our community Guidelines, Terms of Use, and Privacy Policy.

We are the game development community.

Whether you are an indie, hobbyist, AAA developer, or just trying to learn, GameDev.net is the place for you to learn, share, and connect with the games industry. Learn more About Us or sign up!

Sign me up!