world::world():
_world(NULL),
_accum(0),
_freq(1.0 / 60.0)
{
// default to global gravity
gravity.enabled = true;
_world = NewtonCreate();
const float WORLD_SIZE = 1000;
const vec3 A(-WORLD_SIZE, -WORLD_SIZE, -WORLD_SIZE), B(-A);
NewtonSetWorldSize(_world, &A.x, &B.x);
platform(PLAT_OPTMIZED);
solver(3);
friction(FRIC_ADAPTIVE);
threads(2);
clearCache();
int mid = NewtonMaterialGetDefaultGroupID(_world);
// allow bodies to be swept-tested
NewtonMaterialSetContinuousCollisionMode(_world, mid, mid, 1);
NewtonMaterialSetCollisionCallback(_world, mid, mid, NULL,
&beginContactCB, &processContactCB);
}
/*
=============
CMod_PhysicsEndBSPCollisionTree
=============
*/
void CMod_PhysicsEndBSPCollisionTree() {
dVector worldMin, worldMax;
NewtonTreeCollisionEndBuild (g_collision, 1);
dMatrix worldMatrix (GetIdentityMatrix());
g_rigidBody = NewtonCreateBody (g_world, g_collision);
NewtonReleaseCollision (g_world, g_collision);
NewtonBodySetMatrix (g_rigidBody, &worldMatrix[0][0]);
NewtonCollisionCalculateAABB (g_collision, &worldMatrix[0][0], &worldMin[0], &worldMax[0]);
NewtonSetWorldSize (g_world, &worldMin[0], &worldMax[0]);
}
PhysicMap::PhysicMap()
{
float min[] = {-2000, -2000, -2000};
float max[] = {2000, 2000, 2000};
m_world = NewtonCreate(0, 0);
NewtonSetWorldSize(m_world, min, max);
NewtonSetSolverModel(m_world, 0);
NewtonSetFrictionModel(m_world, 0);
m_mapID = NewtonMaterialCreateGroupID(m_world);
m_playerID = NewtonMaterialCreateGroupID(m_world);
NewtonMaterialSetDefaultSoftness(m_world, m_mapID, m_playerID, 0.0f);
NewtonMaterialSetDefaultElasticity(m_world, m_mapID, m_playerID, 0.2f);
NewtonMaterialSetDefaultFriction(m_world, m_mapID, m_playerID, 0.5f, 0.0f);
NewtonMaterialSetDefaultSoftness(m_world, m_playerID, m_playerID, 0.0f);
NewtonMaterialSetDefaultElasticity(m_world, m_playerID, m_playerID, 0.2f);
NewtonMaterialSetDefaultFriction(m_world, m_playerID, m_playerID, 0.5f, 0.0f);
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
NewtonCollision* shape;
NewtonBody* floorBody;
void* materialManager;
SoundManager* sndManager;
PhysicsMaterialInteration matInterations;
sndManager = sceneManager->GetSoundManager();
// Create the material for this scene, and attach it to the Newton World
materialManager = CreateMaterialManager (world, sndManager);
// add the Material table
matInterations.m_restitution = 0.6f;
matInterations.m_staticFriction = 0.6f;
matInterations.m_kineticFriction = 0.3f;
matInterations.m_scrapingSound = NULL;
matInterations.m_impactSound = sndManager->LoadSound ("metalMetal.wav");
AddMaterilInteraction (materialManager, m_metal, m_metal, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxBox.wav");
AddMaterilInteraction (materialManager, m_wood, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metalBox.wav");
AddMaterilInteraction (materialManager, m_metal, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass0.wav");
AddMaterilInteraction (materialManager, m_wood, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxHit.wav");
AddMaterilInteraction (materialManager, m_wood, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass1.wav");
AddMaterilInteraction (materialManager, m_metal, m_grass, &matInterations);
AddMaterilInteraction (materialManager, m_grass, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metal.wav");
AddMaterilInteraction (materialManager, m_metal, m_bricks, &matInterations);
AddMaterilInteraction (materialManager, m_grass, m_grass, &matInterations);
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
floor->LoadMesh ("LevelMesh.dat");
// add static floor Physics
int materialMap[] = {m_bricks, m_grass, m_wood, m_metal};
shape = CreateMeshCollision (world, floor, materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
// add some visual entities.
dFloat y0 = FindFloor (world, 0.0f, 0.0f) + 10.0f;
for (int i = 0; i < 5; i ++) {
Entity* smilly;
NewtonBody* smillyBody;
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = y0;
y0 += 2.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, m_metal);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
// add some visual entities.
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, m_wood);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
y0 = FindFloor (world, 0.0f, 2.0f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("dumb.dat");
frowny->m_curPosition.m_z = 2.0f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
int materialMap[] = {m_grass, m_wood, m_metal, m_metal};
shape = CreateNewtonCompoundFromEntitySubmesh (world, frowny, materialMap);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
// set the Camera EyePoint close to the scene action
InitCamera (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
Entity* smilly;
Entity* frowny;
NewtonBody* floorBody;
NewtonBody* smillyBody;
NewtonBody* frownyBody;
NewtonCollision* shape;
// Create the material for this scene
CreateMateials (world, sceneManager);
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
// add scene collision from a level mesh
shape = CreateHeightFieldCollision (world, "h2.raw", 0);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// make a visual mesh for the collision data
CreateHeightFieldMesh (shape, floor);
// set the matrix at the origin
dVector boxP0;
dVector boxP1;
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// place the origin of the visual mesh at the center of the height field
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
floor->m_curPosition = matrix.m_posit;
floor->m_prevPosition = matrix.m_posit;
// relocate the body;
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// add some extra padding
boxP0.m_x -= 50.0f;
boxP0.m_y -= 500.0f;
boxP0.m_z -= 50.0f;
boxP1.m_x += 50.0f;
boxP1.m_y += 500.0f;
boxP1.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &boxP0[0], &boxP1[0]);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (floorBody, g_floorMaterial);
// add some visual entities.
dFloat y0 = FindFloor (world, 0.0f, 0.0f) + 10.0f;
for (int i = 0; i < 5; i ++) {
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = y0;
y0 += 2.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (smillyBody, g_metalMaterial);
}
// add some visual entities.
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (frownyBody, g_woodMaterial);
}
// set the Camera EyePoint close to the scene action
InitCamera (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
}
void World::setWorldSize( const Ogre::AxisAlignedBox& box )
{
NewtonSetWorldSize( m_world, (float*)&box.getMinimum(), (float*)&box.getMaximum() );
m_limits = box;
}
void World::setWorldSize( const Ogre::Vector3& min, const Ogre::Vector3& max )
{
NewtonSetWorldSize( m_world, (float*)&min.x, (float*)&max.x );
m_limits = Ogre::AxisAlignedBox(min, max);
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
Entity* smilly;
Entity* frowny;
NewtonBody* floorBody;
NewtonBody* smillyBody;
NewtonBody* frownyBody;
NewtonCollision* shape;
////////////////////////////////////////////////////////////////////////////////
// STATIC BODY 1 - FLOOR
////////////////////////////////////////////////////////////////////////////////
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
floor->LoadMesh ("FloorBox.dat");
// add static floor Physics
shape = CreateNewtonBox (world, floor, 0);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// DYNAMIC BODY 1
////////////////////////////////////////////////////////////////////////////////
// add some visual entities.
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = 10.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
////////////////////////////////////////////////////////////////////////////////
// DYNAMIC BODY 2
////////////////////////////////////////////////////////////////////////////////
// add some visual entities.
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = 10.0f + 0.4f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
NewtonBody* floorBody;
NewtonCollision* shape;
void* materialManager;
SoundManager* sndManager;
PhysicsMaterialInteration matInterations;
sndManager = sceneManager->GetSoundManager();
// Create the material for this scene, and attach it to the Newton World
materialManager = CreateMaterialManager (world, sndManager);
// add the Material table
matInterations.m_restitution = 0.6f;
matInterations.m_staticFriction = 0.6f;
matInterations.m_kineticFriction = 0.3f;
matInterations.m_scrapingSound = NULL;
matInterations.m_impactSound = sndManager->LoadSound ("metalMetal.wav");
AddMaterilInteraction (materialManager, m_metal, m_metal, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxBox.wav");
AddMaterilInteraction (materialManager, m_wood, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metalBox.wav");
AddMaterilInteraction (materialManager, m_metal, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass0.wav");
AddMaterilInteraction (materialManager, m_wood, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxHit.wav");
AddMaterilInteraction (materialManager, m_wood, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass1.wav");
AddMaterilInteraction (materialManager, m_metal, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metal.wav");
AddMaterilInteraction (materialManager, m_metal, m_bricks, &matInterations);
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
// add scene collision from a level mesh
int materialMap[] = {m_bricks, m_grass, m_wood, m_metal};
shape = CreateHeightFieldCollision (world, "h2.raw", materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// make a visual mesh for the collision data
CreateHeightFieldMesh (shape, floor);
// set the matrix at the origin
dVector boxP0;
dVector boxP1;
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// place the origin of the visual mesh at the center of the height field
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
floor->m_curPosition = matrix.m_posit;
floor->m_prevPosition = matrix.m_posit;
// relocate the body;
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// add some extra padding
boxP0.m_x -= 50.0f;
boxP0.m_y -= 500.0f;
boxP0.m_z -= 50.0f;
boxP1.m_x += 50.0f;
boxP1.m_y += 500.0f;
boxP1.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &boxP0[0], &boxP1[0]);
// add some visual entities.
dFloat y0 = FindFloor (world, 0.0f, 0.0f) + 2.0f;
for (int i = 0; i < 1; i ++) {
Entity* carEnt;
NewtonBody* carBody;
NewtonUserJoint* carController;
carEnt = sceneManager->CreateEntity();
carEnt->LoadMesh ("porche.dat");
carEnt->m_curPosition.m_y = y0;
y0 += 2.0f;
carEnt->m_prevPosition = carEnt->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, carEnt, m_metal);
// the mass is the Car weight divide by the Gravity
carBody = CreateRigidBody (world, carEnt, shape, CAR_WEIGHT / 10.0f);
NewtonDestroyCollision(shape);
// Now create a RayCast Car for to control this body
carController = CreateRayCastCast (carBody, sceneManager, porcheTirePositions);
}
y0 = FindFloor (world, 4.0f, 0.0f) + 2.0f;
for (int i = 0; i < 1; i ++) {
Entity* carEnt;
NewtonBody* carBody;
NewtonUserJoint* carController;
carEnt = sceneManager->CreateEntity();
carEnt->LoadMesh ("cadillac.dat");
carEnt->m_curPosition.m_z = 4.0f;
carEnt->m_curPosition.m_y = y0;
y0 += 2.0f;
carEnt->m_prevPosition = carEnt->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, carEnt, m_metal);
// the mass is the Car weight divide by the Gravity
carBody = CreateRigidBody (world, carEnt, shape, CAR_WEIGHT / 10.0f);
NewtonDestroyCollision(shape);
// Now create a RayCast Car for to control this body
carController = CreateRayCastCast (carBody, sceneManager, cadillackirePositions);
}
// initialize the camera
InitCamera (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
}
bool Physics::buildStaticGeometry( osg::Group* p_root, const std::string& levelFile )
{
NewtonCollision* p_collision = NULL;
// check if a serialization file exists, if so then load it. otherwise build the static geometry on the fly.
assert( levelFile.length() && "internal error: missing levelFile name!" );
std::string file = cleanPath( levelFile );
std::vector< std::string > path;
explode( file, "/", &path );
file = yaf3d::Application::get()->getMediaPath() + YAF3DPHYSICS_MEDIA_FOLDER + path[ path.size() - 1 ] + YAF3DPHYSICS_SERIALIZE_POSTFIX;
std::ifstream serializationfile;
serializationfile.open( file.c_str(), std::ios_base::binary | std::ios_base::in );
if ( !serializationfile )
{
log_warning << "Physics: no serialization file for physics static geometry exists, building on-the-fly ..." << std::endl;
p_collision = NewtonCreateTreeCollision( _p_world, levelCollisionCallback );
NewtonTreeCollisionBeginBuild( p_collision );
// build the collision faces
//--------------------------
// start timer
osg::Timer_t start_tick = osg::Timer::instance()->tick();
//! iterate through all geometries and create their collision faces
PhysicsVisitor physVisitor( osg::NodeVisitor::TRAVERSE_ALL_CHILDREN, p_collision );
p_root->accept( physVisitor );
// stop timer and give out the time messure
osg::Timer_t end_tick = osg::Timer::instance()->tick();
log_debug << "Physics: elapsed time for building physics collision faces = "<< osg::Timer::instance()->delta_s( start_tick, end_tick ) << std::endl;
log_debug << "Physics: total num of evaluated primitives: " << physVisitor.getNumPrimitives() << std::endl;
log_debug << "Physics: total num of vertices: " << physVisitor.getNumVertices() << std::endl;
//--------------------------
// finalize tree building with optimization off ( because the meshes are already optimized by
// osg _and_ Newton has currently problems with optimization )
NewtonTreeCollisionEndBuild( p_collision, 0 /* 1 */);
}
else
{
log_debug << "Physics: loading serialization file for physics static geometry: '" << file << "' ..." << std::endl;
// start timer
osg::Timer_t start_tick = osg::Timer::instance()->tick();
p_collision = NewtonCreateTreeCollisionFromSerialization( _p_world, NULL, deserializationCallback, &serializationfile );
assert( p_collision && "internal error, something went wrong during physics deserialization!" );
// stop timer and give out the time messure
osg::Timer_t end_tick = osg::Timer::instance()->tick();
log_debug << "Physics: elapsed time for deserializing physics collision faces = "<< osg::Timer::instance()->delta_s( start_tick, end_tick ) << std::endl;
serializationfile.close();
}
_p_body = NewtonCreateBody( _p_world, p_collision );
// release collision object
NewtonReleaseCollision( _p_world, p_collision );
// set Material Id for this object
NewtonBodySetMaterialGroupID( _p_body, getMaterialId( "level" ) );
osg::Matrixf mat;
mat.identity();
NewtonBodySetMatrix( _p_body, mat.ptr() );
// calculate the world bbox and world size
float bmin[ 4 ], bmax[ 4 ];
NewtonCollisionCalculateAABB( p_collision, mat.ptr(), bmin, bmax );
bmin[ 0 ] -= 10.0f;
bmin[ 1 ] -= 10.0f;
bmin[ 2 ] -= 10.0f;
bmin[ 3 ] = 1.0f;
bmax[ 0 ] += 10.0f;
bmax[ 1 ] += 10.0f;
bmax[ 2 ] += 10.0f;
bmax[ 3 ] = 1.0f;
NewtonSetWorldSize( _p_world, bmin, bmax );
return true;
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
NewtonBody* floorBody;
NewtonCollision* shape;
/*
void* materialManager;
SoundManager* sndManager;
PhysicsMaterialInteration matInterations;
sndManager = sceneManager->GetSoundManager();
// Create the material for this scene, and attach it to the Newton World
materialManager = CreateMaterialManager (world, sndManager);
// add the Material table
matInterations.m_restitution = 0.6f;
matInterations.m_staticFriction = 0.6f;
matInterations.m_kineticFriction = 0.3f;
matInterations.m_scrapingSound = NULL;
matInterations.m_impactSound = sndManager->LoadSound ("metalMetal.wav");
AddMaterilInteraction (materialManager, m_metal, m_metal, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxBox.wav");
AddMaterilInteraction (materialManager, m_wood, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metalBox.wav");
AddMaterilInteraction (materialManager, m_metal, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass0.wav");
AddMaterilInteraction (materialManager, m_wood, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxHit.wav");
AddMaterilInteraction (materialManager, m_wood, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass1.wav");
AddMaterilInteraction (materialManager, m_metal, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metal.wav");
AddMaterilInteraction (materialManager, m_metal, m_bricks, &matInterations);
*/
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
int materialMap[] = {m_bricks, m_grass, m_wood, m_metal};
#ifdef USE_HEIGHT_FIELD_LEVEL
// add scene collision from a level m*esh
shape = CreateHeightFieldCollision (world, "h2.raw", materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// make a visual mesh for the collision data
CreateHeightFieldMesh (shape, floor);
// set the matrix at the origin
dVector boxP0;
dVector boxP1;
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// place the origin of the visual mesh at the center of the height field
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
floor->m_curPosition = matrix.m_posit;
floor->m_prevPosition = matrix.m_posit;
// relocate the body;
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
#else
floor->LoadMesh ("LevelMesh.dat");
// add static floor Physics
shape = CreateMeshCollision (world, floor, materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
#endif
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
// Create a Body and attach a player controller joint
{
dFloat y0;
Entity* player;
NewtonBody* playerBody;
NewtonCollision* shape;
// find the a floor to place the player
y0 = FindFloor (world, 0.0f, 0.0f) + 1.0f;
// load the player mesh
player = sceneManager->CreateEntity();
player->LoadMesh ("gymnast.dat");
player->m_curPosition.m_y = y0;
player->m_prevPosition = player->m_curPosition;
// get the bounding Box of the player to get the collision shape dimensions
dVector minBox;
dVector maxBox;
player->GetBBox (minBox, maxBox);
// calculate player high and width
dFloat padding = 1.0f / 64.0f; // this si the default padding, for teh palye joint, we must subtract it from the shape
dFloat playerHigh = (maxBox.m_y - minBox.m_y) - padding;
dFloat playerRadius0 = (maxBox.m_z - minBox.m_z) * 0.5f;
dFloat playerRadius1 = (maxBox.m_x - minBox.m_x) * 0.5f;
dFloat playerRadius = (playerRadius0 > playerRadius1 ? playerRadius0 : playerRadius1) - padding;
// No we make and make a upright capsule for the collision mesh
dMatrix orientation;
orientation.m_front = dVector (0.0f, 1.0f, 0.0f, 0.0f); // this is the player up direction
orientation.m_up = dVector (1.0f, 0.0f, 0.0f, 0.0f); // this is the player front direction
orientation.m_right = orientation.m_front * orientation.m_up; // this is the player sideway direction
orientation.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// add a body with a box shape
//shape = CreateNewtonCapsule (world, player, playerHigh, playerRadius, m_wood, orientation);
shape = CreateNewtonCylinder (world, player, playerHigh, playerRadius, m_wood, orientation);
playerBody = CreateRigidBody (world, player, shape, 10.0f);
NewtonDestroyCollision(shape);
// make sure the player does not go to sleep
NewtonBodySetAutoSleep (playerBody, 0);
// now we will attach a player controller to the body
NewtonUserJoint* playerController;
// the player can take step up to 0.7 units;
dFloat maxStairStepFactor = 0.7f / playerHigh;
playerController = CreateCustomPlayerController (&orientation[0][0], playerBody, maxStairStepFactor, padding);
// set the Max Slope the player can climb to PLAYER_MAX_SLOPE degree
CustomPlayerControllerSetMaxSlope (playerController, PLAYER_MAX_SLOPE * 3.1416f / 180.0f);
// now we will append some application data for the application to control the player
PlayerController* userControl = (PlayerController*) malloc (sizeof (PlayerController));
userControl->m_isThirdView = 1;
userControl->m_point = dVector (0.0f, playerHigh, 0.0f,0.0f);
// set the user data for the application to control the player
CustomSetUserData (playerController, userControl);
// set the destruction call back so that the application can destroy local used data
CustomSetDestructorCallback (playerController, PlayerController::Destroy);
// set a call back to control the player
CustomSetSubmitContraintCallback (playerController, PlayerController::ApplyPlayerInput);
// we also need to set override the transform call back so the we can set the Camera
userControl->m_setTransformOriginal = NewtonBodyGetTransformCallback(playerBody);
NewtonBodySetTransformCallback (playerBody, PlayerController::SetTransform);
// we will need some ID to fin this joint in the transform Callback
CustomSetJointID (playerController, PLAYER_JOINT_ID);
}
/*
{
// add some visual entities.
dFloat y0;
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
NewtonCollision* shape;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, m_wood);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonDestroyCollision(shape);
}
}
*/
// set the Camera EyePoint close to the scene action
SetCameraEyePoint (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f));
}
