virtual void Render(dFloat timeStep, DemoEntityManager* const scene) const
{
// save the model matrix before changing it Matrix
glPushMatrix();
// Set The matrix for this entity Node
glMultMatrix(&m_matrix[0][0]);
// Render mesh if there is one
for (void* proxyNode = NewtonSceneCollisionGetFirstNode(m_sceneCollision); proxyNode; proxyNode = NewtonSceneCollisionGetNextNode(m_sceneCollision, proxyNode)) {
dMatrix matrix;
NewtonCollision* const collision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxyNode);
DemoMesh* const mesh = (DemoMesh*) NewtonCollisionGetUserData(collision);
glPushMatrix();
NewtonCollisionGetMatrix (collision, &matrix[0][0]);
glMultMatrix(&matrix[0][0]);
mesh->Render(scene);
glPopMatrix();
}
// restore the matrix before leaving
glPopMatrix();
}
static void LoadFloor(DemoEntityManager* const scene, NewtonCollision* const sceneCollision)
{
NewtonWorld* const world = scene->GetNewton();
// add a flat plane
dMatrix matrix (dGetIdentityMatrix());
DemoEntityManager::dListNode* const floorNode = LoadScene(scene, "flatPlane.ngd", matrix);
DemoEntity* const entity = floorNode->GetInfo();
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
NewtonCollision* const tree = NewtonCreateTreeCollision(world, 0);
NewtonTreeCollisionBeginBuild(tree);
dFloat* const vertex = mesh->m_vertex;
for (DemoMesh::dListNode* node = mesh->GetFirst(); node; node = node->GetNext()){
DemoSubMesh* const subMesh = &node->GetInfo();
unsigned int* const indices = subMesh->m_indexes;
int trianglesCount = subMesh->m_indexCount;
for (int i = 0; i < trianglesCount; i += 3) {
dVector face[3];
int index = indices[i + 0] * 3;
face[0] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = indices[i + 1] * 3;
face[1] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = indices[i + 2] * 3;
face[2] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
int matID = 0;
//matID = matID == 2 ? 1 : 2 ;
NewtonTreeCollisionAddFace(tree, 3, &face[0].m_x, sizeof (dVector), matID);
}
}
NewtonTreeCollisionEndBuild (tree, 1);
// add the collision tree to the collision scene
void* const proxy = NewtonSceneCollisionAddSubCollision (sceneCollision, tree);
// destroy the original tree collision
NewtonDestroyCollision (tree);
// set the parameter on the added collision share
matrix = entity->GetCurrentMatrix();
NewtonCollision* const collisionTree = NewtonSceneCollisionGetCollisionFromNode (sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(collisionTree, entity);
// set the application level callback, for debug display
#ifdef USE_STATIC_MESHES_DEBUG_COLLISION
NewtonStaticCollisionSetDebugCallback (collisionTree, ShowMeshCollidingFaces);
#endif
}
~ComplexScene ()
{
// release all meshes
for (void* proxyNode = NewtonSceneCollisionGetFirstNode(m_sceneCollision); proxyNode; proxyNode = NewtonSceneCollisionGetNextNode(m_sceneCollision, proxyNode)) {
NewtonCollision* const collision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxyNode);
DemoMesh* const mesh = (DemoMesh*) NewtonCollisionGetUserData(collision);
mesh->Release();
}
}
void AddCollisionSingleShape(DemoEntityManager* const scene)
{
dMatrix offsetMatrix (dGetIdentityMatrix());
NewtonCollision* const box = NewtonCreateBox (scene->GetNewton(), 4.0f, 0.1f, 4.0f, 0, &offsetMatrix[0][0]) ;
DemoMesh* const mesh = new DemoMesh (" box", box, "metal_30.tga", "metal_30.tga", "metal_30.tga");
// add compound to the scene collision
dMatrix matrix;
void* proxy;
NewtonCollision* shape;
matrix = dRollMatrix(15.0f * 3.1416f / 180.0f);
matrix.m_posit.m_y = 4.0f;
matrix.m_posit.m_x = 3.0f;
matrix.m_posit.m_z = 0.0f;
proxy = NewtonSceneCollisionAddSubCollision (m_sceneCollision, box);
shape = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (m_sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(shape, mesh);
mesh->AddRef();
matrix = dRollMatrix(-15.0f * 3.1416f / 180.0f);
matrix.m_posit.m_y = 8.0f;
matrix.m_posit.m_x = -3.0f;
matrix.m_posit.m_z = 0.0f;
proxy = NewtonSceneCollisionAddSubCollision (m_sceneCollision, box);
shape = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (m_sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(shape, mesh);
mesh->AddRef();
NewtonDestroyCollision(box);
mesh->Release();
}
void AddCollisionHeightFieldMesh(DemoEntityManager* const scene)
{
int size = 101;
dFloat* const elevation = new dFloat[size * size];
//y = a * sin(x)* (sin (z)) ^2
for (int i = 0; i < size; i ++) {
dFloat z = 3.1416f * i / (size - 1);
dFloat z2 = dSin (z);
z2 = z2 * z2 * 5.0f;
for (int j = 0; j < size; j ++) {
dFloat x = 3.1416f * j / (size - 1);
dFloat y = z2 * dSin(x);
elevation[j * size + i] = y;
}
}
dFloat cellsize = 0.25f;
DemoMesh* const mesh = new DemoMesh ("terrain", elevation, size, cellsize, 1.0f/16.0f, size - 1);
int width = size;
int height = size;
char* const attibutes = new char [size * size];
memset (attibutes, 0, width * height * sizeof (char));
NewtonCollision* const collision = NewtonCreateHeightFieldCollision (scene->GetNewton(), width, height, 1, 0, elevation, attibutes, 1.0f, cellsize, 0);
void* const proxy = NewtonSceneCollisionAddSubCollision (m_sceneCollision, collision);
NewtonDestroyCollision(collision);
// set the parameter on the added collision share
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit.m_y = -2.0f;
matrix.m_posit.m_x = -15.0f;
matrix.m_posit.m_z = -10.0f;
NewtonCollision* const terrainCollision = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxy );
NewtonSceneCollisionSetSubCollisionMatrix (m_sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(terrainCollision, mesh);
delete[] elevation;
delete[] attibutes;
}
void AddCollisionTreeMesh (DemoEntityManager* const scene)
{
// open the level data
char fullPathName[2048];
GetWorkingFileName ("playground.ngd", fullPathName);
scene->LoadScene (fullPathName);
// find the visual mesh and make a collision tree
NewtonWorld* const world = scene->GetNewton();
DemoEntity* const entity = scene->GetLast()->GetInfo();
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
NewtonCollision* const tree = NewtonCreateTreeCollision(world, 0);
NewtonTreeCollisionBeginBuild(tree);
dFloat* const vertex = mesh->m_vertex;
for (DemoMesh::dListNode* node = mesh->GetFirst(); node; node = node->GetNext()){
DemoSubMesh* const subMesh = &node->GetInfo();
unsigned int* const indices = subMesh->m_indexes;
int trianglesCount = subMesh->m_indexCount;
for (int i = 0; i < trianglesCount; i += 3) {
dVector face[3];
int index = indices[i + 0] * 3;
face[0] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = indices[i + 1] * 3;
face[1] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = indices[i + 2] * 3;
face[2] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
int matID = 0;
//matID = matID == 2 ? 1 : 2 ;
NewtonTreeCollisionAddFace(tree, 3, &face[0].m_x, sizeof (dVector), matID);
}
}
NewtonTreeCollisionEndBuild (tree, 0);
// add the collision tree to the collision scene
void* const proxy = NewtonSceneCollisionAddSubCollision (m_sceneCollision, tree);
// destroy the original tree collision
NewtonDestroyCollision (tree);
// set the parameter on the added collision share
dMatrix matrix (entity->GetCurrentMatrix());
NewtonCollision* const collisionTree = NewtonSceneCollisionGetCollisionFromNode (m_sceneCollision, proxy);
NewtonSceneCollisionSetSubCollisionMatrix (m_sceneCollision, proxy, &matrix[0][0]);
NewtonCollisionSetUserData(collisionTree, mesh);
// set the application level callback
#ifdef USE_STATIC_MESHES_DEBUG_COLLISION
NewtonStaticCollisionSetDebugCallback (collisionTree, ShowMeshCollidingFaces);
#endif
mesh->AddRef();
scene->RemoveEntity (entity);
#ifdef USE_TEST_ALL_FACE_USER_RAYCAST_CALLBACK
// set a ray cast callback for all face ray cast
NewtonTreeCollisionSetUserRayCastCallback (collisionTree, AllRayHitCallback);
dVector p0 (0, 100, 0, 0);
dVector p1 (0, -100, 0, 0);
dVector normal(0.0f);
dLong id;
dFloat parameter;
parameter = NewtonCollisionRayCast (collisionTree, &p0[0], &p1[0], &normal[0], &id);
#endif
}
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);
}
}
}
