PlaformEntityEntity (DemoEntityManager* const scene, DemoEntity* const source, NewtonBody* const triggerPort0, NewtonBody* const triggerPort1)
:DemoEntity (source->GetNextMatrix(), NULL)
{
scene->Append(this);
DemoMesh* const mesh = (DemoMesh*)source->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
SetMesh(mesh, source->GetMeshMatrix());
const dFloat mass = 100.0f;
dMatrix matrix (source->GetNextMatrix()) ;
NewtonWorld* const world = scene->GetNewton();
// 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 = 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* body = CreateSimpleBody (world, this, 100, matrix, collision, 0);
NewtonDestroyCollision(collision);
// attach a kinematic joint controller joint to move this body
dVector pivot;
NewtonBodyGetCentreOfMass (body, &pivot[0]);
pivot = matrix.TransformVector(pivot);
m_driver = new FerryDriver (body, pivot, triggerPort0, triggerPort1);
m_driver->SetMaxLinearFriction (50.0f * dAbs (mass * DEMO_GRAVITY));
m_driver->SetMaxAngularFriction(50.0f * dAbs (mass * DEMO_GRAVITY));
}
NewtonCollision* CreateNewtonConvex (NewtonWorld* world, Entity *ent, int shapeId)
{
dVector minBox;
dVector maxBox;
NewtonCollision* collision;
dVector* tmpArray = new dVector [ent->m_vertexCount];
// Get the Bounding Box for this entity
ent->GetBBox (minBox, maxBox);
dVector size (maxBox - minBox);
dVector origin ((maxBox + minBox).Scale (0.5f));
size.m_w = 1.0f;
origin.m_w = 1.0f;
// Translate al the points to the origin point
for (int i = 0; i < ent->m_vertexCount; i ++) {
dVector tmp (ent->m_vertex[i * 3 + 0], ent->m_vertex[i * 3 + 1], ent->m_vertex[i * 3 + 2], 0.0f);
tmpArray[i] = tmp - origin;
}
// make and offset Matrix for this collision shape.
dMatrix offset (GetIdentityMatrix());
offset.m_posit = origin;
// now create a convex hull shape from the vertex geometry
collision = NewtonCreateConvexHull(world, ent->m_vertexCount, &tmpArray[0][0], sizeof (dVector), 0.1f, shapeId, &offset[0][0]);
delete tmpArray;
return collision;
}
NewtonCollision* CreateNewtonConvex (NewtonWorld* world, StaticEntity *ent, int shapeId)
{
NewtonCollision* collision;
glm::vec3* tmpArray = new glm::vec3 [ent->meshObj->totalVertices];
glm::vec3 size (ent->maxBox - ent->minBox);
glm::vec3 origin ((ent->maxBox + ent->minBox)*0.5f);
unsigned int i,u,counter;
counter=0;
// Translate all the points to the origin point
for(i=0; i<ent->meshObj->mesh.size(); i++)
{
for(u=0; u<ent->meshObj->mesh.at(i)->numVertices; u++)
{
glm::vec3 tmp(ent->meshObj->mesh[i]->vertex[u].x, ent->meshObj->mesh[i]->vertex[u].y, ent->meshObj->mesh[i]->vertex[u].z);
tmpArray[counter] = tmp - origin;
counter++;
}
}
// make and offset Matrix for this collision shape.
glm::mat4 offset = glm::gtc::matrix_transform::translate(glm::mat4(1.0f),origin);
// now create a convex hull shape from the vertex geometry
collision = NewtonCreateConvexHull(world, ent->meshObj->totalVertices, &tmpArray[0][0], sizeof (glm::vec3), 0.1f, shapeId, &offset[0][0]);
delete tmpArray;
return collision;
}
void CollisionDetection::createConvexHull( Entity *entity, bool enemy )
{
size_t vertex_count;
size_t index_count;
Ogre::Vector3 *vertices;
unsigned long *indices;
GetMeshInformation( entity->getMesh(), vertex_count, vertices, index_count, indices,
Vector3( 0.0, 0.0, 0.0 ),//entity->getParentNode()->getPosition(),
Ogre::Quaternion::IDENTITY, //entity->getParentNode()->getOrientation()
Ogre::Vector3(1,1,1));//entity->getParentNode()->_getDerivedScale() );//Ogre::Vector3(1,1,1));
dFloat *vertexCloud = new dFloat[vertex_count*3];
for( int i = 0; i < vertex_count; i++ )
{
vertexCloud[i*3] = vertices[i].x;
vertexCloud[i*3+1] = vertices[i].y;
vertexCloud[i*3+2] = vertices[i].z;
}
shapeID++;
NewtonCollision *newCol = NewtonCreateConvexHull (newtonWorld, vertex_count, vertexCloud, 12, 0.0, shapeID, NULL);
if(enemy)
{
enemyEnt = newCol;
}
else
{
NewtonBody* rigidBodyBox = NewtonCreateBody (newtonWorld, newCol);
//PROBLEM with the line as this comand should work, but terminates the app;Possibly a c++ issue
//NewtonReleaseCollision( newtonWorld, enemyCol);
collisionsMap.insert(pair<Entity*,NewtonCollision*>(entity,newCol));
bodysMap.insert(pair<Entity*,NewtonBody*>(entity,rigidBodyBox));
}
}
NewtonCollision* MakeConvexHull(const DemoEntity* const bodyPart) const
{
dVector points[1024 * 16];
const DemoEntity* const meshEntity = FindMesh(bodyPart);
DemoMesh* const mesh = (DemoMesh*)meshEntity->GetMesh();
dAssert(mesh->IsType(DemoMesh::GetRttiType()));
dAssert(mesh->m_vertexCount && (mesh->m_vertexCount < int(sizeof(points) / sizeof(points[0]))));
// go over the vertex array and find and collect all vertices's weighted by this bone.
const dFloat* const array = mesh->m_vertex;
for (int i = 0; i < mesh->m_vertexCount; i++) {
points[i][0] = array[i * 3 + 0];
points[i][1] = array[i * 3 + 1];
points[i][2] = array[i * 3 + 2];
points[i][3] = 0.0f;
}
dMatrix matrix(meshEntity->GetMeshMatrix());
matrix = matrix * meshEntity->GetCurrentMatrix();
//matrix = matrix * bodyPart->GetParent()->GetCurrentMatrix();
matrix.TransformTriplex(&points[0][0], sizeof(dVector), &points[0][0], sizeof(dVector), mesh->m_vertexCount);
// return NewtonCreateConvexHull(GetWorld(), mesh->m_vertexCount, &points[0][0], sizeof(dVector), 1.0e-3f, SERVO_VEHICLE_DEFINITION::m_bodyPart, NULL);
return NewtonCreateConvexHull(GetWorld(), mesh->m_vertexCount, &points[0][0], sizeof(dVector), 1.0e-3f, 0, NULL);
}
NewtonCollision* CreateChassisCollision (NewtonWorld* const world) const
{
dMatrix offset (dGetIdentityMatrix());
offset.m_posit.m_y = 0.7f;
NewtonCollision* const convex0 = NewtonCreateConvexHull (world, 8, &VehicleHullShape0[0][0], 3 * sizeof (dFloat), 0.001f, 0, NULL);
NewtonCollision* const convex1 = NewtonCreateConvexHull (world, 8, &VehicleHullShape1[0][0], 3 * sizeof (dFloat), 0.001f, 0, &offset[0][0]);
NewtonCollision* const collision = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(collision);
NewtonCompoundCollisionAddSubCollision (collision, convex0);
NewtonCompoundCollisionAddSubCollision (collision, convex1);
NewtonCompoundCollisionEndAddRemove (collision);
NewtonDestroyCollision (convex0);
NewtonDestroyCollision (convex1);
return collision;
}
/*
=============
CMod_PhysicsAddEntity
=============
*/
void CMod_PhysicsAddEntity(sharedEntity_t * gEnt) {
NewtonCollision* collision = NULL;
NewtonBody* body = NULL;
std::map<int, bspCmodel>::iterator it = bspModels.find (gEnt->s.modelindex);
if ( it == bspModels.end() ) {
return;
}
vec3_t inertia, com;
dMatrix matrix (GetIdentityMatrix());
bspCmodel* bmodel = &it->second;
collision = NewtonCreateConvexHull (g_world, bmodel->vertices.size(), &bmodel->vertices[0].m_x, sizeof (dVector), 0.0f, &matrix[0][0]);
body = NewtonCreateBody (g_world, collision);
NewtonConvexCollisionCalculateVolume (collision);
NewtonReleaseCollision (g_world, collision);
bmodel->rigidBody = body;
NewtonBodySetMaterialGroupID (body, defaultMaterialGroup);
NewtonBodySetUserData (body, (void*)gEnt);
NewtonBodySetDestructorCallback (body, PhysicsEntityDie);
NewtonBodySetContinuousCollisionMode (body, 0);
NewtonBodySetForceAndTorqueCallback (body, PhysicsEntityThink);
NewtonBodySetTransformCallback (body, PhysicsEntitySetTransform);
NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &com[0]);
NewtonBodySetCentreOfMass (body, &com[0]);
VectorScale (inertia, 10.0f, inertia); // The inertia needs to be scaled by the mass.
NewtonBodySetMassMatrix (body, 10.f, inertia[0], inertia[1], inertia[2]);
matrix.m_posit.m_x = gEnt->s.origin[0] * UNITS_PER_METRE;
matrix.m_posit.m_y = gEnt->s.origin[1] * UNITS_PER_METRE;
matrix.m_posit.m_z = gEnt->s.origin[2] * UNITS_PER_METRE;
NewtonBodySetMatrix (body, &matrix[0][0]);
gEnt->s.pos.trType = TR_INTERPOLATE;
VectorCopy (gEnt->s.origin, gEnt->s.pos.trBase);
VectorCopy (gEnt->s.origin, gEnt->r.currentOrigin);
gEnt->s.apos.trType = TR_INTERPOLATE;
VectorCopy (gEnt->s.angles, gEnt->s.apos.trBase);
VectorCopy (gEnt->s.angles, gEnt->r.currentAngles);
}
void Newtonnode::initConvexHull(NewtonWorld *pWorld,const ion::video::Mesh& srcmesh,const float mass,
const float Ixx,const float Iyy,const float Izz)
{
if (pWorld==0) {
ion::base::log("Newtonnode::initConvexHull()",ion::base::Error) << "No NewtonWorld pointer given\n";
return;
}
if (!srcmesh.isValid()) {
ion::base::log("Newtonnode::initConvexHull()",ion::base::Error) << "Source mesh is invalid\n";
return;
}
if (!srcmesh.vertexstream().isMapped()) {
ion::base::log("Newtonnode::initConvexHull()",ion::base::Error) << "source mesh \"" << srcmesh.objIdentifier() << " is not mapped!\n";
return;
}
if ((m_pNewtonCollision!=0) && (m_pNewtonworld!=0))
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonCollision);
float *pPoints;
{
pPoints=new float[3*srcmesh.vertexstream().capacity()];
for (ion_uint32 v=0;v<srcmesh.vertexstream().capacity();++v) {
const ion::math::Vector3f &rV=srcmesh.vertexstream().position(v);
pPoints[v*3+0]=rV.x();
pPoints[v*3+1]=rV.y();
pPoints[v*3+2]=rV.z();
}
}
m_pNewtonworld=pWorld;
m_pNewtonCollision=NewtonCreateConvexHull(m_pNewtonworld,srcmesh.vertexstream().capacity(),pPoints,12,0);
m_pBody=NewtonCreateBody(m_pNewtonworld,m_pNewtonCollision);
NewtonBodySetUserData(m_pBody,this);
NewtonBodySetMassMatrix(m_pBody,mass,Ixx,Iyy,Izz);
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonCollision);
NewtonBodySetTransformCallback (m_pBody, physicsSetTransform);
NewtonBodySetForceAndTorqueCallback (m_pBody, physicsApplyForceAndTorque);
delete [] pPoints;
}
NewtonCollision* CreateNewtonConvex (NewtonWorld* world, Entity *ent, int shapeId)
{
// now create a convex hull shape from the vertex geometry
return NewtonCreateConvexHull(world, ent->m_vertexCount, ent->m_vertex, 3 * sizeof (dFloat), 0.1f, shapeId, NULL);
}
NewtonCollision* CreateConvexCollision (NewtonWorld* world, const dMatrix& srcMatrix, const dVector& originalSize, PrimitiveType type, int materialID__)
{
dVector size (originalSize);
NewtonCollision* collision = NULL;
switch (type)
{
case _NULL_PRIMITIVE:
{
collision = NewtonCreateNull (world);
break;
}
case _SPHERE_PRIMITIVE:
{
// create the collision
collision = NewtonCreateSphere (world, size.m_x * 0.5f, 0, NULL);
break;
}
case _BOX_PRIMITIVE:
{
// create the collision
collision = NewtonCreateBox (world, size.m_x, size.m_y, size.m_z, 0, NULL);
break;
}
case _CONE_PRIMITIVE:
{
dFloat r = size.m_x * 0.5f;
dFloat h = size.m_y;
// create the collision
collision = NewtonCreateCone (world, r, h, 0, NULL);
break;
}
case _CYLINDER_PRIMITIVE:
{
// create the collision
collision = NewtonCreateCylinder (world, size.m_x * 0.5f, size.m_y, 0, NULL);
break;
}
case _CAPSULE_PRIMITIVE:
{
// create the collision
collision = NewtonCreateCapsule (world, size.m_x * 0.5f, size.m_y, 0, NULL);
break;
}
case _TAPERED_CAPSULE_PRIMITIVE:
{
// create the collision
collision = NewtonCreateTaperedCapsule (world, size.m_x * 0.5f, size.m_z * 0.5f, size.m_y, 0, NULL);
break;
}
case _CHAMFER_CYLINDER_PRIMITIVE:
{
// create the collision
collision = NewtonCreateChamferCylinder (world, size.m_x * 0.5f, size.m_y, 0, NULL);
break;
}
case _TAPERED_CYLINDER_PRIMITIVE:
{
// create the collision
collision = NewtonCreateTaperedCylinder (world, size.m_x * 0.5f, size.m_z * 0.5f, size.m_y, 0, NULL);
break;
}
case _RANDOM_CONVEX_HULL_PRIMITIVE:
{
// Create a clouds of random point around the origin
#define SAMPLE_COUNT 200
dVector cloud [SAMPLE_COUNT];
// make sure that at least the top and bottom are present
cloud [0] = dVector ( size.m_x * 0.5f, 0.0f, 0.0f, 0.0f);
cloud [1] = dVector (-size.m_x * 0.5f, 0.0f, 0.0f, 0.0f);
cloud [2] = dVector ( 0.0f, size.m_y * 0.5f, 0.0f, 0.0f);
cloud [3] = dVector ( 0.0f, -size.m_y * 0.5f, 0.0f, 0.0f);
cloud [4] = dVector (0.0f, 0.0f, size.m_z * 0.5f, 0.0f);
cloud [5] = dVector (0.0f, 0.0f, -size.m_z * 0.5f, 0.0f);
int count = 6;
// populate the cloud with pseudo Gaussian random points
for (int i = 6; i < SAMPLE_COUNT; i ++) {
cloud [i].m_x = RandomVariable(size.m_x);
cloud [i].m_y = RandomVariable(size.m_y);
cloud [i].m_z = RandomVariable(size.m_z);
count ++;
}
collision = NewtonCreateConvexHull (world, count, &cloud[0].m_x, sizeof (dVector), 0.01f, 0, NULL);
break;
}
case _REGULAR_CONVEX_HULL_PRIMITIVE:
{
// Create a clouds of random point around the origin
#define STEPS_HULL 6
//#define STEPS_HULL 3
dVector cloud [STEPS_HULL * 4 + 256];
int count = 0;
dFloat radius = size.m_y;
dFloat height = size.m_x * 0.999f;
dFloat x = - height * 0.5f;
dMatrix rotation (dPitchMatrix(2.0f * 3.141592f / STEPS_HULL));
for (int i = 0; i < 4; i ++) {
dFloat pad = ((i == 1) || (i == 2)) * 0.25f * radius;
dVector p (x, 0.0f, radius + pad);
x += 0.3333f * height;
dMatrix acc (dGetIdentityMatrix());
for (int j = 0; j < STEPS_HULL; j ++) {
cloud[count] = acc.RotateVector(p);
acc = acc * rotation;
count ++;
}
}
collision = NewtonCreateConvexHull (world, count, &cloud[0].m_x, sizeof (dVector), 0.02f, 0, NULL);
break;
}
case _COMPOUND_CONVEX_CRUZ_PRIMITIVE:
{
//dMatrix matrix (GetIdentityMatrix());
dMatrix matrix (dPitchMatrix(15.0f * 3.1416f / 180.0f) * dYawMatrix(15.0f * 3.1416f / 180.0f) * dRollMatrix(15.0f * 3.1416f / 180.0f));
// NewtonCollision* const collisionA = NewtonCreateBox (world, size.m_x, size.m_x * 0.25f, size.m_x * 0.25f, 0, &matrix[0][0]);
// NewtonCollision* const collisionB = NewtonCreateBox (world, size.m_x * 0.25f, size.m_x, size.m_x * 0.25f, 0, &matrix[0][0]);
// NewtonCollision* const collisionC = NewtonCreateBox (world, size.m_x * 0.25f, size.m_x * 0.25f, size.m_x, 0, &matrix[0][0]);
matrix.m_posit = dVector (size.m_x * 0.5f, 0.0f, 0.0f, 1.0f);
NewtonCollision* const collisionA = NewtonCreateBox (world, size.m_x, size.m_x * 0.25f, size.m_x * 0.25f, 0, &matrix[0][0]);
matrix.m_posit = dVector (0.0f, size.m_x * 0.5f, 0.0f, 1.0f);
NewtonCollision* const collisionB = NewtonCreateBox (world, size.m_x * 0.25f, size.m_x, size.m_x * 0.25f, 0, &matrix[0][0]);
matrix.m_posit = dVector (0.0f, 0.0f, size.m_x * 0.5f, 1.0f);
NewtonCollision* const collisionC = NewtonCreateBox (world, size.m_x * 0.25f, size.m_x * 0.25f, size.m_x, 0, &matrix[0][0]);
collision = NewtonCreateCompoundCollision (world, 0);
NewtonCompoundCollisionBeginAddRemove(collision);
NewtonCompoundCollisionAddSubCollision (collision, collisionA);
NewtonCompoundCollisionAddSubCollision (collision, collisionB);
NewtonCompoundCollisionAddSubCollision (collision, collisionC);
NewtonCompoundCollisionEndAddRemove(collision);
NewtonDestroyCollision(collisionA);
NewtonDestroyCollision(collisionB);
NewtonDestroyCollision(collisionC);
break;
}
default: dAssert (0);
}
dMatrix matrix (srcMatrix);
matrix.m_front = matrix.m_front.Scale (1.0f / dSqrt (matrix.m_front % matrix.m_front));
matrix.m_right = matrix.m_front * matrix.m_up;
matrix.m_right = matrix.m_right.Scale (1.0f / dSqrt (matrix.m_right % matrix.m_right));
matrix.m_up = matrix.m_right * matrix.m_front;
NewtonCollisionSetMatrix(collision, &matrix[0][0]);
return collision;
}
Car::Car(const ion::base::String& identifier,NewtonWorld *pWorld,const ion::video::Mesh& srcmesh,const float mass,
const float Ixx,const float Iyy,const float Izz):Node(identifier),m_pNewtonChassisCollision(0),m_pBody(0),
m_pNewtonworld(pWorld),m_pNewtonJoint(0)
{
if (pWorld==0) {
ion::base::log("Car::Car()",ion::base::Error) << "No NewtonWorld pointer given\n";
return;
}
if (!srcmesh.isValid()) {
ion::base::log("Car::Car()",ion::base::Error) << "Source mesh is invalid\n";
return;
}
if (!srcmesh.vertexstream().isMapped()) {
ion::base::log("Car::Car()",ion::base::Error) << "source mesh \"" << srcmesh.objIdentifier() << " is not mapped!\n";
return;
}
if ((m_pNewtonChassisCollision!=0) && (m_pNewtonworld!=0))
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonChassisCollision);
float *pPoints;
{
pPoints=new float[3*srcmesh.vertexstream().capacity()];
for (ion_uint32 v=0;v<srcmesh.vertexstream().capacity();++v) {
const ion::math::Vector3f &rV=srcmesh.vertexstream().position(v);
pPoints[v*3+0]=rV.x();
pPoints[v*3+1]=rV.y();
pPoints[v*3+2]=rV.z();
}
}
ion::math::Matrix4f c;
m_pNewtonworld=pWorld;
m_pNewtonChassisCollision=NewtonCreateConvexHull(m_pNewtonworld,srcmesh.vertexstream().capacity(),pPoints,12,c);
m_pBody=NewtonCreateBody(m_pNewtonworld,m_pNewtonChassisCollision);
NewtonBodySetUserData(m_pBody,this);
ion::math::Vector3f origin,inertia;
// calculate the moment of inertia and the relative center of mass of the solid
NewtonConvexCollisionCalculateInertialMatrix (m_pNewtonChassisCollision, &inertia[0], &origin[0]);
float ixx = mass * inertia[0];
float iyy = mass * inertia[1];
float izz = mass * inertia[2];
// set the mass matrix
NewtonBodySetMassMatrix (m_pBody, mass, ixx, iyy, izz);
origin.y()=-1;
NewtonBodySetCentreOfMass (m_pBody, &origin[0]);
NewtonBodySetMatrix(m_pBody,localTransform().matrix());
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonChassisCollision);
NewtonBodySetTransformCallback (m_pBody, physicsSetTransform);
NewtonBodySetForceAndTorqueCallback (m_pBody, physicsApplyForceAndTorque);
float updir[3]={0,1,0};
m_pNewtonJoint=NewtonConstraintCreateVehicle(m_pNewtonworld,&updir[0],m_pBody);
NewtonVehicleSetTireCallback(m_pNewtonJoint,tireUpdate);
delete [] pPoints;
}
void CustomPlayerController::Init(dFloat mass, dFloat outerRadius, dFloat innerRadius, dFloat height, dFloat stairStep, const dMatrix& localAxis)
{
dAssert (stairStep >= 0.0f);
dAssert (innerRadius >= 0.0f);
dAssert (outerRadius >= innerRadius);
dAssert (height >= stairStep);
dAssert (localAxis[0].m_w == dFloat (0.0f));
dAssert (localAxis[1].m_w == dFloat (0.0f));
CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
SetRestrainingDistance (0.0f);
m_outerRadio = outerRadius;
m_innerRadio = innerRadius;
m_height = height;
m_stairStep = stairStep;
SetClimbSlope(45.0f * 3.1416f/ 180.0f);
m_upVector = localAxis[0];
m_frontVector = localAxis[1];
m_groundPlane = dVector (0.0f, 0.0f, 0.0f, 0.0f);
m_groundVelocity = dVector (0.0f, 0.0f, 0.0f, 0.0f);
const int steps = 12;
dVector convexPoints[2][steps];
// create an inner thin cylinder
dFloat shapeHigh = height;
dAssert (shapeHigh > 0.0f);
dVector p0 (0.0f, m_innerRadio, 0.0f, 0.0f);
dVector p1 (shapeHigh, m_innerRadio, 0.0f, 0.0f);
for (int i = 0; i < steps; i ++) {
dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps));
convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(p0));
convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(p1));
}
NewtonCollision* const supportShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL);
// create the outer thick cylinder
dMatrix outerShapeMatrix (localAxis);
dFloat capsuleHigh = m_height - stairStep;
dAssert (capsuleHigh > 0.0f);
m_sphereCastOrigin = capsuleHigh * 0.5f + stairStep;
outerShapeMatrix.m_posit = outerShapeMatrix[0].Scale(m_sphereCastOrigin);
outerShapeMatrix.m_posit.m_w = 1.0f;
NewtonCollision* const bodyCapsule = NewtonCreateCapsule(world, 0.25f, 0.5f, 0, &outerShapeMatrix[0][0]);
NewtonCollisionSetScale(bodyCapsule, capsuleHigh, m_outerRadio * 4.0f, m_outerRadio * 4.0f);
// compound collision player controller
NewtonCollision* const playerShape = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(playerShape);
NewtonCompoundCollisionAddSubCollision (playerShape, supportShape);
NewtonCompoundCollisionAddSubCollision (playerShape, bodyCapsule);
NewtonCompoundCollisionEndAddRemove (playerShape);
// create the kinematic body
dMatrix locationMatrix (dGetIdentityMatrix());
m_body = NewtonCreateKinematicBody(world, playerShape, &locationMatrix[0][0]);
// players must have weight, otherwise they are infinitely strong when they collide
NewtonCollision* const shape = NewtonBodyGetCollision(m_body);
NewtonBodySetMassProperties(m_body, mass, shape);
// make the body collidable with other dynamics bodies, by default
NewtonBodySetCollidable (m_body, true);
dFloat castHigh = capsuleHigh * 0.4f;
dFloat castRadio = (m_innerRadio * 0.5f > 0.05f) ? m_innerRadio * 0.5f : 0.05f;
dVector q0 (0.0f, castRadio, 0.0f, 0.0f);
dVector q1 (castHigh, castRadio, 0.0f, 0.0f);
for (int i = 0; i < steps; i ++) {
dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps));
convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(q0));
convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(q1));
}
m_castingShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL);
m_supportShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 0));
m_upperBodyShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 1));
NewtonDestroyCollision (bodyCapsule);
NewtonDestroyCollision (supportShape);
NewtonDestroyCollision (playerShape);
m_isJumping = false;
}
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);
}
}
}
NewtonCollision* ConvexCollider3D::CreateHandle(PhysWorld3D* world) const
{
return NewtonCreateConvexHull(world->GetHandle(), static_cast<int>(m_vertices.size()), reinterpret_cast<const float*>(m_vertices.data()), sizeof(Vector3f), m_tolerance, 0, m_matrix);
}
NzConvexHullGeom::NzConvexHullGeom(NzPhysWorld* physWorld, const void* vertices, unsigned int vertexCount, unsigned int stride, float tolerance, const NzMatrix4f& transformMatrix) :
NzBaseGeom(physWorld)
{
m_collision = NewtonCreateConvexHull(physWorld->GetHandle(), vertexCount, reinterpret_cast<const float*>(vertices), stride, tolerance, 0, transformMatrix);
}
void CustomDGRayCastCar::AddSingleSuspensionTire (
void *userData,
const dVector& localPosition,
dFloat mass,
dFloat radius,
dFloat width,
dFloat friction,
dFloat suspensionLenght,
dFloat springConst,
dFloat springDamper,
int castMode)
{
dVector relTirePos = localPosition;
suspensionLenght = dAbs ( suspensionLenght );
dMatrix chassisMatrix;
NewtonBodyGetMatrix (m_body0, &chassisMatrix[0][0]);
chassisMatrix = chassisMatrix * chassisMatrix;
relTirePos += chassisMatrix.m_up.Scale ( suspensionLenght );
m_tires[m_tiresCount].m_harpoint = m_localFrame.UntransformVector( relTirePos );
m_tires[m_tiresCount].m_localAxis = dVector (0.0f, 0.0f, 1.0f, 0.0f);
m_tires[m_tiresCount].m_tireAxelPosit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
m_tires[m_tiresCount].m_tireAxelVeloc = dVector (0.0f, 0.0f, 0.0f, 1.0f);
m_tires[m_tiresCount].m_lateralPin = dVector (0.0f, 0.0f, 0.0f, 1.0f);
m_tires[m_tiresCount].m_longitudinalPin = dVector (0.0f, 0.0f, 0.0f, 1.0f);
m_tires[m_tiresCount].m_hitBodyPointVelocity = dVector (0.0f, 0.0f, 0.0f, 1.0f);
m_tires[m_tiresCount].m_HitBody = NULL;
m_tires[m_tiresCount].m_userData = userData;
m_tires[m_tiresCount].m_spinAngle = 0.0f;
m_tires[m_tiresCount].m_steerAngle = 0.0f;
m_tires[m_tiresCount].m_tireLoad = 0.0f;
m_tires[m_tiresCount].m_posit = suspensionLenght;
m_tires[m_tiresCount].m_tireIsOnAir = 1;
m_tires[m_tiresCount].m_tireUseConvexCastMode = castMode;
m_tires[m_tiresCount].m_springConst = springConst;
m_tires[m_tiresCount].m_springDamper = springDamper;
m_tires[m_tiresCount].m_suspensionLenght = suspensionLenght;
m_tires[m_tiresCount].m_angularVelocity = 0.0f;
m_tires[m_tiresCount].m_breakForce = 0.0f;
m_tires[m_tiresCount].m_torque = 0.0f;
m_tires[m_tiresCount].m_groundFriction = friction;
m_tires[m_tiresCount].m_tireIsConstrained = 0;
m_tires[m_tiresCount].m_mass = mass;
m_tires[m_tiresCount].m_width = width;
m_tires[m_tiresCount].m_radius = radius;
m_tires[m_tiresCount].m_Ixx = mass * radius * radius / 2.0f;
m_tires[m_tiresCount].m_IxxInv = 1.0f / m_tires[m_tiresCount].m_Ixx;
#define TIRE_SHAPE_SIZE 12
dVector shapePoints[TIRE_SHAPE_SIZE * 2];
for ( int i = 0; i < TIRE_SHAPE_SIZE; i ++ ) {
shapePoints[i].m_x = -width * 0.5f;
shapePoints[i].m_y = radius * dCos ( 2.0f * 3.14159265f * dFloat( i )/ dFloat( TIRE_SHAPE_SIZE ) );
shapePoints[i].m_z = radius * dSin ( 2.0f * 3.14159265f * dFloat( i )/ dFloat( TIRE_SHAPE_SIZE ) );
shapePoints[i + TIRE_SHAPE_SIZE].m_x = -shapePoints[i].m_x;
shapePoints[i + TIRE_SHAPE_SIZE].m_y = shapePoints[i].m_y;
shapePoints[i + TIRE_SHAPE_SIZE].m_z = shapePoints[i].m_z;
}
m_tires[m_tiresCount].m_shape = NewtonCreateConvexHull ( m_world, TIRE_SHAPE_SIZE * 2, &shapePoints[0].m_x, sizeof (dVector), 0.0f, 0, NULL );
// NewtonCreateChamferCylinder(m_world,radius,width,NULL);
// NewtonCreateSphere(m_world,radius,radius,radius,&offmat[0][0]);
// NewtonCreateCone(m_world,radius,width,NULL);
// NewtonCreateCapsule(m_world,radius,width,NULL);
// NewtonCreateChamferCylinder(m_world,radius,width,NULL);
// NewtonCreateCylinder(m_world,radius*2,width*2,NULL);
// NewtonCreateBox(m_world,radius*2,radius*2,radius*2,NULL);
// NewtonCreateConvexHull (m_world, TIRE_SHAPE_SIZE * 2, &shapePoints[0].m_x, sizeof (dVector), 0.0f, NULL);
m_tiresCount ++;
}
dNewtonCollisionConvexHull::dNewtonCollisionConvexHull(dNewtonWorld* const world, int vertexCount, const dFloat* const vertexCloud, dFloat tolerance)
:dNewtonCollision(world, 0)
{
NewtonWaitForUpdateToFinish(m_myWorld->m_world);
SetShape(NewtonCreateConvexHull(m_myWorld->m_world, vertexCount, vertexCloud, 3 * sizeof (dFloat), tolerance, 0, NULL));
}
