root / branches / cpp-ode / src / libmmpong / netgame_ode.cc @ 542

#include "ode_box.h"
#include "netgame_ode.h"

using namespace mmp;


boost::shared_ptr<NetGameODE> NetGameODE::assureODE(pointer game) {
        boost::shared_ptr<NetGameODE> ptr = boost::dynamic_pointer_cast<NetGameODE>(game);
        if (!ptr)
                throw std::runtime_error("Given NetGame is not derived from NetGameODE");
        return ptr;
};

#define STEPSIZE 0.001f
void NetGameODE::advance(const boost::posix_time::ptime endtime) {
        lock();
        if (endtime < world_time) {
                LOGWARN("endtime < world_time");
                unlock();
                return;
        }
        
        boost::posix_time::time_duration elapsed = endtime - world_time;

        //TODO (if necessary): improve (naive) time stepping by measuring computation times
        
        double seconds= ((double)elapsed.total_microseconds())/1.e6;
        unsigned int step_count= seconds/STEPSIZE;
        LOGDBG("step world "<<seconds<<" seconds with "<<step_count << " iterations");
        for (unsigned int i=0; i<step_count; i++) {
                collide();
                quickStep(STEPSIZE);
        }
        world_time=endtime;
        
        unlock();
}

NetEnt::pointer NetGameODE::cln_ent_new(NetMsg::pointer msg) {
        NetEnt::pointer ent=msg_ent_new_parse(msg);
        return ent;
}


#define MAX_CONTACTS 4 //maximal number of contacts between two particular objects

void NetGameODE::collideCallback(void *data, dGeomID o1, dGeomID o2) {
        dContact contact[MAX_CONTACTS];
        unsigned int n_collide = dCollide(o1, o2, MAX_CONTACTS, &contact[0].geom, sizeof(dContact));
        for (unsigned int i=0; i< n_collide; i++){
                contact[i].surface.mode = dContactBounce;// | dContactSoftCFM;
                contact[i].surface.mu=dInfinity;
                contact[i].surface.bounce=1.0; // \in [0,1]
                contact[i].surface.bounce_vel=0.01;
                //contact[i].surface.soft_cfm = 0.1;
                dBodyID b1 = dGeomGetBody(o1), b2 = dGeomGetBody(o2);
                dJointID c = dJointCreateContact(id(), 0, contact+i);
                dJointAttach(c, b1, b2);
                LOGDBG("Collision detected (BAM!)");
        }
}

#undef MAX_CONTACTS