void MouseCallback(int button, int state, int x, int y)
{
mx = x;
my = y;
if (button == GLUT_RIGHT_BUTTON && state == GLUT_DOWN)
{
Pick(x, y);
// this prevents from only grabbing it when the mouse moves
MotionCallback(x, y);
}
else if (button == GLUT_LEFT_BUTTON && state == GLUT_DOWN)
{
bLeftMouseButtonPressed = true;
}
if (state == GLUT_UP)
{
LetGo();
bLeftMouseButtonPressed = false;
}
}
void GrabBlock(){
MoveServo1_Degrees(0);
debounce(1);
OC2R = 0x115;
debounce(1);
MoveServo5_Degrees(5);
MoveServo4_Degrees(65);
debounce(10);
MoveServo4_Degrees(50);
debounce(10);
MoveServo4_Degrees(5);
debounce(50);
Grab();
debounce(100);
OC4R =0x2F6;
debounce(50);
MoveServo1_Degrees(90);
MoveServo3_Degrees(45);
OC2R = 0x115;
MoveServo4_Degrees(45);
MoveServo3_Degrees(0);
MoveServo4_Degrees(0);
debounce(200);
OC5R =0x485;
MoveServo4_Degrees(80);
OC2R= 0x250;
OC3R =0x250;
MoveServo2_Degrees(140);
debounce(200);
MoveServo4_Degrees(90);
LetGo();
debounce(200);
OC4R =0x10E;
debounce(100);
SetTo90();
debounce(50);
SetToInitial();
}
void ResetNx()
{
LetGo();
ReleaseNx();
InitNx();
}
void Pick(int x, int y)
{
LetGo();
NxRay ray;
ViewUnProject(x, y, 0.0f, ray.orig);
ViewUnProject(x, y, 1.0f, ray.dir);
ray.dir -= ray.orig;
ray.dir.normalize();
NxRaycastHit hit;
NxShape* closestShape = gScene->raycastClosestShape(ray, NX_ALL_SHAPES, hit);
NxVec3 origin = ray.orig;
NxVec3 impact = hit.worldImpact;
NxReal distRB = NX_MAX_REAL;
if (closestShape && closestShape->getActor().isDynamic())
{
distRB = (impact.x - origin.x) * (impact.x - origin.x) + (impact.y - origin.y) * (impact.y - origin.y) + (impact.z - origin.z) * (impact.z - origin.z);
}
NxVec3 hitcloth, hitRecord;
NxU32 vertexId;
NxReal distCloth, closest= NX_MAX_REAL;
NxU32 indexCloth, indexClothVertex;
NxCloth **cloths = gScene->getCloths();
for (NxU32 i = 0; i < gScene->getNbCloths(); i++)
{
if (cloths[i]->raycast(ray, hitcloth, vertexId))
{
distCloth = (hitcloth.x - origin.x) * (hitcloth.x - origin.x) + (hitcloth.y - origin.y) * (hitcloth.y - origin.y) + (hitcloth.z - origin.z) * (hitcloth.z - origin.z);
if(distCloth < closest)
{
closest = distCloth;
indexCloth = i;
indexClothVertex = vertexId;
hitRecord = hitcloth;
}
}
}
if (distRB > closest) // Pick cloth
{
gHitCloth = cloths[indexCloth];
gHitClothVertex = indexClothVertex;
int hitx, hity;
ViewProject(hitRecord, hitx, hity, gMouseDepth);
}
else if (distRB < closest) // Pick actor
{
gHitActor = &closestShape->getActor();
gHitActor->wakeUp();
int hitx, hity;
gMouseSphere = CreateSphere(hit.worldImpact, 0.1, 1);
gMouseSphere->raiseBodyFlag(NX_BF_KINEMATIC);
gMouseSphere->raiseActorFlag(NX_AF_DISABLE_COLLISION);
ViewProject(hit.worldImpact, hitx, hity, gMouseDepth);
NxDistanceJointDesc desc;
desc.actor[0] = gMouseSphere;
desc.actor[1] = gHitActor;
gMouseSphere->getGlobalPose().multiplyByInverseRT(hit.worldImpact, desc.localAnchor[0]);
gHitActor->getGlobalPose().multiplyByInverseRT(hit.worldImpact, desc.localAnchor[1]);
desc.spring.damper = 1;
desc.spring.spring = 200;
desc.flags |= NX_DJF_MAX_DISTANCE_ENABLED | NX_DJF_SPRING_ENABLED;
NxJoint* joint = gScene->createJoint(desc);
gMouseJoint = (NxDistanceJoint*)joint->is(NX_JOINT_DISTANCE);
}
}
