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
}
void Render(DemoEntityManager* const scene)
{
NewtonCollision* const deformableCollision = NewtonBodyGetCollision(m_body);
dAssert((NewtonCollisionGetType(deformableCollision) == SERIALIZE_ID_CLOTH_PATCH) || (NewtonCollisionGetType(deformableCollision) == SERIALIZE_ID_DEFORMABLE_SOLID));
const dFloat* const particles = NewtonDeformableMeshGetParticleArray(deformableCollision);
int stride = NewtonDeformableMeshGetParticleStrideInBytes(deformableCollision) / sizeof (dFloat);
// calculate vertex skinning
for (int i = 0; i < m_vertexCount; i++) {
int index = m_indexMap[i] * stride;
m_vertex[i * 3 + 0] = particles[index + 0];
m_vertex[i * 3 + 1] = particles[index + 1];
m_vertex[i * 3 + 2] = particles[index + 2];
// clear the normal for next loop
m_normal[i * 3 + 0] = 0.0f;
m_normal[i * 3 + 1] = 0.0f;
m_normal[i * 3 + 2] = 0.0f;
}
// calculate vertex normals
int normalStride = 3;
for (DemoMesh::dListNode* segmentNode = GetFirst(); segmentNode; segmentNode = segmentNode->GetNext()) {
const DemoSubMesh& subSegment = segmentNode->GetInfo();
for (int i = 0; i < subSegment.m_indexCount; i += 3) {
int i0 = subSegment.m_indexes[i + 0] * normalStride;
int i1 = subSegment.m_indexes[i + 1] * normalStride;
int i2 = subSegment.m_indexes[i + 2] * normalStride;
dVector p0(m_vertex[i0], m_vertex[i0 + 1], m_vertex[i0 + 2], 0.0f);
dVector p1(m_vertex[i1], m_vertex[i1 + 1], m_vertex[i1 + 2], 0.0f);
dVector p2(m_vertex[i2], m_vertex[i2 + 1], m_vertex[i2 + 2], 0.0f);
dVector p10(p1 - p0);
dVector p20(p2 - p0);
dVector normal(p10.CrossProduct(p20));
normal = normal.Scale(1.0f / dSqrt(normal.DotProduct3(normal)));
m_normal[i0 + 0] += normal.m_x;
m_normal[i0 + 1] += normal.m_y;
m_normal[i0 + 2] += normal.m_z;
m_normal[i1 + 0] += normal.m_x;
m_normal[i1 + 1] += normal.m_y;
m_normal[i1 + 2] += normal.m_z;
m_normal[i2 + 0] += normal.m_x;
m_normal[i2 + 1] += normal.m_y;
m_normal[i2 + 2] += normal.m_z;
}
}
// normalize all the normals
for (int i = 0; i < m_vertexCount; i++) {
dVector n(m_normal[i * 3 + 0], m_normal[i * 3 + 1], m_normal[i * 3 + 2], 0.0f);
n = n.Scale(1.0f / dSqrt(n.DotProduct3(n)));
m_normal[i * 3 + 0] = n.m_x;
m_normal[i * 3 + 1] = n.m_y;
m_normal[i * 3 + 2] = n.m_z;
}
glDisable(GL_CULL_FACE);
DemoMesh::Render(scene);
glEnable(GL_CULL_FACE);
}
NewtonCollision* CreateCollisionTree (NewtonWorld* world, DemoEntity* const entity, int materialID, bool optimize)
{
// measure the time to build a collision tree
unsigned64 timer0 = dGetTimeInMicrosenconds();
// create the collision tree geometry
NewtonCollision* collision = NewtonCreateTreeCollision(world, materialID);
// set the application level callback
#ifdef USE_STATIC_MESHES_DEBUG_COLLISION
NewtonStaticCollisionSetDebugCallback (collision, ShowMeshCollidingFaces);
#endif
// prepare to create collision geometry
NewtonTreeCollisionBeginBuild(collision);
// iterate the entire geometry an build the collision
for (DemoEntity* model = entity->GetFirst(); model; model = model->GetNext()) {
dMatrix matrix (model->GetMeshMatrix() * model->CalculateGlobalMatrix(entity));
DemoMesh* const mesh = (DemoMesh*)model->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
dFloat* const vertex = mesh->m_vertex;
for (DemoMesh::dListNode* nodes = mesh->GetFirst(); nodes; nodes = nodes->GetNext()) {
DemoSubMesh& segment = nodes->GetInfo();
int matID = segment.m_textureHandle;
for (int i = 0; i < segment.m_indexCount; i += 3) {
int index;
dVector face[3];
index = segment.m_indexes[i + 0] * 3;
face[0] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = segment.m_indexes[i + 1] * 3;
face[1] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
index = segment.m_indexes[i + 2] * 3;
face[2] = dVector (vertex[index + 0], vertex[index + 1], vertex[index + 2]);
matrix.TransformTriplex (&face[0].m_x, sizeof (dVector), &face[0].m_x, sizeof (dVector), 3);
// use material ids as physics materials
NewtonTreeCollisionAddFace(collision, 3, &face[0].m_x, sizeof (dVector), matID);
}
}
}
NewtonTreeCollisionEndBuild(collision, optimize ? 1 : 0);
// test Serialization
#if 0
FILE* file = fopen ("serialize.bin", "wb");
NewtonCollisionSerialize (world, collision, DemoEntityManager::SerializeFile, file);
fclose (file);
NewtonDestroyCollision (collision);
file = fopen ("serialize.bin", "rb");
collision = NewtonCreateCollisionFromSerialization (world, DemoEntityManager::DeserializeFile, file);
fclose (file);
#endif
// measure the time to build a collision tree
timer0 = (dGetTimeInMicrosenconds() - timer0) / 1000;
return collision;
}
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
}
