void PhyFixed::updateJoint(real timestep)
{
// If the joint is disabled, we don't do anything here
if (!m_shared->enabled) {
return;
}
// Updating the global matrices and the dof
updateJointInfo();
#ifdef WORLDSIM_USE_NEWTON
UNUSED_PARAM( timestep );
//--- Restrict the movement on the centre of the joint along all tree orthonormal direction
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.x_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.y_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
NewtonUserJointAddLinearRow( m_priv->joint, &m_shared->globalMatrixChild.w_pos[0], &m_shared->globalMatrixParent.w_pos[0], &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
//--- In order to constraint the rotation about X and Y axis of the joint
//--- we use LinearRow (that are stronger) getting a point far from objects along
//--- the Z axis. Doing this if the two object rotates about X or Y axes then
//--- the difference between qChild and qParent augments and then Newton Engine will apply
//--- a corresponding force (that applyied outside the centre of the object will become
//--- a torque) that will blocks any rotation about X and Y axis
real len = 5000.0;
wVector qChild( m_shared->globalMatrixChild.w_pos + m_shared->globalMatrixChild.z_ax.scale(len) );
wVector qParent( m_shared->globalMatrixParent.w_pos + m_shared->globalMatrixParent.z_ax.scale(len) );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.x_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.y_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );
NewtonUserJointAddAngularRow( m_priv->joint, 0.0f, &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0f );
//--- In order to do the same with third axis (Z), I need others point along different axis
/* qChild = wVector( m_shared->globalMatrixChild.w_pos + m_shared->globalMatrixChild.y_ax.scale(len) );
qParent = wVector( m_shared->globalMatrixParent.w_pos + m_shared->globalMatrixParent.y_ax.scale(len) );
NewtonUserJointAddLinearRow( m_priv->joint, &qChild[0], &qParent[0], &m_shared->globalMatrixParent.z_ax[0] );
NewtonUserJointSetRowStiffness( m_priv->joint, 1.0 );*/
//--- Retrive forces applied to the joint by the constraints
Shared* const d = m_shared.getModifiableShared();
d->forceOnJoint.x = NewtonUserJointGetRowForce (m_priv->joint, 0);
d->forceOnJoint.y = NewtonUserJointGetRowForce (m_priv->joint, 1);
d->forceOnJoint.z = NewtonUserJointGetRowForce (m_priv->joint, 2);
#endif
}
void cUIMenu::FixMenuPos( eeVector2i& Pos, cUIMenu * Menu, cUIMenu * Parent, cUIMenuSubMenu * SubMenu ) {
eeAABB qScreen( 0.f, 0.f, cUIManager::instance()->MainControl()->Size().Width(), cUIManager::instance()->MainControl()->Size().Height() );
eeAABB qPos( Pos.x, Pos.y, Pos.x + Menu->Size().Width(), Pos.y + Menu->Size().Height() );
if ( NULL != Parent && NULL != SubMenu ) {
eeVector2i addToPos( 0, 0 );
if ( NULL != SubMenu ) {
addToPos.y = SubMenu->Size().Height();
}
eeVector2i sPos = SubMenu->Pos();
SubMenu->ControlToScreen( sPos );
eeVector2i pPos = Parent->Pos();
Parent->ControlToScreen( pPos );
eeAABB qParent( pPos.x, pPos.y, pPos.x + Parent->Size().Width(), pPos.y + Parent->Size().Height() );
Pos.x = qParent.Right;
Pos.y = sPos.y;
qPos.Left = Pos.x;
qPos.Right = qPos.Left + Menu->Size().Width();
qPos.Top = Pos.y;
qPos.Bottom = qPos.Top + Menu->Size().Height();
if ( !qScreen.Contains( qPos ) ) {
Pos.y = sPos.y + SubMenu->Size().Height() - Menu->Size().Height();
qPos.Top = Pos.y;
qPos.Bottom = qPos.Top + Menu->Size().Height();
if ( !qScreen.Contains( qPos ) ) {
Pos.x = qParent.Left - Menu->Size().Width();
Pos.y = sPos.y;
qPos.Left = Pos.x;
qPos.Right = qPos.Left + Menu->Size().Width();
qPos.Top = Pos.y;
qPos.Bottom = qPos.Top + Menu->Size().Height();
if ( !qScreen.Contains( qPos ) ) {
Pos.y = sPos.y + SubMenu->Size().Height() - Menu->Size().Height();
qPos.Top = Pos.y;
qPos.Bottom = qPos.Top + Menu->Size().Height();
}
}
}
} else {
if ( !qScreen.Contains( qPos ) ) {
Pos.y -= Menu->Size().Height();
qPos.Top -= Menu->Size().Height();
qPos.Bottom -= Menu->Size().Height();
if ( !qScreen.Contains( qPos ) ) {
Pos.x -= Menu->Size().Width();
qPos.Left -= Menu->Size().Width();
qPos.Right -= Menu->Size().Width();
if ( !qScreen.Contains( qPos ) ) {
Pos.y += Menu->Size().Height();
qPos.Top += Menu->Size().Height();
qPos.Bottom += Menu->Size().Height();
}
}
}
}
}
