void NewtonEntity::Update(float interpolationParam, NewtonWorld* world)
{
// Calculate visual Transform by Interpolating between prev and curr State
glm::vec4 position (prevPosition + (curPosition - prevPosition) * interpolationParam);
glm::quat rotation = glm::gtc::quaternion::mix(prevRotation,curRotation,interpolationParam);
matrix = createMat4(rotation,position);
}
void NewtonEntity::SetRotation(float rx, float ry, float rz)
{
glm::mat4 mat = glm::gtx::euler_angles::yawPitchRoll(ry,rz,rx);
curRotation = glm::gtc::quaternion::quat_cast(mat);
prevRotation = curRotation;
matrix = createMat4(curRotation,curPosition);
if(body)
NewtonBodySetMatrix( body, &matrix[0][0]);
}
NewtonBody* CreateRigidBody (NewtonWorld* world, NewtonEntity* ent, NewtonCollision* collision, dFloat mass)
{
glm::vec3 minBox;
glm::vec3 maxBox;
glm::vec3 origin;
glm::vec3 inertia;
NewtonBody* body;
glm::mat4 matrix = createMat4(ent->curRotation,ent->curPosition);
// Now with the collision Shape we can crate a rigid body
body = NewtonCreateBody (world, collision, &matrix[0][0]);
// bodies can have a destructor.
// this is a function callback that can be used to destroy any local data stored
// and that need to be destroyed before the body is destroyed.
NewtonBodySetDestructorCallback (body, DestroyBodyCallback);
// save the entity as the user data for this body
NewtonBodySetUserData (body, ent);
ent->body=body;
// we need to set the proper center of mass and inertia matrix for this body
// the inertia matrix calculated by this function does not include the mass.
// therefore it needs to be multiplied by the mass of the body before it is used.
NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
// set the body mass matrix
NewtonBodySetMassMatrix (body, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
// set the body origin
NewtonBodySetCentreOfMass (body, &origin[0]);
// set the function callback to apply the external forces and torque to the body
// the most common force is Gravity
NewtonBodySetForceAndTorqueCallback (body, ApplyForceAndTorqueCallback);
// set the function callback to set the transformation state of the graphic entity associated with this body
// each time the body change position and orientation in the physics world
NewtonBodySetTransformCallback (body, SetTransformCallback);
return body;
}
void
PropertyManager::addAttribute(wxPropertyGridManager *pg, std::unique_ptr<Attribute> &a) {
switch (a->getType()) {
case Enums::ENUM: createEnum(pg, a); break;
case Enums::BOOL: createBool(pg, a); break;
case Enums::BVEC4: createBVec4(pg, a); break;
case Enums::INT: createInt(pg, a); break;
case Enums::IVEC3: createIVec3(pg, a); break;
case Enums::UINT: createUInt(pg, a); break;
case Enums::UIVEC2: createUIVec2(pg, a); break;
case Enums::UIVEC3: createUIVec3(pg, a); break;
case Enums::FLOAT: createFloat(pg, a); break;
case Enums::VEC2: createVec2(pg, a); break;
case Enums::VEC3: createVec3(pg, a); break;
case Enums::VEC4: createVec4(pg, a); break;
case Enums::MAT3: createMat3(pg, a); break;
case Enums::MAT4: createMat4(pg, a); break;
case Enums::STRING: createString(pg, a); break;
default: assert(false && "Missing datatype in property manager");
}
}
