void GetForceOnStaticBody (NewtonBody* body, NewtonBody* staticBody)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body); joint; joint = NewtonBodyGetNextContactJoint (body, joint)) {
NewtonBody* body0;
NewtonBody* body1;
body0 = NewtonJointGetBody0(joint);
body1 = NewtonJointGetBody1(joint);
if ((body0 == staticBody) || (body1 == staticBody)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
float forceMag;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
dVector force (normal.Scale (-forceMag));
// do wherever you want withteh force
}
}
}
}
void RenderContactPoints (NewtonWorld* const world)
{
glDisable (GL_LIGHTING);
glDisable(GL_TEXTURE_2D);
glPointSize(8.0f);
glColor3f(1.0f, 0.0f, 0.0f);
glBegin(GL_POINTS);
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive (joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
// if we are display debug info we need to block other threads from writing the data at the same time
glVertex3f (point.m_x, point.m_y, point.m_z);
}
}
}
}
glEnd();
glPointSize(1.0f);
}
VALUE MSNewton::Bodies::get_force_in_between(VALUE self, VALUE v_body1, VALUE v_body2) {
const NewtonBody* body1 = Util::value_to_body(v_body1);
const NewtonBody* body2 = Util::value_to_body(v_body2);
Util::validate_two_bodies(body1, body2);
dVector net_force(0.0f, 0.0f, 0.0f);
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body1); joint; joint = NewtonBodyGetNextContactJoint(body1, joint)) {
if (NewtonJointGetBody0(joint) == body2 || NewtonJointGetBody1(joint) == body2) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial(contact);
dVector force;
NewtonMaterialGetContactForce(material, body1, &force[0]);
net_force += force;
}
}
}
const NewtonWorld* world = NewtonBodyGetWorld(body1);
WorldData* world_data = (WorldData*)NewtonWorldGetUserData(world);
//BodyData* body1_data = (BodyData*)NewtonBodyGetUserData(body1);
//BodyData* body2_data = (BodyData*)NewtonBodyGetUserData(body2);
/*if (world_data->gravity_enabled && (body1_data->gravity_enabled || body2_data->gravity_enabled)) {
for (int i = 0; i < 3; ++i)
net_force[i] *= world_data->inverse_scale;
}*/
return Util::vector_to_value(net_force, world_data->inverse_scale4);
}
void CustomTriggerManager::UpdateTrigger (CustomTriggerController* const controller)
{
NewtonBody* const triggerBody = controller->GetBody();
dTree<NewtonBody*,NewtonBody*>& manifest = controller->m_manifest;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (triggerBody); joint; joint = NewtonBodyGetNextContactJoint (triggerBody, joint)) {
int isActive = NewtonJointIsActive (joint);
NewtonBody* const body0 = NewtonJointGetBody0(joint);
NewtonBody* const body1 = NewtonJointGetBody1(joint);
NewtonBody* const passangerBody = (body0 != triggerBody) ? body0 : body1;
if (isActive) {
dTree<NewtonBody*,NewtonBody*>::dTreeNode* const passengerNode = manifest.Find (passangerBody);
if (passengerNode) {
EventCallback (controller, m_inTrigger, passangerBody);
} else {
CustomScopeLock lock (&m_lock);
manifest.Insert (passangerBody, passangerBody);
EventCallback (controller, m_enterTrigger, passangerBody);
}
} else {
dTree<NewtonBody*,NewtonBody*>::dTreeNode* const passengerNode = manifest.Find (passangerBody);
if (passengerNode) {
EventCallback (controller, m_exitTrigger, passangerBody);
CustomScopeLock lock (&m_lock);
manifest.Remove (passengerNode);
}
}
}
}
// return the collision joint, if the body collide
NewtonJoint* CheckIfBodiesCollide (NewtonBody* const body0, NewtonBody* const body1)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body0); joint; joint = NewtonBodyGetNextContactJoint (body0, joint)) {
if ((NewtonJointGetBody0(joint) == body1) || (NewtonJointGetBody1(joint) == body1)) {
return joint;
}
}
return NULL;
}
static void RenderBodyContactsForces (NewtonBody* const body, dFloat scale)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
//draw normal forces in term of acceleration.
//this mean that two bodies with same shape but different mass will display the same force
if (mass > 0.0f) {
scale = scale/mass;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive (joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
dVector tangnetDir0(0.0f);
dVector tangnetDir1(0.0f);
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce(material, body, &contactForce.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
dVector normalforce (normal.Scale (contactForce % normal));
dVector p0 (point);
dVector p1 (point + normalforce.Scale (scale));
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p1.m_x, p1.m_y, p1.m_z);
// these are the components of the tangents forces at the contact point, the can be display at the contact position point.
NewtonMaterialGetContactTangentDirections(material, body, &tangnetDir0[0], &tangnetDir1[0]);
dVector tangentForce1 (tangnetDir0.Scale ((contactForce % tangnetDir0) * scale));
dVector tangentForce2 (tangnetDir1.Scale ((contactForce % tangnetDir1) * scale));
p1 = point + tangentForce1.Scale (scale);
glVertex3f(p0.m_x, p0.m_y, p0.m_z);
glVertex3f(p1.m_x, p1.m_y, p1.m_z);
p1 = point + tangentForce2.Scale (scale);
glVertex3f(p0.m_x, p0.m_y, p0.m_z);
glVertex3f(p1.m_x, p1.m_y, p1.m_z);
}
}
}
}
}
void GetContactOnBody (NewtonBody* const body)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body); joint; joint = NewtonBodyGetNextContactJoint (body, joint)) {
NewtonBody* const body0 = NewtonJointGetBody0(joint);
NewtonBody* const body1 = NewtonJointGetBody1(joint);
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial (contact);
//dFloat forceMag;
dVector point;
dVector normal;
//NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, body1, &point.m_x, &normal.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body0, &point.m_x, &normal.m_x);
// do whatever you want with the force
}
}
}
dVector ForceBetweenBody (NewtonBody* const body0, NewtonBody* const body1)
{
dVector reactionforce (0.0f);
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body0); joint; joint = NewtonBodyGetNextContactJoint(body0, joint)) {
if (NewtonJointIsActive(joint) && (NewtonJointGetBody0(joint) == body0) || (NewtonJointGetBody0(joint) == body1)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal (material, body0, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, body0, &contactForce[0]);
reactionforce += contactForce;
}
break;
}
}
return reactionforce;
}
dFloat ForceBodyAccelerationMichio (NewtonBody* const body)
{
dVector reactionforce (0.0f);
// calcualte accelration generate by all contacts
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive(joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
NewtonMaterialGetContactForce(material, body, &contactForce[0]);
reactionforce += contactForce;
}
}
}
dMatrix matrix;
dVector accel;
dVector veloc;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodyGetAcceleration(body, &accel[0]);
accel -= reactionforce.Scale (1.0f/mass);
//calculate centripetal acceleration here.
NewtonBodyGetMatrix(body, &matrix[0][0]);
dVector radius(matrix.m_posit.Scale(-1.0f));
radius.m_w = 0.0f;
dFloat radiusMag = dSqrt(radius.DotProduct3(radius));
dVector radiusDir (radius.Normalize());
NewtonBodyGetVelocity(body, &veloc[0]);
veloc += radiusDir.Scale(veloc.DotProduct3(radiusDir));
dVector centripetalAccel(veloc.DotProduct3(veloc) / radiusMag);
accel += centripetalAccel;
return dSqrt (accel.DotProduct3(accel));
}
static void RenderBodyContactsAndTangentDiretions (NewtonBody* const body, dFloat length)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive (joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
dVector tangentDir0(0.0f);
dVector tangentDir1(0.0f);
NewtonMaterialGetContactTangentDirections(material, body, &tangentDir0[0], &tangentDir1[0]);
// if we are display debug info we need to block other threads from writing the data at the same time
dVector p1 (point + normal.Scale (length));
dVector p0 (point);
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p1.m_x, p1.m_y, p1.m_z);
}
}
}
}
void SimulationLister(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
m_delay --;
if (m_delay > 0) {
return;
}
// see if the net force on the body comes fr a high impact collision
dFloat maxInternalForce = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
//dVector point;
//dVector normal;
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
//NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, m_myBody, &contactForce[0]);
dFloat forceMag = contactForce % contactForce;
if (forceMag > maxInternalForce) {
maxInternalForce = forceMag;
}
}
}
// if the force is bigger than 4 Gravities, It is considered a collision force
dFloat maxForce = BREAK_FORCE_IN_GRAVITIES * m_myweight;
if (maxInternalForce > (maxForce * maxForce)) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(m_myBody, &mass, &Ixx, &Iyy, &Izz);
dVector com;
dVector veloc;
dVector omega;
dMatrix bodyMatrix;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
com = bodyMatrix.TransformVector (com);
dMatrix matrix (GetCurrentMatrix());
dQuaternion rotation (matrix);
for (ShatterEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
ShatterAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity (NULL);
entity->SetMesh (atom.m_mesh);
entity->SetMatrix(*scene, rotation, matrix.m_posit);
entity->InterpolateMatrix (*scene, 1.0f);
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
dFloat Ixx = debriMass * atom.m_momentOfInirtia.m_x;
dFloat Iyy = debriMass * atom.m_momentOfInirtia.m_y;
dFloat Izz = debriMass * atom.m_momentOfInirtia.m_z;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateBody (world, atom.m_collision, &matrix[0][0]);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// calculate the center of mas of the debris
dVector center (matrix.TransformVector(atom.m_centerOfMass));
// calculate debris initial velocity
dVector v (veloc + omega * (center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debrie center of mass
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, debriMass, Ixx, Iyy, Izz);
// activate
// NewtonBodyCoriolisForcesMode (blockBoxBody, 1);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set continue collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::SetTransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(world, m_myBody);
scene->RemoveEntity (mynode);
}
};
void ApplyTracktionForce (dFloat timestep, const NewtonBody* track)
{
dVector veloc;
dVector omega;
dMatrix matrix;
NewtonBodyGetOmega(m_body0, &omega[0]);
NewtonBodyGetVelocity(m_body0, &veloc[0]);
NewtonBodyGetMatrix (m_body0, &matrix[0][0]);
// itetate over the contact list and condition each contact direction anc contact acclerations
for (NewtonJoint* contactJoint = NewtonBodyGetFirstContactJoint (track); contactJoint; contactJoint = NewtonBodyGetNextContactJoint (track, contactJoint)) {
_ASSERTE ((NewtonJointGetBody0 (contactJoint) == track) || (NewtonJointGetBody1 (contactJoint) == track));
#ifdef REMOVE_REDUNDAT_CONTACT
int contactCount;
contactCount = NewtonContactJointGetContactCount(contactJoint);
if (contactCount > 2) {
// project the contact to the bounday of the conve hull o fteh trhread foot ptint
dFloat maxDist;
dFloat minDist;
void* minContact;
void* maxContact;
dMatrix matrix;
minContact = NULL;
maxContact = NULL;
NewtonBodyGetMatrix (track, &matrix[0][0]);
maxDist = -1.0e10f;
minDist = -1.0e10f;
//find the best two contacts and remove all others
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat dist;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
dist = matrix.m_front % point;
if (dist > maxDist) {
maxDist = dist;
maxContact = contact;
}
if (-dist > minDist) {
minDist = -dist;
minContact = contact;
}
}
// now delete all reduntact contacts
void* nextContact;
NewtonWorld* world;
world = NewtonBodyGetWorld (track);
NewtonWorldCriticalSectionLock(world);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = nextContact) {
nextContact = NewtonContactJointGetNextContact (contactJoint, contact);
if (!((contact == minContact) || (contact == maxContact))) {
NewtonContactJointRemoveContact (contactJoint, contact);
}
}
NewtonWorldCriticalSectionUnlock(world);
}
#endif
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dFloat speed;
dFloat accel;
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialContactRotateTangentDirections (material, &matrix.m_front[0]);
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
NewtonMaterialGetContactTangentDirections (material, &dir0[0], &dir1[0]);
dVector posit (point - matrix.m_posit);
veloc += omega * posit;
speed = veloc % dir0;
// accel = m_accel - 0.1f * speed + (((posit % m_matrix.m_right) > 0.0f) ? m_turnAccel : - m_turnAccel);
accel = m_veloc + (((posit % matrix.m_right) > 0.0f) ? m_turnVeloc : - m_turnVeloc);
accel = (accel - speed) * 0.5f / timestep;
// NewtonMaterialSetContactStaticFrictionCoef (material, 1.0f, 0);
// NewtonMaterialSetContactKineticFrictionCoef (material, 1.0f, 0);
NewtonMaterialSetContactFrictionCoef (material, 1.0f, 1.0f, 0);
// NewtonMaterialSetContactStaticFrictionCoef (material, 0.5f, 1);
// NewtonMaterialSetContactKineticFrictionCoef (material, 0.5f, 1);
NewtonMaterialSetContactFrictionCoef (material, 0.5f, 0.5f, 1);
NewtonMaterialSetContactTangentAcceleration (material, accel, 0);
}
// for debug purpose show the contact
ShowJointContacts (contactJoint);
}
}
void SimulationPostListener(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
// see if the net force on the body comes fr a high impact collision
dFloat breakImpact = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
dFloat impulseImpact = NewtonMaterialGetContactMaxNormalImpact(material);
if (impulseImpact > breakImpact) {
breakImpact = impulseImpact;
}
}
}
// if the force is bigger than N time Gravities, It is considered a collision force
breakImpact *= m_myMassInverse;
// breakImpact = 1000.0f;
if (breakImpact > BREAK_IMPACT_IN_METERS_PER_SECONDS) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dMatrix bodyMatrix;
dVector com(0.0f);
dVector veloc(0.0f);
dVector omega(0.0f);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
NewtonBodyGetMass(m_myBody, &mass, &Ixx, &Iyy, &Izz);
com = bodyMatrix.TransformVector(com);
dMatrix matrix(GetCurrentMatrix());
dQuaternion rotation(matrix);
// we need to lock the world before creation a bunch of bodies
scene->Lock(m_lock);
for (FractureEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
FractureAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity(dMatrix(rotation, matrix.m_posit), NULL);
entity->SetMesh(atom.m_mesh, dGetIdentityMatrix());
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateDynamicBody(world, atom.m_collision, &matrix[0][0]);
// calculate debris initial velocity
dVector center(matrix.TransformVector(atom.m_centerOfMass));
dVector v(veloc + omega.CrossProduct(center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debris mass properties, mass, center of mass, and inertia
NewtonBodySetMassProperties(rigidBody, debriMass, atom.m_collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData(rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID(rigidBody, materialId);
// set continuous collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback(rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback(rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback(rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(m_myBody);
scene->RemoveEntity(mynode);
// unlock the work after done with the effect
scene->Unlock(m_lock);
}
}
