void OnEndUpdate (dFloat timestepInSecunds)
{
DemoCamera* const camera = m_scene->GetCamera();
dMatrix camMatrix(camera->GetNextMatrix());
dMatrix playerMatrix (m_player->GetNextMatrix());
dVector frontDir (camMatrix[0]);
CustomPlayerController* const controller = m_player->m_controller;
dFloat height = controller->GetHigh();
dVector upDir (controller->GetUpDir());
dVector camOrigin(0.0f);
if (m_player->m_inputs.m_cameraMode) {
// set third person view camera
camOrigin = playerMatrix.TransformVector (upDir.Scale(height));
camOrigin -= frontDir.Scale (PLAYER_THIRD_PERSON_VIEW_DIST);
} else {
// set first person view camera
camMatrix = camMatrix * playerMatrix;
camOrigin = playerMatrix.TransformVector (upDir.Scale(height));
}
camera->SetNextMatrix (*m_scene, camMatrix, camOrigin);
// update the shot button
if (m_shootState) {
SpawnRandomProp (camera->GetNextMatrix());
}
}
// create physics scene
void ConvexCast (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
//char fileName[2048];
//NewtonWorld* const world = scene->GetNewton();
//GetWorkingFileName ("low_rez_rim.OFF", fileName);
//NewtonMesh* const mesh = NewtonMeshLoadOFF(world, fileName);
//NewtonCollision* coll = NewtonCreateConvexHullFromMesh (world, mesh, 0.0f, 0);
//NewtonDestroyCollision(coll);
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
//NewtonWorld* const world = scene->GetNewton();
// dMatrix offsetMatrix (dGetIdentityMatrix());
// CreateLevelMesh (scene, "flatPlane.ngd", 0);
// CreateLevelMesh (scene, "playground.ngd", 0);
StupidComplexOfConvexShapes* const stupidLevel = new StupidComplexOfConvexShapes (scene, 100);
new dConvexCastManager (scene, stupidLevel);
// add a single compound Box test
AddSingleCompound(scene);
AddStaticMesh(scene);
AddUserDefineStaticMesh(scene);
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
// /////////////////////////////////////////////////////////////////
//
// /////////////////////////////////////////////////////////////////
bool EnvironmentSceneNode::VPreRender()
{
bool result = false;
result = SceneNode::VPreRender();
if(result && !g_appPtr->GetTextureManagerPtr()->Bind(m_texHandle, GL_TEXTURE_CUBE_MAP, GL_TEXTURE0)) {
GF_LOG_TRACE_ERR("EnvironmentSceneNode::VPreRender()", "Failed to activate the CubeMap texture");
result = false;
}
if(result) {
glEnable(GL_TEXTURE_CUBE_MAP_SEAMLESS);
// Get the camera matrix and clear the cameras position (we want to be able to rotate the environment box but not move it!).
Matrix4 camMatrix(m_sgmPtr->GetCamera()->VGet()->GetToWorld());
camMatrix[Matrix4::M30] = 0.0f;
camMatrix[Matrix4::M31] = 0.0f;
camMatrix[Matrix4::M32] = 0.0f;
camMatrix[Matrix4::M33] = 1.0f;
m_sgmPtr->GetStackManager()->GetModelViewMatrixStack()->LoadMatrix(camMatrix);
}
return (result);
}
long NewtonDemos::onLoad(FXObject* sender, FXSelector id, void* eventPtr)
{
BEGIN_MENU_OPTION();
const FXchar patterns[]="Newton Dynamics Files (*.ngd)";
FXFileDialog open(this,"Load Newton Dynamics scene");
open.setPatternList(patterns);
open.setDirectory ("../../../media");
if(open.execute()){
m_scene->Cleanup();
// load the scene from a ngd file format
m_scene->makeCurrent();
m_scene->LoadScene (open.getFilename().text());
m_scene->makeNonCurrent();
// add a sky box to the scene, make the first object
m_scene->Addtop (new SkyBox());
// place camera into position
dMatrix camMatrix (GetIdentityMatrix());
// camMatrix.m_posit = dVector (-40.0f, 10.0f, 0.0f, 0.0f);
camMatrix = dYawMatrix(-0.0f * 3.1416f / 180.0f);
camMatrix.m_posit = dVector (-5.0f, 1.0f, -0.0f, 0.0f);
m_scene->SetCameraMatrix(camMatrix, camMatrix.m_posit);
RestoreSettings ();
}
m_scene->ResetTimer();
END_MENU_OPTION();
return 1;
}
void BasicCar (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// CreateHeightFieldTerrain (scene, 10, 8.0f, 5.0f, 0.2f, 200.0f, -50.0f);
dMatrix location (dGetIdentityMatrix());
location.m_posit = dVector (0.0f, 10.0f, 0.0f, 1.0f);
location.m_posit = FindFloor (scene->GetNewton(), location.m_posit, 100.0f);
location.m_posit.m_y += 2.0f;
NewtonWorld* const world = scene->GetNewton();
// create a vehicle controller manager
BasicCarControllerManager* const manager = new BasicCarControllerManager (world);
// load
basicCarParameters.m_differentialType = BasciCarParameters::m_RWD;
BasicCarEntity* const heavyVehicle = new BasicCarEntity (scene, manager, location, basicCarParameters);
heavyVehicle->BuidlBasicCar (basicCarParameters);
// set this vehicle as the player
manager->SetAsPlayer(heavyVehicle);
dMatrix camMatrix (manager->m_player->GetNextMatrix());
scene->SetCameraMouseLock (true);
scene->SetCameraMatrix(camMatrix, camMatrix.m_posit);
//
// dVector location (origin);
// location.m_x += 20.0f;
// location.m_z += 20.0f;
// location.m_posit.m_z += 4.0f;
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector size (3.0f, 0.125f, 3.0f, 0.0f);
//AddPrimitiveArray(scene, 100.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
size = dVector(1.0f, 0.5f, 1.0f, 0.0f);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// NewtonSerializeToFile (scene->GetNewton(), "C:/Users/Julio/Desktop/newton-dynamics/applications/media/xxxxx.bin");
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
//float xxx[] = {2.3257, -3.6253, -2.7155, 2.7075, -3.6253, -2.7155, 2.7075, -3.6253, -2.3337, 2.3257, -3.6253, -2.3337};
//NewtonCollision* aaa = NewtonCreateConvexHull(scene->GetNewton(), sizeof (xxx) /(3 * sizeof (float)), xxx, 3 * sizeof (float), 0, 0, 0);
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
// place camera into position
// dQuaternion rot;
// dVector posit (0.0f, 1.0f, 0.0f, 0.0f);
// scene->SetCameraMatrix(rot, posit);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 1.0f, 0.0f);
// int count = 1;
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
// create physics scene
void ClosestDistance (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// CreateLevelMesh (scene, "playground.ngd", 0);
int materialID = NewtonMaterialGetDefaultGroupID (world);
// disable collision
// NewtonMaterialSetDefaultCollidable (world, materialID, materialID, 0);
// PrimitiveType castinShapeType = _SPHERE_PRIMITIVE;
// PrimitiveType castinShapeType = _BOX_PRIMITIVE;
// PrimitiveType castinShapeType = _CAPSULE_PRIMITIVE;
// PrimitiveType castinShapeType = _CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _CONE_PRIMITIVE;
// PrimitiveType castinShapeType = _TAPERED_CAPSULE_PRIMITIVE;
// PrimitiveType castinShapeType = _TAPERED_CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _CHAMFER_CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _RANDOM_CONVEX_HULL_PRIMITIVE;
// PrimitiveType castinShapeType = _REGULAR_CONVEX_HULL_PRIMITIVE;
PrimitiveType castinShapeType = _COMPOUND_CONVEX_CRUZ_PRIMITIVE;
// ClosestDistanceEntityManager* const parallelManager = new ClosestDistanceEntityManager (scene);
dClosestDistanceManager* const castManager = new dClosestDistanceManager (scene);
int count = 5;
// castManager->AddPrimitives (count, dVector ( 0, 0, 0), _SPHERE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 2, 0, 2), _BOX_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 4, 0, 4), _CAPSULE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 8, 0, 8), _CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 10, 0, 10), _CHAMFER_CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 4, 0, -4), _CONE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 6, 0, -6), _TAPERED_CAPSULE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 8, 0, -8), _TAPERED_CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (-10, 0, -10), _REGULAR_CONVEX_HULL_PRIMITIVE, materialID, castinShapeType);
castManager->AddPrimitives (count, dVector (-12, 0, -12), _COMPOUND_CONVEX_CRUZ_PRIMITIVE, materialID, castinShapeType);
// place camera into position
//dMatrix camMatrix (dYawMatrix(90.0f * 3.1416f /180.0f));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// suspend simulation before making changes to the physics world
scene->StopsExecution ();
// load the skybox
scene->Append(new SkyBox());
// load the scene from and alchemedia file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", fileName);
// place camera into position
// dQuaternion rot;
// dVector posit (0.0f, 1.0f, 0.0f, 0.0f);
// scene->SetCameraMatrix(rot, posit);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
//dQuaternion rot;
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
// dVector origin (-10.0f, 1.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
int count = 8;
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
//for (int i = 0; i < 20; i ++)
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
// resume the simulation
scene->ContinueExecution();
}
void CompoundCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", true);
// CreateLevelMesh (scene, "playground.ngd", true);
// CreateLevelMesh (scene, "sponza.ngd", true);
CreateHeightFieldTerrain(scene, HEIGHTFIELD_DEFAULT_SIZE, HEIGHTFIELD_DEFAULT_CELLSIZE,
1.5f, 0.2f, 200.0f, -50.0f);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
// set a material callback to get the colliding shape
NewtonMaterialSetCollisionCallback (scene->GetNewton(), defaultMaterialID, defaultMaterialID, NULL, OnGettingTheCollisionSubShapeFromMaterialCallback);
NewtonMaterialSetCompoundCollisionCallback(scene->GetNewton(), defaultMaterialID, defaultMaterialID, OnSubShapeAABBOverlapTest);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (100.0f, 0.0f, 100.0f, 0.0f);
dFloat hight = 1000.0f;
origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, hight, origin .m_z, 0.0f), hight * 2);
origin.m_y += 10.0f;
dVector location (origin);
location.m_x += 40.0f;
location.m_z += 40.0f;
// this crash temporarily (I need to make the compound use shape Instance)
MakeFunnyCompound (scene, location);
int count = 5;
dVector size (0.5f, 0.5f, 0.75f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// place camera into position
// dQuaternion rot;
// dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
//ExportScene (scene->GetNewton(), "../../../media/test1.ngd");
}
dMatrix GetModelViewMatrix ()
{
int i;
int j;
GLdouble modelview[16];
glGetDoublev(GL_MODELVIEW_MATRIX, modelview);
dMatrix camMatrix (dGetIdentityMatrix());
for (i = 0; i < 4; i ++) {
for (j = 0; j < 4; j ++) {
camMatrix[i][j] = dFloat (modelview[i * 4 + j]);
}
}
return camMatrix;
}
void SetCamera()
{
if (m_player) {
DemoEntityManager* const scene = (DemoEntityManager*)NewtonWorldGetUserData(GetWorld());
DemoCamera* const camera = scene->GetCamera();
dMatrix camMatrix(camera->GetNextMatrix());
DemoEntity* player = (DemoEntity*)NewtonBodyGetUserData(m_player->GetBody());
dMatrix playerMatrix(player->GetNextMatrix());
dFloat height = 2.0f;
dVector frontDir(camMatrix[0]);
dVector upDir(0.0f, 1.0f, 0.0f, 0.0f);
dVector camOrigin = playerMatrix.TransformVector(upDir.Scale(height));
camOrigin -= frontDir.Scale(PLAYER_THIRD_PERSON_VIEW_DIST);
camera->SetNextMatrix(*scene, camMatrix, camOrigin);
}
}
// create physics scene
void PrimitiveCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
int materialID = NewtonMaterialGetDefaultGroupID (world);
// disable collision
NewtonMaterialSetDefaultCollidable (world, materialID, materialID, 0);
AddSinglePrimitive (scene, -10.0f, _SPHERE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -8.0f, _BOX_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -6.0f, _CAPSULE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -4.0f, _CYLINDER_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -2.0f, _CONE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 4.0f, _CHAMFER_CYLINDER_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 6.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 8.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, materialID);
// here we will change the standard gravity force callback and apply null and add a
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
DemoEntity* const entity = (DemoEntity*) NewtonBodyGetUserData(body);
entity->SetUserData (new ShowCollisionCollide(body));
NewtonBodySetForceAndTorqueCallback(body, PhysicsSpinBody);
NewtonBodySetAutoSleep (body, 0);
}
// place camera into position
//dMatrix camMatrix (dYawMatrix(90.0f * dDegreeToRad));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 0.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.25f, 0.25f, 0.5f, 0.0f);
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
void ApplyInputs(dCustomPlayerController* const controller)
{
if (controller == m_player) {
DemoEntityManager* const scene = (DemoEntityManager*)NewtonWorldGetUserData(GetWorld());
dFloat forwarSpeed = (int(scene->GetKeyState('W')) - int(scene->GetKeyState('S'))) * PLAYER_WALK_SPEED;
dFloat strafeSpeed = (int(scene->GetKeyState('D')) - int(scene->GetKeyState('A'))) * PLAYER_WALK_SPEED;
if (forwarSpeed && strafeSpeed) {
dFloat invMag = PLAYER_WALK_SPEED / dSqrt(forwarSpeed * forwarSpeed + strafeSpeed * strafeSpeed);
forwarSpeed *= invMag;
strafeSpeed *= invMag;
}
DemoCamera* const camera = scene->GetCamera();
dMatrix camMatrix(camera->GetNextMatrix());
controller->SetForwardSpeed(forwarSpeed);
controller->SetLateralSpeed(strafeSpeed);
controller->SetHeadingAngle(camera->GetYawAngle());
}
}
void StandardJoints (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (1.5f, 2.0f, 2.0f, 0.0f);
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddDistance (scene, dVector (-20.0f, 0.0f, -25.0f));
AddLimitedBallAndSocket (scene, dVector (-20.0f, 0.0f, -20.0f));
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddBallAndSockectWithFriction (scene, dVector (-20.0f, 0.0f, -10.0f));
Add6DOF (scene, dVector (-20.0f, 0.0f, -5.0f));
AddHinge (scene, dVector (-20.0f, 0.0f, 0.0f));
AddSlider (scene, dVector (-20.0f, 0.0f, 5.0f));
AddCylindrical (scene, dVector (-20.0f, 0.0f, 10.0f));
AddUniversal (scene, dVector (-20.0f, 0.0f, 15.0f));
//just to show up add some relational joints example
AddGear (scene, dVector (-20.0f, 0.0f, 20.0f));
AddPulley (scene, dVector (-20.0f, 0.0f, 25.0f));
AddGearAndRack (scene, dVector (-20.0f, 0.0f, 30.0f));
AddSlidingContact (scene, dVector (-20.0f, 0.0f, 35.0f));
// AddPathFollow (scene, dVector (20.0f, 0.0f, 0.0f));
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void UpdateCamera (dFloat timestep)
{
if (m_player) {
DemoEntityManager* const scene = (DemoEntityManager*) NewtonWorldGetUserData(GetWorld());
DemoCamera* const camera = scene->GetCamera();
dMatrix camMatrix (camera->GetNextMatrix ());
dMatrix playerMatrix (m_player->GetNextMatrix());
dVector frontDir (camMatrix[0]);
dVector camOrigin;
if (m_externalView) {
camOrigin = playerMatrix.m_posit + dVector(0.0f, VEHICLE_THIRD_PERSON_VIEW_HIGHT, 0.0f, 0.0f);
camOrigin -= frontDir.Scale (VEHICLE_THIRD_PERSON_VIEW_DIST);
} else {
dAssert (0);
// camMatrix = camMatrix * playerMatrix;
// camOrigin = playerMatrix.TransformVector(dVector(-0.8f, ARTICULATED_VEHICLE_CAMERA_EYEPOINT, 0.0f, 0.0f));
}
camera->SetNextMatrix (*scene, camMatrix, camOrigin);
}
}
void NonUniformScaledCollision(DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh(scene, "flatPlane.ngd", 1);
// CreateLevelMesh (scene, "sponza.ngd", 1);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", 1);
dMatrix camMatrix(dRollMatrix(-20.0f * 3.1416f / 180.0f) * dYawMatrix(-45.0f * 3.1416f / 180.0f));
dQuaternion rot(camMatrix);
// dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
dVector origin(-10.0f, 5.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID(world);
dVector location(0.0f, 0.0f, 0.0f, 0.0f);
dVector size0(0.5f, 0.5f, 1.0f, 0.0f);
dVector size1(0.5f, 0.5f, 0.5f, 0.0f);
int count = 5;
dMatrix shapeOffsetMatrix(dRollMatrix(3.141592f / 2.0f));
shapeOffsetMatrix.m_posit.m_y = 0.0f;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void UserPlaneCollision (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// create a user define infinite plane collision, and use it as a floor
CreatePlaneCollision (scene, dVector (0.0f, 1.0f, 0.0f, 0.0f));
dMatrix camMatrix (dRollMatrix(-20.0f * dDegreeToRad) * dYawMatrix(-45.0f * dDegreeToRad));
dQuaternion rot (camMatrix);
dVector origin (0.0f, 0.0f, 0.0f, 0.0f);
// dFloat hight = 1000.0f;
// origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, hight, origin .m_z, 0.0f), hight * 2);
origin.m_y += 10.0f;
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (origin);
location.m_x += 20.0f;
location.m_z += 20.0f;
// dVector size (0.5f, 0.5f, 0.75f, 0.0f);
dVector size (1.0f, 1.0f, 1.0f, 0.0f);
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddUniformScaledPrimitives(scene, 10.0f, location, size, count, count, 4.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void UserHeightFieldCollision (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateHeightFieldTerrain(scene, HEIGHTFIELD_DEFAULT_SIZE, HEIGHTFIELD_DEFAULT_CELLSIZE, 1.5f, 0.2f, 200.0f, -50.0f);
dMatrix camMatrix (dRollMatrix(-20.0f * dDegreeToRad) * dYawMatrix(-45.0f * dDegreeToRad));
dQuaternion rot (camMatrix);
dVector origin (250.0f, 0.0f, 250.0f, 0.0f);
dFloat height = 1000.0f;
origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, height, origin .m_z, 0.0f), height * 2);
origin.m_y += 10.0f;
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (origin);
location.m_x += 20.0f;
location.m_z += 20.0f;
dVector size (0.5f, 0.5f, 0.75f, 0.0f);
int count = 5;
// int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void Restitution (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
NewtonMaterialSetCollisionCallback (world, defaultMaterialID, defaultMaterialID, NULL, UserContactRestitution);
CreateLevelMesh (scene, "flatPlane.ngd", 0);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 1.0f, 0.0f);
// create some spheres
dVector sphSize (1.0f, 1.0f, 1.0f, 0.0f);
NewtonCollision* const sphereCollision = CreateConvexCollision (world, offsetMatrix, sphSize, _SPHERE_PRIMITIVE, 0);
DemoMesh* const sphereMesh = new DemoMesh("sphere", sphereCollision, "smilli.tga", "smilli.tga", "smilli.tga");
// create some boxes too
dVector boxSize (1.0f, 0.5f, 2.0f, 0.0f);
NewtonCollision* const boxCollision = CreateConvexCollision (world, offsetMatrix, boxSize, _BOX_PRIMITIVE, 0);
DemoMesh* const boxMesh = new DemoMesh("box", boxCollision, "smilli.tga", "smilli.tga", "smilli.tga");
int zCount = 10;
dFloat spacing = 4.0f;
dMatrix matrix (dGetIdentityMatrix());
dVector origin (matrix.m_posit);
origin.m_x -= 0.0f;
// create a simple scene
for (int i = 0; i < zCount; i ++) {
dFloat z;
dFloat x;
dFloat mass;
dVector size (1.0f, 0.5f, 2.0f, 0.0f);
x = origin.m_x;
z = origin.m_z + (i - zCount / 2) * spacing;
mass = 1.0f;
matrix.m_posit = FindFloor (world, dVector (x, 100.0f, z), 200.0f);
matrix.m_posit.m_w = 1.0f;
float restitution;
NewtonBody* body;
NewtonCollision* collision;
matrix.m_posit.m_y += 4.0f;
body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
//body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID, shapeOffsetMatrix);
body = CreateSimpleSolid (scene, boxMesh, mass, matrix, boxCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
dVector boxSize (1.0f, 0.5f, 2.0f, 0.0f);
body = CreateSimpleSolid (scene, boxMesh, mass, matrix, boxCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
}
boxMesh->Release();
sphereMesh->Release();
NewtonDestroyCollision(boxCollision);
NewtonDestroyCollision(sphereCollision);
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
origin = dVector (-25.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
// create physics scene
void PuckSlide (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
NewtonWorld* const world = scene->GetNewton();
int materialGroupIDs[SB_NUM_MATERIALS];
// Create groups
for (int i = 0; i < SB_NUM_MATERIALS; i++)
{
materialGroupIDs[i] = NewtonMaterialCreateGroupID(world);
}
// Setup the material data
NewtonMaterialSetDefaultSoftness(world, materialGroupIDs[SBMaterial_WEIGHT], materialGroupIDs[SBMaterial_SURFACE], 0.15f);
NewtonMaterialSetDefaultElasticity(world, materialGroupIDs[SBMaterial_WEIGHT], materialGroupIDs[SBMaterial_SURFACE], 0.30f);
NewtonMaterialSetDefaultFriction(world, materialGroupIDs[SBMaterial_WEIGHT], materialGroupIDs[SBMaterial_SURFACE], 0.05f, 0.04f);
// setup callbacks for collisions between two material groups
NewtonMaterialSetCollisionCallback(world,materialGroupIDs[SBMaterial_WEIGHT],materialGroupIDs[SBMaterial_SURFACE],NULL,PhysicsNewton_CollisionPuckSurfaceCB);
///////
// Add table
{
dVector tableSize(TABLE_LENGTH, TABLE_HEIGHT, TABLE_WIDTH, 0.0f);
// create the shape and visual mesh as a common data to be re used
NewtonCollision* const collision = CreateConvexCollision (world, dGetIdentityMatrix(), tableSize, _BOX_PRIMITIVE, materialGroupIDs[SBMaterial_SURFACE]);
DemoMesh* const geometry = new DemoMesh("cylinder_1", collision, "wood_3.tga", "wood_3.tga", "wood_3.tga");
dMatrix matrix = dGetIdentityMatrix();
matrix.m_posit.m_x = 0.0f;
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_y = 0.0f;
NewtonBody* const tableBody = CreateSimpleSolid (scene, geometry, 0.0, matrix, collision, materialGroupIDs[SBMaterial_SURFACE]);
// this is deprecated, use NewtonBodySetMassProperties
//NewtonBodySetMassMatrix(tableBody, 0.0f, 1.0f, 1.0f, 1.0f);
NewtonBodySetMassProperties(tableBody, 0.0f, NewtonBodyGetCollision(tableBody));
NewtonBodySetMaterialGroupID(tableBody, materialGroupIDs[SBMaterial_SURFACE]);
// it is not wise to se static body to continuous collision mode
//NewtonBodySetContinuousCollisionMode(tableBody, 1);
// do not forget to release the assets
geometry->Release();
// the collision need to be destroy, the body is using an instance no a reference
NewtonDestroyCollision (collision);
}
///////
// Add puck
{
new PuckEntity (scene, materialGroupIDs[SBMaterial_WEIGHT]);
}
// place camera into position
dMatrix camMatrix (dPitchMatrix(20.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (CAMERA_Z, CAMERA_Y, CAMERA_X, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void ScaledMeshCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh (scene, "flatPlane.ngd", 1);
//CreateLevelMesh (scene, "flatPlaneDoubleFace.ngd", 1);
//CreateLevelMesh (scene, "sponza.ngd", 0);
//CreateLevelMesh (scene, "cattle.ngd", fileName);
//CreateLevelMesh (scene, "playground.ngd", 0);
//dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
//origin = origin.Scale (0.25f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit = location;
matrix.m_posit.m_x = 0.0f;
matrix.m_posit.m_y = 0.0f;
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_w = 1.0f;
DemoEntity teaPot (dGetIdentityMatrix(), NULL);
teaPot.LoadNGD_mesh("teapot.ngd", world);
//teaPot.LoadNGD_mesh("box.ngd", world);
NewtonCollision* const staticCollision = CreateCollisionTree (world, &teaPot, 0, true);
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (1.0f, 1.0f, 1.0f, 0.0f));
// CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (3.0f, 3.0f, 1.5f, 0.0f));
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_x = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 0.5f, 0.0f));
matrix.m_posit.m_x = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (2.0f, 2.0f, 2.0f, 0.0f));
// do not forget to destroy the collision mesh helper
NewtonDestroyCollision(staticCollision);
dVector size0 (1.0f, 1.0f, 1.0f, 0.0f);
dVector size1 (0.5f, 1.0f, 1.0f, 0.0f);
dMatrix shapeOffsetMatrix (dRollMatrix(3.141592f/2.0f));
int count = 3;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
origin.m_x -= 4.0f;
origin.m_y += 1.0f;
scene->SetCameraMatrix(rot, origin);
}
void PrecessingTops (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (3.0f, 2.0f, 0.0f, 0.0f);
// create an array of cones
const int count = 10;
// all shapes use the x axis as the axis of symmetry, to make an upright cone we apply a 90 degree rotation local matrix
dMatrix shapeOffsetMatrix (dRollMatrix(-3.141592f/2.0f));
AddPrimitiveArray(scene, 50.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, 0, shapeOffsetMatrix);
// till the cont 30 degrees, and apply a local high angular velocity
dMatrix matrix (dRollMatrix (-25.0f * 3.141592f / 180.0f));
dVector omega (0.0f, 50.0f, 0.0f);
omega = matrix.RotateVector (omega);
dVector damp (0.0f, 0.0f, 0.0f, 0.0f);
int topscount = 0;
NewtonBody* array[count * count];
NewtonWorld* const world = scene->GetNewton();
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
NewtonCollision* const collision = NewtonBodyGetCollision(body);
dVector com;
if (NewtonCollisionGetType (collision) == SERIALIZE_ID_CONE) {
array[topscount] = body;
topscount ++;
}
}
for (int i = 0; i < topscount ; i ++) {
dMatrix bodyMatrix;
NewtonBody* const body = array[i];
NewtonBodyGetMatrix(body, &bodyMatrix[0][0]);
matrix.m_posit = bodyMatrix.m_posit;
matrix.m_posit.m_y += 1.0f;
NewtonBodySetMatrix(body, &matrix[0][0]);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodySetMassMatrix(body, mass, Ixx, Iyy * 8.0f, Izz);
NewtonBodySetOmega (body, &omega[0]);
NewtonBodySetAutoSleep (body, 0);
NewtonBodySetLinearDamping(body, 0.0f);
NewtonBodySetAngularDamping (body, &damp[0]);
}
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void SceneCollision (DemoEntityManager* const scene)
{
NewtonWorld* world = scene->GetNewton();
// add the Sky
scene->CreateSkyBox();
// create a body and with a scene collision
NewtonCollision* const sceneCollision = NewtonCreateSceneCollision (scene->GetNewton(), 0);
// create a visual scene empty mesh
ComplexScene* const visualMesh = new ComplexScene(sceneCollision);
scene->Append (visualMesh);
// add some shapes
visualMesh->AddPrimitives(scene);
// this is optional, finish the scene construction, optimize the collision scene
dMatrix matrix (dGetIdentityMatrix());
// create the level body and add it to the world
NewtonBody* const level = NewtonCreateDynamicBody (world, sceneCollision, &matrix[0][0]);
// replace the collision with the newly created one the
visualMesh->m_sceneCollision = NewtonBodyGetCollision(level);
// set the reference to the visual
NewtonBodySetUserData(level, visualMesh);
// do not forget to release the collision
NewtonDestroyCollision (sceneCollision);
// add few objects
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
NewtonMaterialSetCollisionCallback (world, defaultMaterialID, defaultMaterialID, OnBodyAABBOverlap, OnContactCollision);
NewtonMaterialSetCompoundCollisionCallback(world, defaultMaterialID, defaultMaterialID, OnSubShapeAABBOverlapTest);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int count = 5;
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void PDFDocumentTools::CalculateCameraPropertiesFromInventorCamera(
Vector3 inventorCameraPosition, Vector4 inventorCameraOrientation, float inventorCameraFocalDistance, float inventorCameraHeight, // inputs
Vector3& camCenterOfOrbit, Vector3& camCenterToCamera, float& camRadiusOfOrbit, float& camRollAngle, float& camFOVAngle
)
{
SbVec3f cameraRotationAxis(inventorCameraOrientation[0], inventorCameraOrientation[1], inventorCameraOrientation[2]);
SbRotation cameraOrientation(cameraRotationAxis, inventorCameraOrientation[3]);
SbMatrix cameraRotationMatrix;
cameraOrientation.getValue(cameraRotationMatrix);
//Vector3 kosXAxis(1,0,0);
//Vector3 kosYAxis(0,1,0);
Vector3 kosZAxis(0,0,1);
Vector3 camXAxis(cameraRotationMatrix[0][0], cameraRotationMatrix[0][1], cameraRotationMatrix[0][2]);
Vector3 camYAxis(cameraRotationMatrix[1][0], cameraRotationMatrix[1][1], cameraRotationMatrix[1][2]);
Vector3 camZAxis(cameraRotationMatrix[2][0], cameraRotationMatrix[2][1], cameraRotationMatrix[2][2]);
Vector3 camYAxisInverted = camYAxis * -1;
Vector3 centerToCamera = camZAxis * inventorCameraFocalDistance;
Vector3 centerOfOrbit = inventorCameraPosition - centerToCamera;
centerToCamera.normalize(); // Must be AFTER calculation of centerOfOrbit!
Vector4 mx(cameraRotationMatrix[0][0], cameraRotationMatrix[0][1], cameraRotationMatrix[0][2], cameraRotationMatrix[0][3]);
Vector4 my(cameraRotationMatrix[1][0], cameraRotationMatrix[1][1], cameraRotationMatrix[1][2], cameraRotationMatrix[1][3]);
Vector4 mz(cameraRotationMatrix[2][0], cameraRotationMatrix[2][1], cameraRotationMatrix[2][2], cameraRotationMatrix[2][3]);
Vector4 mr(cameraRotationMatrix[3][0], cameraRotationMatrix[3][1], cameraRotationMatrix[3][2], cameraRotationMatrix[3][3]);
Matrix4 camMatrix(mx, my, mz, mr);
Vector3 projectionAxis1 = camZAxis.cross(kosZAxis);
Vector3 projectionAxis2 = projectionAxis1.cross(camZAxis);
projectionAxis2.normalize();
// Calc roll angle
double rollAangleRadians = acos(camYAxisInverted.dot(projectionAxis2));
double rollAngleDegrees = (rollAangleRadians / M_PI * 180.0) + 180.0;
double angleRadBetweenProjectionAxisAndCamXAxis = acos(camXAxis.dot(projectionAxis2));
if (angleRadBetweenProjectionAxisAndCamXAxis < (M_PI/2.0))
{
rollAngleDegrees = 360.0 - rollAngleDegrees;
}
// Calc FOV angle
double fieldOfViewAngle = 45.0;
if (inventorCameraHeight != 0)
{
fieldOfViewAngle = 180.0/(M_PI/inventorCameraHeight);
}
if (fieldOfViewAngle > 180.0) // Can happen if Orthographic camera mode is selected in inventor
{
fieldOfViewAngle = 45.0;
}
// Return result values
camCenterOfOrbit = centerOfOrbit;
camCenterToCamera = centerToCamera;
camRadiusOfOrbit = inventorCameraFocalDistance;
camRollAngle = rollAngleDegrees;
camFOVAngle = fieldOfViewAngle;
}
void AlchimedesBuoyancy(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// load the mesh
CreateLevelMesh (scene, "swimmingPool.ngd", true);
// add a trigger Manager to the world
MyTriggerManager* const triggerManager = new MyTriggerManager(scene->GetNewton());
dMatrix triggerLocation (dGetIdentityMatrix());
triggerLocation.m_posit.m_x = 17.0f;
triggerLocation.m_posit.m_y = -3.5f;
NewtonCollision* const poolBox = NewtonCreateBox (scene->GetNewton(), 30.0f, 6.0f, 20.0f, 0, NULL);
triggerManager->CreateBuoyancyTrigger (triggerLocation, poolBox);
NewtonDestroyCollision (poolBox);
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-20.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
/*
//test buoyancy on scaled collisions
dVector plane (0.0f, 1.0f, 0.0f, 0.0f);
dMatrix L1 (dPitchMatrix(30.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
NewtonCollision* xxx0 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCompoundCollisionBeginAddRemove(xxx0);
NewtonCollision* xxxx0 = NewtonCreateBox(scene->GetNewton(), 1.0f, 2.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx0, xxxx0);
NewtonCompoundCollisionEndAddRemove(xxx0);
NewtonCollision* xxx1 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCollision* xxxx1 = NewtonCreateBox(scene->GetNewton(), 1.0f, 1.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx1, xxxx1);
NewtonCompoundCollisionEndAddRemove(xxx1);
NewtonCollisionSetScale(xxx1, 1.0f, 2.0f, 1.0f);
//dMatrix m (dPitchMatrix(45.0f * 3.141692f / 180.0f) * dYawMatrix(40.0f * 3.141692f / 180.0f) * dRollMatrix(70.0f * 3.141692f / 180.0f));
dMatrix m (dPitchMatrix(0.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
dVector gravity (0.0f, 0.0f, -9.8f, 0.0f);
dVector cog0 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass0;
dVector torquePerUnitMass0;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx0, &m[0][0], &cog0[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass0[0], &torquePerUnitMass0[0]);
dVector cog1 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass1;
dVector torquePerUnitMass1;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx1, &m[0][0], &cog1[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass1[0], &torquePerUnitMass1[0]);
*/
int count = 5;
dVector size (1.0f, 0.25f, 0.5f);
dVector location (10.0f, 0.0f, 0.0f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
/*
for (NewtonBody* bodyPtr = NewtonWorldGetFirstBody(scene->GetNewton()); bodyPtr; bodyPtr = NewtonWorldGetNextBody(scene->GetNewton(), bodyPtr)) {
NewtonCollision* collision = NewtonBodyGetCollision(bodyPtr);
if (NewtonCollisionGetType(collision) == SERIALIZE_ID_COMPOUND) {
NewtonCollisionSetScale (collision, 0.5f, 0.5f, 0.5f);
}
}
*/
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}