test collision between two body

[izissise]

Hello,
I need a function returned if there is collision between two body something like that :

Code: Select all

bool newton_test_collision(newtonbody* body1,newtonbody* body2)

Does there is anything like that in newton ?

thank you !

[Julio Jerez]

Yes

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// return the collision joint, if the body collide
NewtonJoint*  newton_test_collision (NewtonBody* body0, NewtonBody* body1)
{
   for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body0); joint; joint = NewtonBodyGetNextContactJoint (body0, joint)) {
      if ((NewtonJointGetBody0(joint) == body1) || (NewtonJointGetBody1(joint) == body1)) {
         return joint;
      }
   }
   return NULL;
}


Code: Select all

//to get the collision points
void HandlecollisionPoints (NewtonJoint* contactjoint)
{
   NewtonBody* body0 = NewtonJointGetBody0(contactjoint);
   NewtonBody* body1 = NewtonJointGetBody1(contactjoint);
   for (void* contact = NewtonContactJointGetFirstContact (contactjoint); contact; contact = NewtonContactJointGetNextContact (contactjoint, contact)) {

      float forceMag;
      dVector point;
      dVector normal;   
      NewtonMaterial* material = NewtonContactGetMaterial (contact);

      // do whatever you want here

      //NewtonMaterialGetContactForce (material, &forceMag);
//      NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
      // do whatever you want with the force
   }
}

[izissise]

Thank you !!!