static DemoEntityManager::dListNode* LoadScene(DemoEntityManager* const scene, const char* const name, const dMatrix& location)
{
char fileName[2048];
GetWorkingFileName (name, fileName);
DemoEntityManager::dListNode* const lastEnt = scene->GetLast();
scene->LoadScene (fileName);
for (DemoEntityManager::dListNode* node = lastEnt->GetNext(); node; node = node->GetNext()) {
DemoEntity* const entity = node->GetInfo();
dMatrix matrix (entity->GetNextMatrix() * location);
entity->ResetMatrix(*scene, matrix);
}
return lastEnt->GetNext();
}
NewtonBody* CreateLevelMesh (DemoEntityManager* const scene, const char* const name, bool optimized)
{
// load the scene from a ngd file format
char fileName[2048];
GetWorkingFileName (name, fileName);
scene->LoadScene (fileName);
NewtonBody* levelBody = NULL;
NewtonWorld* const world = scene->GetNewton();
for (DemoEntityManager::dListNode* node = scene->GetLast(); node; node = node->GetPrev()) {
DemoEntity* const ent = node->GetInfo();
DemoMesh* const mesh = (DemoMesh*) ent->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
if (mesh) {
if (mesh->GetName() == "levelGeometry_mesh") {
levelBody = CreateLevelMeshBody (world, ent, optimized);
break;
}
}
}
return levelBody;
}
static void LoadHangingBridge (DemoEntityManager* const scene, TriggerManager* const triggerManager, NewtonCollision* const sceneCollision, const char* const name, const dMatrix& location, NewtonBody* const playGroundBody)
{
NewtonWorld* const world = scene->GetNewton();
DemoEntityManager::dListNode* const bridgeNodes = scene->GetLast();
LoadScene(scene, name, location);
// add bridge foundations
for (DemoEntityManager::dListNode* node = bridgeNodes->GetNext(); node; node = node->GetNext()) {
DemoEntity* const entity = node->GetInfo();
if (entity->GetName().Find("ramp") != -1) {
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
NewtonCollision* const collision = NewtonCreateConvexHull(world, mesh->m_vertexCount, mesh->m_vertex, 3 * sizeof (dFloat), 0, 0, NULL);
void* const proxy = NewtonSceneCollisionAddSubCollision (sceneCollision, collision);
NewtonDestroyCollision (collision);
// get the location of this tire relative to the car chassis
dMatrix matrix (entity->GetNextMatrix());
NewtonCollision* const bridgeCollision = NewtonSceneCollisionGetCollisionFromNode (sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(bridgeCollision, entity);
}
}
// add all the planks that form the bridge
dTree<NewtonBody*, dString> planks;
dFloat plankMass = 30.0f;
for (DemoEntityManager::dListNode* node = bridgeNodes->GetNext(); node; node = node->GetNext()) {
DemoEntity* const entity = node->GetInfo();
if (entity->GetName().Find("plank") != -1) {
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
// note: because the mesh matrix can have scale, for simplicity just apply the local mesh matrix to the vertex cloud
dVector pool[128];
const dMatrix& meshMatrix = entity->GetMeshMatrix();
meshMatrix.TransformTriplex(&pool[0].m_x, sizeof (dVector), mesh->m_vertex, 3 * sizeof (dFloat), mesh->m_vertexCount);
NewtonCollision* const collision = NewtonCreateConvexHull(world, mesh->m_vertexCount, &pool[0].m_x, sizeof (dVector), 0, 0, NULL);
NewtonBody* const body = CreateSimpleBody (world, entity, plankMass, entity->GetNextMatrix(), collision, 0);
NewtonDestroyCollision (collision);
planks.Insert(body, entity->GetName());
}
}
// connect each plant with a hinge
// calculate the with of a plank
dFloat plankwidth = 0.0f;
dVector planksideDir (1.0f, 0.0f, 0.0f, 0.0f);
{
NewtonBody* const body0 = planks.Find("plank01")->GetInfo();
NewtonBody* const body1 = planks.Find("plank02")->GetInfo();
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix(body0, &matrix0[0][0]);
NewtonBodyGetMatrix(body1, &matrix1[0][0]);
planksideDir = matrix1.m_posit - matrix0.m_posit;
planksideDir = planksideDir.Scale (1.0f / dSqrt (planksideDir % planksideDir));
dVector dir (matrix0.UnrotateVector(planksideDir));
NewtonCollision* const shape = NewtonBodyGetCollision(body0);
dVector p0;
dVector p1;
NewtonCollisionSupportVertex(shape, &dir[0], &p0[0]);
dVector dir1 (dir.Scale (-1.0f));
NewtonCollisionSupportVertex(shape, &dir1[0], &p1[0]);
plankwidth = dAbs (0.5f * ((p1 - p0) % dir));
}
dTree<NewtonBody*, dString>::Iterator iter (planks);
iter.Begin();
dMatrix matrix0;
NewtonBody* body0 = iter.GetNode()->GetInfo();
NewtonBodyGetMatrix(body0, &matrix0[0][0]);
for (iter ++; iter; iter ++) {
NewtonBody* const body1 = iter.GetNode()->GetInfo();
dMatrix matrix1;
NewtonBodyGetMatrix(body1, &matrix1[0][0]);
// calculate the hinge parameter form the matrix location of each plank
dMatrix pinMatrix0 (dGetIdentityMatrix());
pinMatrix0[0] = pinMatrix0[1] * planksideDir;
pinMatrix0[0] = pinMatrix0[0].Scale (1.0f / dSqrt (pinMatrix0[0] % pinMatrix0[0]));
pinMatrix0[2] = pinMatrix0[0] * pinMatrix0[1];
pinMatrix0[0][3] = 0.0f;
pinMatrix0[1][3] = 0.0f;
pinMatrix0[2][3] = 0.0f;
// calculate the pivot
pinMatrix0[3] = matrix0.m_posit + pinMatrix0[2].Scale (plankwidth);
pinMatrix0[3][3] = 1.0f;
dMatrix pinMatrix1 (pinMatrix0);
pinMatrix1[3] = matrix1.m_posit - pinMatrix1[2].Scale (plankwidth);
pinMatrix1[3][3] = 1.0f;
// connect these two plank by a hinge, there a wiggle space between eh hinge that give therefore use the alternate hinge constructor
new CustomHinge (pinMatrix0, pinMatrix1, body0, body1);
body0 = body1;
matrix0 = matrix1;
}
// connect the last and first plank to the bridge base
{
iter.Begin();
body0 = iter.GetNode()->GetInfo();
NewtonBodyGetMatrix(body0, &matrix0[0][0]);
dMatrix pinMatrix0 (dGetIdentityMatrix());
pinMatrix0[0] = pinMatrix0[1] * planksideDir;
pinMatrix0[0] = pinMatrix0[0].Scale (1.0f / dSqrt (pinMatrix0[0] % pinMatrix0[0]));
pinMatrix0[2] = pinMatrix0[0] * pinMatrix0[1];
pinMatrix0[0][3] = 0.0f;
pinMatrix0[1][3] = 0.0f;
pinMatrix0[2][3] = 0.0f;
pinMatrix0[3] = matrix0.m_posit - pinMatrix0[2].Scale (plankwidth);
new CustomHinge (pinMatrix0, body0, playGroundBody);
}
{
iter.End();
body0 = iter.GetNode()->GetInfo();
NewtonBodyGetMatrix(body0, &matrix0[0][0]);
dMatrix pinMatrix0 (dGetIdentityMatrix());
pinMatrix0[0] = pinMatrix0[1] * planksideDir;
pinMatrix0[0] = pinMatrix0[0].Scale (1.0f / dSqrt (pinMatrix0[0] % pinMatrix0[0]));
pinMatrix0[2] = pinMatrix0[0] * pinMatrix0[1];
pinMatrix0[0][3] = 0.0f;
pinMatrix0[1][3] = 0.0f;
pinMatrix0[2][3] = 0.0f;
pinMatrix0[3] = matrix0.m_posit + pinMatrix0[2].Scale (plankwidth);
new CustomHinge (pinMatrix0, body0, playGroundBody);
}
}
static void LoadSlide (DemoEntityManager* const scene, TriggerManager* const triggerManager, NewtonCollision* const sceneCollision, const char* const name, const dMatrix& location, NewtonBody* const playGroundBody)
{
NewtonWorld* const world = scene->GetNewton();
DemoEntityManager::dListNode* const bridgeNodes = scene->GetLast();
LoadScene(scene, name, location);
// add bridge foundations
for (DemoEntityManager::dListNode* node = bridgeNodes->GetNext(); node; node = node->GetNext()) {
DemoEntity* const entity = node->GetInfo();
if (entity->GetName().Find("ramp") != -1) {
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
NewtonCollision* const collision = NewtonCreateConvexHull(world, mesh->m_vertexCount, mesh->m_vertex, 3 * sizeof (dFloat), 0, 0, NULL);
void* const proxy = NewtonSceneCollisionAddSubCollision (sceneCollision, collision);
NewtonDestroyCollision (collision);
// get the location of this tire relative to the car chassis
dMatrix matrix (entity->GetNextMatrix());
NewtonCollision* const bridgeCollision = NewtonSceneCollisionGetCollisionFromNode (sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(bridgeCollision, entity);
}
}
// add start triggers
CustomTriggerController* trigger0 = NULL;
CustomTriggerController* trigger1 = NULL;
for (DemoEntityManager::dListNode* node = bridgeNodes->GetNext(); node;) {
DemoEntity* const entity = node->GetInfo();
node = node->GetNext() ;
if (entity->GetName().Find("startTrigger") != -1) {
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
// create a trigger to match his mesh
NewtonCollision* const collision = NewtonCreateConvexHull(world, mesh->m_vertexCount, mesh->m_vertex, 3 * sizeof (dFloat), 0, 0, NULL);
dMatrix matrix (entity->GetNextMatrix());
CustomTriggerController* const controller = triggerManager->CreateTrigger(matrix, collision, NULL);
NewtonDestroyCollision (collision);
if (!trigger0) {
trigger0 = controller;
} else {
trigger1 = controller;
}
// remove this entity from the scene, since we do not wan the trigger to be visible
// to see triggers click "show collision mesh, and or "show contact points" in the main menu.
scene->RemoveEntity(entity);
}
}
// add the platform object
for (DemoEntityManager::dListNode* node = bridgeNodes->GetNext(); node;) {
DemoEntity* const entity = node->GetInfo();
node = node->GetNext() ;
if (entity->GetName().Find("platform") != -1) {
// make a platform object
PlaformEntityEntity* const platformEntity = new PlaformEntityEntity (scene, entity, trigger0->GetBody(), trigger1->GetBody());
// store the platform in the trigger use data
trigger0->SetUserData(platformEntity);
trigger1->SetUserData(platformEntity);
// remove this entity from the scene
scene->RemoveEntity(entity);
}
}
}
