iPhysicsCollision* iPhysics::createUserMeshCollision(const iaVector3f& minBox, const iaVector3f& maxBox, iPhysicsUserMeshCollisionHandler* handler, uint64 worldID)
{
iPhysicsCollision* result = nullptr;
const NewtonWorld* world = static_cast<const NewtonWorld*>(getWorld(worldID)->getNewtonWorld());
if (world != nullptr)
{
NewtonCollision* collision = NewtonCreateUserMeshCollision(static_cast<const NewtonWorld*>(world), minBox.getData(), maxBox.getData(), handler,
CollideCallback, reinterpret_cast<NewtonUserMeshCollisionRayHitCallback>(RayHitCallback), DestroyCallback,
GetCollisionInfo, reinterpret_cast<NewtonUserMeshCollisionAABBTest>(AABBOverlapTest), GetFacesInAABB, nullptr, 0);
result = new iPhysicsCollision(collision, worldID);
NewtonCollisionSetUserID(static_cast<const NewtonCollision*>(collision), result->getID());
_collisionsListMutex.lock();
_collisions[result->getID()] = result;
_collisionsListMutex.unlock();
}
return result;
}
/**
* @brief
* Constructor
*/
BodyTerrain::BodyTerrain(PLPhysics::World &cWorld, uint32 nWidth, uint32 nHeight,
const float fTerrain[], const Vector3 &vBoxMin, const Vector3 &vBoxMax, const Vector3 &vScale) :
PLPhysics::BodyTerrain(cWorld, static_cast<World&>(cWorld).CreateBodyImpl()),
m_nWidth(nWidth),
m_nHeight(nHeight),
m_pfTerrain(fTerrain),
m_vBoxMin(vBoxMin),
m_vBoxMax(vBoxMax),
m_vScale(vScale)
{
// Deactivate the physics simulation if required
const bool bSimulationActive = cWorld.IsSimulationActive();
if (bSimulationActive)
cWorld.SetSimulationActive(false);
// Get the Newton physics world
NewtonWorld *pNewtonWorld = static_cast<World&>(cWorld).GetNewtonWorld();
// Create collision primitive
NewtonCollision *pCollision = NewtonCreateUserMeshCollision(pNewtonWorld, m_vBoxMin, m_vBoxMax, this, MeshCollisionCollideCallback, UserMeshCollisionRayHitCallback, nullptr, nullptr, nullptr, 0);
// Create the rigid body
// [TODO] Remove this as soon as there's an up-to-date Linux version of Newton Game Dynamics available!
#if (NEWTON_MAJOR_VERSION == 2) && (NEWTON_MINOR_VERSION >= 28)
Newton::NewtonBody *pNewtonBody = NewtonCreateBody(pNewtonWorld, pCollision, Matrix4x4::Identity);
#else
Newton::NewtonBody *pNewtonBody = NewtonCreateBody(pNewtonWorld, pCollision);
#endif
NewtonReleaseCollision(pNewtonWorld, pCollision);
// Initialize the Newton physics body
static_cast<BodyImpl&>(GetBodyImpl()).InitializeNewtonBody(*this, *pNewtonBody, 0.0f);
// Reactivate the physics simulation if required
if (bSimulationActive)
cWorld.SetSimulationActive(bSimulationActive);
}
dInfinitePlane (NewtonWorld* const world, const dVector& plane)
:m_minBox (-0.1f, -2000.0f, -2000.0f, 0.0f)
,m_maxBox ( 0.1f, 2000.0f, 2000.0f, 0.0f)
{
// get the transformation matrix that takes the plane to the world local space
m_rotation = dGrammSchmidt(plane);
// build a unit grid in local space (this will be the shadow at projection of the collision aabb)
m_unitSphape[0] = dVector (0.0f, 1.0f, 1.0f);
m_unitSphape[1] = dVector (0.0f, -1.0f, 1.0f);
m_unitSphape[2] = dVector (0.0f, -1.0f, -1.0f);
m_unitSphape[3] = dVector (0.0f, 1.0f, -1.0f);
// save the plane in local space
m_plane = m_rotation.UntransformPlane (plane);
#ifdef PASS_A_QUAD
// passing a single quad
for (int i = 0; i < MAX_THREAD_FACES; i ++) {
m_faceIndices[i][0] = 4;
// face attribute
m_indexArray[i][4] = 0;
// face normal
m_indexArray[i][4 + 1] = 4;
// face area (the plane is clipped around the box, the face size is always optimal)
m_indexArray[i][4 + 2 + 4] = 0;
for (int j = 0; j < 4; j ++) {
// face vertex index
m_indexArray[i][j] = j;
// face adjacent index (infinite plane does not have shared edge with other faces)
m_indexArray[i][j + 4 + 2] = 4;
}
}
#else
// passing two triangle
for (int i = 0; i < MAX_THREAD_FACES; i ++) {
// first triangle
{
// index count
m_faceIndices[i][0] = 3;
// face indices
m_indexArray[i][0] = 0;
m_indexArray[i][1] = 1;
m_indexArray[i][2] = 2;
// face attribute
m_indexArray[i][3] = 0;
// face normal
m_indexArray[i][4] = 4;
// face adjacent index (infinite plane does not have shared edge with other faces)
m_indexArray[i][5] = 4;
m_indexArray[i][6] = 4;
m_indexArray[i][7] = 4;
// face area (the plane is clipped around the box, the face size is always optimal)
m_indexArray[i][8] = 0;
}
// second triangle
{
// index count
m_faceIndices[i][1] = 3;
// face indices
m_indexArray[i][0 + 9] = 0;
m_indexArray[i][1 + 9] = 2;
m_indexArray[i][2 + 9] = 3;
// face attribute
m_indexArray[i][3 + 9] = 0;
// face normal
m_indexArray[i][4 + 9] = 4;
// face adjacent index (infinite plane does not have shared edge with other faces)
m_indexArray[i][5 + 9] = 4;
m_indexArray[i][6 + 9] = 4;
m_indexArray[i][7 + 9] = 4;
// face area (the plane is clipped around the box, the face size is always optimal)
m_indexArray[i][8 + 9] = 0;
}
}
#endif
// create a Newton user collision
m_collision = NewtonCreateUserMeshCollision (world, &m_minBox[0], &m_maxBox[0], this,
PlaneCollisionCollideCallback, PlaneMeshCollisionRayHitCallback,
PlaneCollisionDestroyCallback, PlaneCollisionGetCollisionInfo,
PlaneCollisionAABBOverlapTest, PlaneCollisionGetFacesInAABB,
UserCollisionSerializationCallback, 0);
// set a debug display call back
NewtonStaticCollisionSetDebugCallback (m_collision, ShowMeshCollidingFaces);
// set the collisoin offset Matrix;
NewtonCollisionSetMatrix(m_collision, &m_rotation[0][0]);
}