func cb(data interface{}, obj1, obj2 ode.Geom) {
contact := ode.NewContact()
body1, body2 := obj1.Body(), obj2.Body()
if body1 != 0 && body2 != 0 && body1.Connected(body2) {
return
}
contact.Surface.Mode = 0
contact.Surface.Mu = 0.1
contact.Surface.Mu2 = 0
cts := obj1.Collide(obj2, 1, 0)
if len(cts) > 0 {
contact.Geom = cts[0]
ct := world.NewContactJoint(ctGrp, contact)
ct.Attach(body1, body2)
}
}
func (w *World) nearCallback(data interface{}, obj1, obj2 ode.Geom) {
body1 := obj1.Body()
body2 := obj2.Body()
cts := obj1.Collide(obj2, 1, 0)
for _, ct := range cts {
/* contact info */
contact := ode.NewContact()
contact.Surface.Mode = ode.BounceCtParam | ode.SoftCFMCtParam
contact.Surface.Mu = math.Inf(1)
contact.Surface.Mu2 = 0
contact.Surface.Bounce = 0.01
contact.Surface.BounceVel = 0.1
contact.Geom = ct
/* add contact joint until next frame */
ctj := w.world.NewContactJoint(w.contacts, contact)
ctj.Attach(body1, body2)
/* collision events */
event_contact := Contact{
Position: FromOdeVec3(ct.Pos),
Normal: FromOdeVec3(ct.Normal),
Depth: float32(ct.Depth),
}
if obj1.Data() != nil && obj1.Data() != nil {
col1 := obj1.Data().(Collider)
col2 := obj2.Data().(Collider)
col1.OnCollision(col2, event_contact)
col2.OnCollision(col1, event_contact)
}
}
}