void DemoCameraListener::UpdatePickBody(DemoEntityManager* const scene, dFloat timestep)
{
// handle pick body from the screen
bool mousePickState = scene->GetMouseKeyState(0);
if (!m_targetPicked) {
if (!m_prevMouseState && mousePickState) {
dFloat param;
dVector posit;
dVector normal;
dFloat x = dFloat (m_mousePosX);
dFloat y = dFloat (m_mousePosY);
dVector p0 (m_camera->ScreenToWorld(dVector (x, y, 0.0f, 0.0f)));
dVector p1 (m_camera->ScreenToWorld(dVector (x, y, 1.0f, 0.0f)));
NewtonBody* const body = MousePickBody (scene->GetNewton(), p0, p1, param, posit, normal);
if (body) {
dMatrix matrix;
m_targetPicked = body;
NewtonBodyGetMatrix(m_targetPicked, &matrix[0][0]);
m_pickedBodyParam = param;
#ifdef USE_PICK_BODY_BY_FORCE
// save point local to the body matrix
m_pickedBodyLocalAtachmentPoint = matrix.UntransformVector (posit);
// convert normal to local space
m_pickedBodyLocalAtachmentNormal = matrix.UnrotateVector(normal);
#else
if(m_pickJoint) {
delete m_pickJoint;
m_pickJoint = NULL;
}
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
const dFloat angularFritionAccel = 100.0f;
const dFloat linearFrictionAccel = 100.0f * dAbs (dMax (DEMO_GRAVITY, 10.0f));
const dFloat inertia = dMax (Izz, dMax (Ixx, Iyy));
m_pickJoint = new dCustomKinematicController (body, posit);
m_pickJoint->SetPickMode (0);
m_pickJoint->SetMaxLinearFriction(mass * linearFrictionAccel);
m_pickJoint->SetMaxAngularFriction(inertia * angularFritionAccel);
#endif
}
}
} else {
if (scene->GetMouseKeyState(0)) {
dFloat x = dFloat (m_mousePosX);
dFloat y = dFloat (m_mousePosY);
dVector p0 (m_camera->ScreenToWorld(dVector (x, y, 0.0f, 0.0f)));
dVector p1 (m_camera->ScreenToWorld(dVector (x, y, 1.0f, 0.0f)));
m_pickedBodyTargetPosition = p0 + (p1 - p0).Scale (m_pickedBodyParam);
#ifdef USE_PICK_BODY_BY_FORCE
dMatrix matrix;
NewtonBodyGetMatrix (m_targetPicked, &matrix[0][0]);
dVector point (matrix.TransformVector(m_pickedBodyLocalAtachmentPoint));
CalculatePickForceAndTorque (m_targetPicked, point, m_pickedBodyTargetPosition, timestep);
#else
if (m_pickJoint) {
m_pickJoint->SetTargetPosit (m_pickedBodyTargetPosition);
}
#endif
} else {
if (m_targetPicked) {
NewtonBodySetSleepState (m_targetPicked, 0);
}
if (m_pickJoint) {
delete m_pickJoint;
}
m_pickJoint = NULL;
m_targetPicked = NULL;
m_bodyDestructor = NULL;
}
}
m_prevMouseState = mousePickState;
}
void DemoCameraListener::UpdatePickBody(DemoEntityManager* const scene, dFloat timestep)
{
NewtonDemos* const mainWin = scene->GetRootWindow();
// handle pick body from the screen
bool mousePickState = mainWin->GetMouseKeyState(0);
if (!m_targetPicked) {
if (!m_prevMouseState && mousePickState) {
dFloat param;
dVector posit;
dVector normal;
dFloat x = dFloat (m_mousePosX);
dFloat y = dFloat (m_mousePosY);
dVector p0 (m_camera->ScreenToWorld(dVector (x, y, 0.0f, 0.0f)));
dVector p1 (m_camera->ScreenToWorld(dVector (x, y, 1.0f, 0.0f)));
NewtonBody* const body = MousePickByForce (scene->GetNewton(), p0, p1, param, posit, normal);
if (body) {
m_targetPicked = body;
dMatrix matrix;
NewtonBodyGetMatrix(m_targetPicked, &matrix[0][0]);
// save point local to the body matrix
m_pickedBodyParam = param;
m_pickedBodyLocalAtachmentPoint = matrix.UntransformVector (posit);
// convert normal to local space
m_pickedBodyLocalAtachmentNormal = matrix.UnrotateVector(normal);
// link the a destructor callback
//m_bodyDestructor = NewtonBodyGetDestructorCallback(m_targetPicked);
//NewtonBodySetDestructorCallback(m_targetPicked, OnPickedBodyDestroyedNotify);
}
}
} else {
if (mainWin->GetMouseKeyState(0)) {
dFloat x = dFloat (m_mousePosX);
dFloat y = dFloat (m_mousePosY);
dVector p0 (m_camera->ScreenToWorld(dVector (x, y, 0.0f, 0.0f)));
dVector p1 (m_camera->ScreenToWorld(dVector (x, y, 1.0f, 0.0f)));
m_pickedBodyTargetPosition = p0 + (p1 - p0).Scale (m_pickedBodyParam);
dMatrix matrix;
NewtonBodyGetMatrix (m_targetPicked, &matrix[0][0]);
dVector point (matrix.TransformVector(m_pickedBodyLocalAtachmentPoint));
CalculatePickForceAndTorque (m_targetPicked, point, m_pickedBodyTargetPosition, timestep);
} else {
if (m_targetPicked) {
NewtonBodySetSleepState (m_targetPicked, 0);
}
// unchain the callbacks
//NewtonBodySetDestructorCallback(m_targetPicked, m_bodyDestructor);
m_targetPicked = NULL;
m_bodyDestructor = NULL;
}
}
m_prevMouseState = mousePickState;
}
