private void nearCallback(Object data, DGeom o1, DGeom o2) {
int i;
// only collide things with the ground
boolean g1 = (o1 == ground);
boolean g2 = (o2 == ground);
if (!(g1 ^ g2)) return;
DBody b1 = o1.getBody();
DBody b2 = o2.getBody();
DContactBuffer contacts = new DContactBuffer(3); // up to 3 contacts per box
for (i = 0; i < 3; i++) {
contacts.get(i).surface.mode = OdeConstants.dContactSoftCFM | OdeConstants.dContactApprox1;
contacts.get(i).surface.mu = MU;
contacts.get(i).surface.soft_cfm = 0.01;
}
int numc = OdeHelper.collide(o1, o2, 3, contacts.getGeomBuffer());
if (numc != 0) { // [0].geom,sizeof(dContact))) {
for (i = 0; i < numc; i++) {
DJoint c = OdeHelper.createContactJoint(world, contactgroup, contacts.get(i));
c.attach(b1, b2);
}
}
}
