How to make custom actions after collision occured?

Hello,

I've managed to make two collision boxes with ogrebullet, they're properly shown by the debugDrawer and everything works so far, but now I need to do something when the collision occurs between them, how can I make it? Thanks in advance

This should work.


OgreBulletDynamics::RigidBody *box1;
OgreBulletDynamics::RigidBody *box2;
OgreBulletDynamics::DynamicsWorld *mWorld;
...

// Simulate.
mWorld->stepSimulation(elapsedTime);

// Number of manifolds.
const unsigned int numManifolds =
mWorld->getBulletCollisionWorld()->getDispatcher()->getNumManifolds();

// Go through every manifold.
for (unsigned int i=0; i < numManifolds; i++)
{
// Get current manifold.
btPersistentManifold* contactManifold =
mWorld->getBulletCollisionWorld()->
getDispatcher()->getManifoldByIndexInternal(i);

// Get collisionpair.
btCollisionObject* obA =
static_cast<btCollisionObject*>(contactManifold->getBody0());
btCollisionObject* obB =
static_cast<btCollisionObject*>(contactManifold->getBody1());

// Check if the two colliding objects are the boxes.
if ( (box1->getBulletObject() == obA && box2->getBulletObject() == obB)
|| (box2->getBulletObject() == obA && box1->getBulletObject() == obB) )
{
// Your code here.
}

// Refresh contact points.
contactManifold->refreshContactPoints(obA->getWorldTransform(),obB->getWorldTransform());

// Get number of contact points of these two objects.
const unsigned int numContacts = contactManifold->getNumContacts();

// Go through every contact point.
for (unsigned int j = 0;j < numContacts; j++)
{
// Get current manifold point.
btManifoldPoint& pt = contactManifold->getContactPoint(j);

// Get positions.
btVector3 ptA = pt.getPositionWorldOnA();
btVector3 ptB = pt.getPositionWorldOnB();

// Transform to ogre.
Vector3 aPoint = Vector3(ptA.x(), ptA.y(), ptA.z());
Vector3 bPoint = Vector3(ptB.x(), ptB.y(), ptB.z());

// Your code here if need to check the collision by contact points.

} // End for each point.
} // End for each contact manifold.


I also need help on this problem.
I find the similiar code in OgreBulletDynamics::CollisionsWorld::discreteCollide() and OgreBulletDynamics::DynamicsWorld::stepSimulation(...).
But, Is there any callback function avaiable to let the developer make custom actions after collision occured?
If not, I have to put Caith's code in MyLisener::frameEnded() or MyLisener::frameEnded() , right?

Any suggestion is appreciated.

I also need help on this problem.
I find the similiar code in OgreBulletDynamics::CollisionsWorld::discreteCollide() and OgreBulletDynamics::DynamicsWorld::stepSimulation(...).
But, Is there any callback function avaiable to let the developer make custom actions after collision occured?
If not, I have to put Caith's code in MyLisener::frameEnded() or MyLisener::frameEnded() , right?

Any suggestion is appreciated.
Check the bullet wiki and bullet demos, there is an example in the 2nd link that you should be able to cut and paste.
http://www.bulletphysics.org/mediawiki- ... d_Triggers
http://bullet.googlecode.com/svn-histor ... csDemo.cpp