Physics Simulation Forum

static bool CustomMaterialCombinerCallback(btManifoldPoint& cp,   const btCollisionObject* colObj0,int partId0,int index0,const btCollisionObject* colObj1,int partId1,int index1)
{
      btAdjustInternalEdgeContacts(cp,colObj1,colObj0, partId1,index1);
      float friction0 = colObj0->getFriction();
   float friction1 = colObj1->getFriction();
   float restitution0 = colObj0->getRestitution();
   float restitution1 = colObj1->getRestitution();

   if (colObj0->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
   {
      friction0 = 1.0;//partId0,index0
      restitution0 = 0.f;
   }
   if (colObj1->getCollisionFlags() & btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK)
   {
      if (index1&1)
      {
         friction1 = 1.0f;//partId1,index1
      } else
      {
         friction1 = 0.f;
      }
      restitution1 = 0.f;
   }

   cp.m_combinedFriction = calculateCombinedFriction(friction0,friction1);
   cp.m_combinedRestitution = calculateCombinedRestitution(restitution0,restitution1);
      return true;
} 
extern ContactAddedCallback      gContactAddedCallback;

bool Vm3dphysics::SetupPhysics(...)
{
   Ogre::Entity *mStaticEntity = sc_mgr->getEntity(entity);
   Ogre::SceneNode *StaticNode = mStaticEntity->getParentSceneNode();
   Ogre::SceneNode *newNode = sc_mgr->getRootSceneNode()->createChildSceneNode();
   newNode->setPosition(StaticNode->convertWorldToLocalPosition(Ogre::Vector3::ZERO));
   newNode->setOrientation(StaticNode->convertLocalToWorldOrientation(Ogre::Quaternion::IDENTITY));
   BtOgre::StaticMeshToShapeConverter converter2(mStaticEntity);
   btBvhTriangleMeshShape *mStaticShape = converter2.createTrimesh();
   btTriangleInfoMap* triangleInfoMap=new btTriangleInfoMap();
   mStaticShape->setUserPointer(triangleInfoMap);
   btGenerateInternalEdgeInfo(mStaticShape,triangleInfoMap); //para que no bote con edges
   BtOgre::RigidBodyState *StaticState = new BtOgre::RigidBodyState(StaticNode);
   btRigidBody *mStaticBody = new btRigidBody(0, StaticState, mStaticShape, btVector3(0,0,0));
   mStaticBody->setCollisionFlags(mStaticBody->getCollisionFlags() | btCollisionObject::CF_CUSTOM_MATERIAL_CALLBACK);
   phyWorld->addRigidBody(mStaticBody,interaccion,1);
   gContactAddedCallback = CustomMaterialCombinerCallback;
   return true;
}

   btScalar mass1 = 60;
   btVector3 inertia1;

   BtOgre::RigidBodyState *cylState = new BtOgre::RigidBodyState(cylNode);
   btCollisionShape* cylshape = new btCapsuleShape(ancho/2,alto-ancho);

       //Create the Body.
   cylshape->calculateLocalInertia(mass1, inertia1);

   cylBody = new btRigidBody(mass1, cylState, cylshape, inertia1);
   phyWorld->addRigidBody(cylBody,1,3);
   
   btTransform frameInA = btTransform::getIdentity();
   frameInA.setOrigin(btVector3(0., 0., 0.));

   hinge=new btGeneric6DofConstraint(*cylBody,frameInA,true);
   hinge->setLinearLowerLimit(btVector3(-10000,-10000,-10000));
   hinge->setLinearUpperLimit(btVector3(10000,10000,10000));
   hinge->setAngularLowerLimit(btVector3(0,-SIMD_PI,0));
   hinge->setAngularUpperLimit(btVector3(0,SIMD_PI,0));
   phyWorld->addConstraint(hinge);

   cylBody->setFriction(.99);
   cylBody->setDamping(.7,.999);
   cylBody->setRestitution(0.3);
   cylBody->setAngularFactor(btVector3(0,1,0));
   cylBody->setActivationState(DISABLE_DEACTIVATION);