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Negative collision ids create collision reporting data without attaching a collision joint. Useful for event collisions.

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This commit is contained in:
John Loehrlein 2007-06-29 20:56:41 +00:00
parent 114dd9bee9
commit a06907e583
1 changed files with 8 additions and 2 deletions
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10
panda/src/ode/odeSpace.cxx
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@ -172,7 +172,9 @@ autoCallback(void *data, dGeomID o1, dGeomID o2)
contact[i].surface.soft_cfm = collide_params.colparams.soft_cfm; contact[i].surface.soft_cfm = collide_params.colparams.soft_cfm;
} }
int numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact)); static int numc = 0;
numc = dCollide(o1, o2, OdeSpace::MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
if (numc) if (numc)
{ {
if (odespace_cat.is_debug() && (autoCallbackCounter%30 == 0)) { if (odespace_cat.is_debug() && (autoCallbackCounter%30 == 0)) {
@ -185,7 +187,10 @@ autoCallback(void *data, dGeomID o1, dGeomID o2)
for(i=0; i < numc; i++) for(i=0; i < numc; i++)
{ {
dJointID c = dJointCreateContact(_collide_world->get_id(), _collide_joint_group, contact + i); dJointID c = dJointCreateContact(_collide_world->get_id(), _collide_joint_group, contact + i);
dJointAttach(c, b1, b2); if ((_collide_space->get_collide_id(o1) >= 0) && (_collide_space->get_collide_id(o2) >= 0))
{
dJointAttach(c, b1, b2);
}
// this creates contact position data for python. It is useful for debugging only 64 points are stored // this creates contact position data for python. It is useful for debugging only 64 points are stored
if(contactCount < 64) if(contactCount < 64)
{ {
@ -199,6 +204,7 @@ autoCallback(void *data, dGeomID o1, dGeomID o2)
} }
_collide_world->set_dampen_on_bodies(b1, b2, collide_params.dampen); _collide_world->set_dampen_on_bodies(b1, b2, collide_params.dampen);
} }
} }
OdeSimpleSpace OdeSpace:: OdeSimpleSpace OdeSpace::