void CCar::MakeParts(neSimulator * sim, neV3 & pos)
{
s32 i;
for (i = 0; i < N_PARTS; i++)
{
neRigidBody * rb = sim->CreateRigidBody();
if (id == 0 ) //make it harder to sleep
rb->SetSleepingParameter(0.1f);
rb->SetPos(parts[i].position + pos);
neGeometry * geom = rb->AddGeometry();
geom->SetBoxSize(parts[i].boxSize);
rb->SetMass(0.01f);
rb->UpdateBoundingInfo();
rb->SetInertiaTensor(neBoxInertiaTensor(parts[i].boxSize, 0.01f));
neJoint * joint = sim->CreateJoint(rb, carRigidBody);
neT3 trans;
trans.pos = parts[i].jointPos + pos;
trans.rot.RotateXYZ(parts[i].jointRot);
joint->SetJointFrameWorld(trans);
joint->SetType(neJoint::NE_JOINT_HINGE);
joint->SetLowerLimit(parts[i].lowerLimit);
joint->SetUpperLimit(parts[i].upperLimit);
joint->SetEpsilon(0.0f);
joint->SetIteration(4);
joint->EnableLimit(true);
joint->Enable(true);
carParts[i] = rb;
// CRenderPrimitive * renderPrim = AddRenderPrimitive();
//
// renderPrim->SetGraphicBox(parts[i].boxSize[0], parts[i].boxSize[1], parts[i].boxSize[2]);
//
// geom->SetUserData((u32)renderPrim);
}
}
void CSampleRigidParticlesAndTerrain::MakeParticle(neV3 position, s32 index)
{
//const f32 groundLevel = -10.0f;
s32 cur;
cur = index;
box[cur] = sim->CreateRigidParticle();
neGeometry * geom = box[cur]->AddGeometry();
neV3 boxSize1; boxSize1.Set(1.f, 1.f, 1.f);
geom->SetBoxSize(boxSize1[0],boxSize1[1],boxSize1[2]);
box[cur]->UpdateBoundingInfo();
f32 mass = 0.1f;
box[cur]->SetInertiaTensor(neBoxInertiaTensor(boxSize1[0], boxSize1[1], boxSize1[2], mass));
box[cur]->SetMass(mass);
box[cur]->SetPos(position);
//graphic
boxRenderPrimitives[cur].SetGraphicBox(boxSize1[0],boxSize1[1],boxSize1[2]);
if ((cur % 4) == 0)
{
boxRenderPrimitives[cur].SetDiffuseColor(D3DXCOLOR(0.8f, 0.2f, 0.2f, 1.0f));
}
else if ((cur % 4) == 1)
{
boxRenderPrimitives[cur].SetDiffuseColor(D3DXCOLOR(0.2f, 0.4f, 0.6f, 1.0f));
}
else if ((cur % 4) == 2)
{
boxRenderPrimitives[cur].SetDiffuseColor(D3DXCOLOR(0.2f, 0.6f, 0.2f, 1.0f));
}
else
{
boxRenderPrimitives[cur].SetDiffuseColor(D3DXCOLOR(0.6f, 0.6f, 0.2f, 1.0f));
}
}
void TConvex::Initialise()
{
SetBoxSize(1.0f, 1.0f, 1.0f);
neT3 t;
t.SetIdentity();
SetTransform(t);
matIndex = 0;
//id = 0;
userData = 0;
breakInfo.mass = 1.0f;
breakInfo.inertiaTensor = neBoxInertiaTensor(1.0f, 1.0f, 1.0f, 1.0f);
breakInfo.breakMagnitude = 0.0f;
breakInfo.breakAbsorb = 0.5f;
breakInfo.neighbourRadius = 0.0f;
breakInfo.flag = neGeometry::NE_BREAK_DISABLE; //break all,
breakInfo.breakPlane.SetZero();
}
void CSampleBreakageObjects::MakeTable(neV3 position, s32 index)
{
//const f32 groundLevel = -10.0f;
neV3 tableSize;
tableSize.Set(3.0f, 1.0f, 3.0f);
s32 cur;
cur = index;
rigidBodies[cur] = sim->CreateRigidBody();
rigidBodies[cur]->SetInertiaTensor(neBoxInertiaTensor(tableSize, 2.0f));
rigidBodies[cur]->SetMass(2.0f);
//position[1] = groundLevel + 0.95f * (1 + cur) + (0.15f * cur);
rigidBodies[cur]->SetPos(position);
neQ rot;
rot.X = ((f32)rand()) /RAND_MAX;
rot.Y = ((f32)rand()) /RAND_MAX;
rot.Z = ((f32)rand()) /RAND_MAX;
rot.W = ((f32)rand()) /RAND_MAX;
rot.Normalize();
rigidBodies[cur]->SetRotation(rot);
for (s32 i = 0; i < GEOMETRY_PER_TABLE; i++)
{
neGeometry * geom = rigidBodies[cur]->AddGeometry();
geom->SetUserData((u32) (cur * GEOMETRY_PER_TABLE + i));
geom->SetBoxSize(tableData[i].size);
neT3 trans;
trans.SetIdentity();
trans.pos = tableData[i].pos;
geom->SetTransform(trans);
geom->SetBreakageFlag(tableData[i].breakFlag);
geom->SetBreakageMass(tableData[i].breakageMass);
geom->SetBreakageInertiaTensor(neBoxInertiaTensor(tableData[i].size, tableData[i].breakageMass));
geom->SetBreakageMagnitude(tableData[i].breakageMagnitude);
geom->SetBreakageAbsorption(tableData[i].breakageAbsorption);
neV3 plane;
plane.Set(0.0f, 1.0f, 0.0f);
geom->SetBreakagePlane(plane);
//graphic
boxRenderPrimitives[geom->GetUserData()].SetGraphicBox(tableData[i].size.X(),tableData[i].size.Y(),tableData[i].size.Z());
if (i % 3 == 0)
{
boxRenderPrimitives[geom->GetUserData()].SetDiffuseColor(D3DXCOLOR(0.8f, 0.2f, 0.2f, 1.0f));
}
else if (i % 3 == 1)
{
boxRenderPrimitives[geom->GetUserData()].SetDiffuseColor(D3DXCOLOR(0.3f, 0.3f, 1.0f, 1.0f));
}
else
{
boxRenderPrimitives[geom->GetUserData()].SetDiffuseColor(D3DXCOLOR(0.2f, 0.8f, 0.2f, 1.0f));
}
}
rigidBodies[cur]->UpdateBoundingInfo();
}
void CSampleHingeJointMotorOn::InititialisePhysics()
{
f32 ypos = -7;
neV3 gravity; gravity.Set(0.0f, -9.0f, 0.0f);
//neV3 gravity; gravity.Set(-9.0f, 0.0f, 0.0f);
//f32 linkLength = 2.2f;
f32 linkLength = -0.0f;
neSimulatorSizeInfo sizeInfo;
sizeInfo.rigidBodiesCount = N_TOTAL_BODIES;
sizeInfo.animatedBodiesCount = WALL_NUMBER;
sizeInfo.geometriesCount = N_TOTAL_BODIES + WALL_NUMBER;
sizeInfo.overlappedPairsCount = 2000;//MAX_OVERLAPPED_PAIR;
{ //dont need any of these
sizeInfo.terrainNodesStartCount = 0;
sizeInfo.rigidParticleCount = 0;
}
sim = neSimulator::CreateSimulator(sizeInfo, &all, &gravity);
//create the kart body
f32 mass = 1.0f;
rigidBodies[0] = sim->CreateRigidBody();
rigidBodies[0]->SetMass(mass);
neGeometry * geom = rigidBodies[0]->AddGeometry();
neV3 boxSize; boxSize.Set(3.0f, 3.f, 1.0f);
geom->SetBoxSize(boxSize);
rigidBodies[0]->UpdateBoundingInfo();
rigidBodies[0]->SetInertiaTensor(neBoxInertiaTensor(boxSize, mass));
neV3 pos; pos.Set(0.0f, ypos, 0.0f);
rigidBodies[0]->SetPos(pos);
rigidBodies[0]->SetSleepingParameter(.0f);
//create the 4 wheels (sphere)
s32 j = 1;
ypos -= 2.0f;
for (int i = 0; i < 4; i++)
{
neRigidBody * rb;
rigidBodies[j++] = rb = sim->CreateRigidBody();
rb->SetMass(mass);
geom = rb->AddGeometry();
geom->SetBoxSize(2.0f, .5f, 1.0f);//SetSphereDiameter(1.0f);
//geom->SetSphereDiameter(1.0f);
rb->UpdateBoundingInfo();
//rb->SetInertiaTensor(neSphereInertiaTensor(1.0f, 0.1f));
rb->SetInertiaTensor(neBoxInertiaTensor(2.0f, .5f, 1.0f, mass));
neV3 pos;
switch(i)
{
case 0: pos.Set(-1.5f, ypos, 1.0f);
break;
case 1: pos.Set(-1.5f, ypos, -1.0f);
break;
case 2: pos.Set(1.5f, ypos, 1.0f);
break;
case 3: pos.Set(1.5f, ypos, -1.0f);
break;
}
rb->SetPos(pos);
neJoint * joint = sim->CreateJoint(rigidBodies[0], rb);
joint->SetIteration(1);
neT3 jointFrame;
jointFrame.rot[0].Set(1.0f, 0.0f, 0.0f);
jointFrame.rot[1].Set(0.0f, 0.0f, -1.0f);
jointFrame.rot[2].Set(0.0f, 1.0f, 0.0f);
jointFrame.pos = pos;
joint->SetJointFrameWorld(jointFrame);
joint->SetType(neJoint::NE_JOINT_HINGE);
joint->Enable(true);
joint->EnableMotor(true);
joint->SetMotor(neJoint::NE_MOTOR_SPEED, 1.f, 50.f);
}
for (int i = 0; i < N_BODY; i++)
{
rigidBodies[i]->BeginIterateGeometry();
neGeometry * geom = rigidBodies[i]->GetNextGeometry();
neV3 scale;
if (geom->GetBoxSize(scale))
{
renderPrimitives[i].SetGraphicBox(scale.X(),scale.Y(),scale.Z());
}
else
{
f32 height, diameter;
if (geom->GetCylinder(diameter, height))
{
renderPrimitives[i].SetGraphicCylinder(diameter/2.0f,height);
}
else if (geom->GetSphereDiameter(diameter))
{
renderPrimitives[i].SetGraphicSphere(diameter/2.0);
}
}
geom->SetUserData((u32)&renderPrimitives[i]);
}
//SetUpRoom
{
ground = sim->CreateAnimatedBody();
neGeometry * geom = ground->AddGeometry();
geom->SetBoxSize(gFloor.boxSize);
ground->UpdateBoundingInfo();
ground->SetPos(gFloor.pos);
groundRender.SetGraphicBox(gFloor.boxSize[0], gFloor.boxSize[1], gFloor.boxSize[2]);
}
}
void CCar::MakeCar(neSimulator * sim, neV3 & pos)
{
f32 mass = 1.0f;
neRigidBody * rigidBody = sim->CreateRigidBody();
rigidBody->CollideConnected(true);
neGeometry * geom = rigidBody->AddGeometry();
neV3 boxSize;
{
// the car consist of two boxes
boxSize.Set(6.0f, 1.0f, 3.2f);
geom->SetBoxSize(boxSize);
neT3 t;
t.SetIdentity();
t.pos.Set(0.0f, 0.25f, 0.0f);
geom->SetTransform(t);
geom = rigidBody->AddGeometry();
boxSize.Set(2.5f, 1.0f, 2.8f);
geom->SetBoxSize(boxSize[0],boxSize[1],boxSize[2]);
t.pos.Set(-0.6f, 1.0f, 0.0f);
geom->SetTransform(t);
}
{ // add 4 sensors to the rigid body
neSensor * sn;
for (s32 si = 0; si < 4; si++)
{
sn =rigidBody->AddSensor();
neV3 snPos, snDir;
snDir.Set(0.0f, -1.0f, 0.0f);
snPos.Set(sensorData[si].pos);
sn->SetLineSensor(snPos, snDir);
}
// add a controller to the rigid body
neRigidBodyController * controller;
controller = rigidBody->AddController(&cb, 0);
}
neV3 tensorSize;
tensorSize = boxSize;
rigidBody->UpdateBoundingInfo();
rigidBody->SetInertiaTensor(neBoxInertiaTensor(tensorSize, mass));
rigidBody->SetMass(mass);
rigidBody->SetUserData((u32)this);
carRigidBody = rigidBody;
{ // setup the display boxes for the car
rigidBody->BeginIterateGeometry();
while (geom = rigidBody->GetNextGeometry())
{
neV3 boxSize;
geom->GetBoxSize(boxSize);
// CRenderPrimitive * renderPrim = AddRenderPrimitive();
// renderPrim->SetGraphicBox(boxSize[0], boxSize[1], boxSize[2]);
// geom->SetUserData((u32)renderPrim);
// renderPrim->SetDiffuseColor(D3DXCOLOR(0.2f, 0.2f, 0.8f, 1));
}
}
// wheelRenderPrimitive.SetGraphicCylinder(WHEEL_DIAMETER * 0.5f, WHEEL_WIDTH);
// set the car position
carRigidBody->SetPos(pos);
// add bonnet to the car
MakeParts(sim, pos);
}
