static void Add6DOF (DemoEntityManager* const scene, const dVector& origin)
{
dVector size (1.0f, 1.0f, 1.0f);
NewtonBody* const box0 = CreateCapule (scene, origin + dVector (0.0f, 5.0f, 0.0f, 0.0f), size);
NewtonBody* const box1 = CreateCapule (scene, origin + dVector (0.0f, 5.0 - size.m_y * 2.0f, 0.0f, 0.0f), size);
const dFloat angle = 60.0f * 3.1415592f / 180.0f;
dMatrix pinMatrix (dGrammSchmidt (dVector (0.0f, -1.0f, 0.0f, 0.0f)));
// connect first box to the world
dMatrix matrix0;
NewtonBodyGetMatrix (box0, & matrix0[0][0]);
pinMatrix.m_posit = matrix0.m_posit + dVector (0.0f, size.m_y, 0.0f, 0.0f);
Custom6DOF* const joint0 = new Custom6DOF (pinMatrix, pinMatrix, box0, NULL);
joint0->SetAngularLimits (dVector (-angle, -angle, -angle, 0.0f), dVector (angle, angle, angle, 0.0f));
// link the two boxes
dMatrix matrix1;
NewtonBodyGetMatrix (box1, &matrix1[0][0]);
pinMatrix.m_posit = (matrix0.m_posit + matrix1.m_posit).Scale (0.5f);
Custom6DOF* const joint1 = new Custom6DOF (pinMatrix, pinMatrix, box0, box1);
joint1->SetAngularLimits (dVector (-angle, -angle, -angle, 0.0f), dVector (angle, angle, angle, 0.0f));
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddDistance (DemoEntityManager* const scene, const dVector& origin)
{
dVector size (1.0f, 1.0f, 1.0f);
NewtonBody* const box0 = CreateCapule (scene, origin + dVector (0.0f, 5.0f, 0.0f, 0.0f), size);
NewtonBody* const box1 = CreateCapule (scene, origin + dVector (0.0f, 5.0 - size.m_y * 4.0f, 0.0f, 0.0f), size);
dMatrix pinMatrix (dGrammSchmidt (dVector (0.0f, -1.0f, 0.0f, 0.0f)));
// connect first box to the world
dMatrix matrix0;
NewtonBodyGetMatrix (box0, &matrix0[0][0]);
pinMatrix.m_posit = matrix0.m_posit + dVector (0.0f, size.m_y, 0.0f, 0.0f);
new CustomBallAndSocket (pinMatrix, box0, NULL);
// link the two boxes with a distance joint
dMatrix matrix1;
NewtonBodyGetMatrix (box1, &matrix1[0][0]);
// get the origins
dVector pivot0 (matrix0.m_posit);
dVector pivot1 (matrix1.m_posit);
// connect bodies at a corner
new CustomDistance (pivot1, pivot0, box1, box0);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddBallAndSockectWithFriction (DemoEntityManager* const scene, const dVector& origin)
{
dVector size (1.0f, 1.0f, 1.0f);
NewtonBody* const box0 = CreateCapule (scene, origin + dVector (0.0f, 5.0f, 0.0f, 0.0f), size);
NewtonBody* const box1 = CreateCapule (scene, origin + dVector (0.0f, 5.0 - size.m_y * 2.0f, 0.0f, 0.0f), size);
dMatrix pinMatrix (dGrammSchmidt (dVector (0.0f, -1.0f, 0.0f, 0.0f)));
// connect first box to the world
dMatrix matrix0;
NewtonBodyGetMatrix (box0, &matrix0[0][0]);
pinMatrix.m_posit = matrix0.m_posit + dVector (0.0f, size.m_y, 0.0f, 0.0f);
new CustomBallAndSocketWithFriction (pinMatrix, box0, NULL, 20.0f);
// link the two boxes
dMatrix matrix1;
NewtonBodyGetMatrix (box1, & matrix1[0][0]);
pinMatrix.m_posit = (matrix0.m_posit + matrix1.m_posit).Scale (0.5f);
new CustomBallAndSocketWithFriction (pinMatrix, box1, box0, 10.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddLimitedBallAndSocket (DemoEntityManager* const scene, const dVector& origin)
{
dVector size(1.0f, 1.0f, 1.0f);
NewtonBody* const base = CreateBox(scene, origin + dVector (0.0f, 5.0f + size.m_y + 0.25f, 0.0f, 0.0f), size.Scale (0.2f));
NewtonBody* const box0 = CreateCapule(scene, origin + dVector(0.0f, 5.0f, 0.0f, 0.0f), size);
NewtonBody* const box1 = CreateCapule(scene, origin + dVector(0.0f, 5.0 - size.m_y * 2.0f, 0.0f, 0.0f), size);
NewtonBody* const box2 = CreateCapule(scene, origin + dVector(0.0f, 5.0 - size.m_y * 4.0f, 0.0f, 0.0f), size);
NewtonBodySetMassMatrix(base, 0.0f, 0.0f, 0.0f, 0.0f);
dMatrix pinMatrix(dGrammSchmidt(dVector(0.0f, -1.0f, 0.0f, 0.0f)));
// connect first box to the world
dMatrix matrix;
NewtonBodyGetMatrix(box0, &matrix[0][0]);
pinMatrix.m_posit = matrix.m_posit + dVector(0.0f, size.m_y, 0.0f, 0.0f);
CustomLimitBallAndSocket* const joint0 = new CustomLimitBallAndSocket(pinMatrix, box0, base);
joint0->SetConeAngle (30.0f * 3.141592f / 180.0f);
joint0->SetTwistAngle (-30.0f * 3.141592f / 180.0f, 30.0f * 3.141592f / 180.0f);
// connect first box1 to box0 the world
NewtonBodyGetMatrix(box1, &matrix[0][0]);
pinMatrix.m_posit = matrix.m_posit + dVector(0.0f, size.m_y, 0.0f, 0.0f);
CustomLimitBallAndSocket* const joint1 = new CustomLimitBallAndSocket(pinMatrix, box1, box0);
joint1->SetConeAngle(30.0f * 3.141592f / 180.0f);
joint1->SetTwistAngle(-30.0f * 3.141592f / 180.0f, 30.0f * 3.141592f / 180.0f);
// connect first box2 to box1 the world
NewtonBodyGetMatrix(box2, &matrix[0][0]);
pinMatrix.m_posit = matrix.m_posit + dVector(0.0f, size.m_y, 0.0f, 0.0f);
CustomLimitBallAndSocket* const joint2 = new CustomLimitBallAndSocket(pinMatrix, box2, box1);
joint2->SetConeAngle(30.0f * 3.141592f / 180.0f);
joint2->SetTwistAngle(-30.0f * 3.141592f / 180.0f, 30.0f * 3.141592f / 180.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), base, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box0, base);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerAttachBone(skeleton, box2, box1);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddPoweredRagDoll (DemoEntityManager* const scene, const dVector& origin)
{
dVector size (1.0f, 1.0f, 1.0f);
NewtonBody* const box0 = CreateCapule(scene, origin + dVector(0.0f, 9.0f, 0.0f, 0.0f), size);
// NewtonBody* const box1 = CreateCapule(scene, origin + dVector(0.0f, 9.0 - size.m_y * 2.0f, 0.0f, 0.0f), size);
// NewtonBody* const box2 = CreateCapule(scene, origin + dVector(0.0f, 9.0 - size.m_y * 4.0f, 0.0f, 0.0f), size);
// NewtonBody* const box3 = CreateCapule(scene, origin + dVector(0.0f, 9.0 - size.m_y * 6.0f, 0.0f, 0.0f), size);
dMatrix pinMatrix (dGrammSchmidt (dVector (0.0f, -1.0f, 0.0f, 0.0f)));
//dMatrix pinMatrix (dGrammSchmidt (dVector (1.0f, 0.0f, 0.0f, 0.0f)));
// connect first box to the world
dMatrix matrix0;
NewtonBodyGetMatrix (box0, & matrix0[0][0]);
pinMatrix.m_posit = matrix0.m_posit + dVector (0.0f, size.m_y, 0.0f, 0.0f);
CustomControlledBallAndSocket* const joint0 = new CustomControlledBallAndSocket (pinMatrix, box0, NULL);
joint0->SetAngularVelocity (2000.0f * 3.141592f / 180.0f);
// joint0->SetPitchAngle (-45.0f * 3.141592f / 180.0f);
// joint0->SetYawAngle (-85.0f * 3.141592f / 180.0f);
// joint0->SetRollAngle (120.0f * 3.141592f / 180.0f);
joint0->SetPitchAngle (90.0f * 3.141592f / 180.0f);
/*
// link the two boxes
dMatrix matrix1;
NewtonBodyGetMatrix (box1, &matrix1[0][0]);
pinMatrix.m_posit = (matrix0.m_posit + matrix1.m_posit).Scale (0.5f);
CustomControlledBallAndSocket* const joint1 = new CustomControlledBallAndSocket (pinMatrix, box0, box1);
joint1->SetAngularVelocity (1000.0f * 3.141592f / 180.0f);
joint1->SetPitchAngle (45.0f * 3.141592f / 180.0f);
joint1->SetYawAngle ( 30.0f * 3.141592f / 180.0f);
joint1->SetRollAngle (25.0f * 3.141592f / 180.0f);
// link next box
dMatrix matrix2;
NewtonBodyGetMatrix(box2, &matrix2[0][0]);
pinMatrix.m_posit = (matrix1.m_posit + matrix2.m_posit).Scale(0.5f);
CustomControlledBallAndSocket* const joint2 = new CustomControlledBallAndSocket(pinMatrix, box1, box2);
joint2->SetAngularVelocity(1000.0f * 3.141592f / 180.0f);
joint2->SetPitchAngle(45.0f * 3.141592f / 180.0f);
joint2->SetYawAngle(30.0f * 3.141592f / 180.0f);
joint2->SetRollAngle(25.0f * 3.141592f / 180.0f);
// link next box
dMatrix matrix3;
NewtonBodyGetMatrix(box3, &matrix3[0][0]);
pinMatrix.m_posit = (matrix2.m_posit + matrix3.m_posit).Scale(0.5f);
CustomControlledBallAndSocket* const joint3 = new CustomControlledBallAndSocket(pinMatrix, box2, box3);
joint3->SetAngularVelocity(1000.0f * 3.141592f / 180.0f);
joint3->SetPitchAngle(45.0f * 3.141592f / 180.0f);
joint3->SetYawAngle(30.0f * 3.141592f / 180.0f);
joint3->SetRollAngle(25.0f * 3.141592f / 180.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerAttachBone(skeleton, box2, box1);
NewtonSkeletonContainerAttachBone(skeleton, box3, box2);
NewtonSkeletonContainerFinalize(skeleton);
#endif
*/
}