void AddPulley (DemoEntityManager* const scene, const dVector& origin) { NewtonBody* const reel0 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f)); NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 0.0f), dVector(4.0f, 0.25f, 0.25f)); // NewtonBodySetMassMatrix (reel0, 0.0f, 0.0f, 0.0f, 0.0f); // NewtonBodySetMassMatrix (reel1, 0.0f, 0.0f, 0.0f, 0.0f); dMatrix matrix; //connect the box0 to the base by a fix joint (a hinge with zero limit) NewtonBodyGetMatrix(reel0, &matrix[0][0]); CustomHinge* const fixJoint0 = new CustomHinge(matrix, reel0, NULL); fixJoint0->EnableLimits(true); fixJoint0->SetLimis(0.0f, 0.0f); NewtonBodyGetMatrix(reel1, &matrix[0][0]); CustomHinge* const fixJoint1 = new CustomHinge(matrix, reel1, NULL); fixJoint1->EnableLimits(true); fixJoint1->SetLimis(0.0f, 0.0f); CustomSlider* const slider0 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0); CustomSlider* const slider1 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel1); slider0->EnableLimits(true); slider0->SetLimis (-2.0f, 2.0f); NewtonBody* const body0 = slider0->GetBody0(); NewtonBody* const body1 = slider1->GetBody0(); dMatrix matrix0; dMatrix matrix1; NewtonBodyGetMatrix (body0, &matrix0[0][0]); NewtonBodyGetMatrix (body1, &matrix1[0][0]); dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f))); dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f))); new CustomPulley (4.0f, pin0, pin1, body0, body1); #ifdef _USE_HARD_JOINTS NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL); NewtonSkeletonContainerAttachBone(skeleton, reel0, NULL); NewtonSkeletonContainerAttachBone(skeleton, slider0->GetBody0(), reel0); NewtonSkeletonContainerAttachBone(skeleton, reel1, NULL); NewtonSkeletonContainerAttachBone(skeleton, slider1->GetBody0(), reel1); NewtonSkeletonContainerFinalize(skeleton); #endif }
void AddPulley (DemoEntityManager* const scene, const dVector& origin) { NewtonBody* const reel0 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f)); // this is just for show NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 0.0f), dVector(4.0f, 0.25f, 0.25f)); NewtonBodySetMassMatrix (reel0, 0.0f, 0.0f, 0.0f, 0.0f); NewtonBodySetMassMatrix (reel1, 0.0f, 0.0f, 0.0f, 0.0f); dMatrix matrix; CustomSlider* const slider0 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0); CustomSlider* const slider1 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0); slider0->EnableLimits(true); slider0->SetLimits (-2.0f, 2.0f); NewtonBody* const body0 = slider0->GetBody0(); NewtonBody* const body1 = slider1->GetBody0(); dMatrix matrix0; dMatrix matrix1; NewtonBodyGetMatrix (body0, &matrix0[0][0]); NewtonBodyGetMatrix (body1, &matrix1[0][0]); dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f))); dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f))); new CustomPulley (4.0f, pin0, pin1, body0, body1); #ifdef _USE_HARD_JOINTS NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), reel0, NULL); NewtonSkeletonContainerAttachBone(skeleton, slider0->GetBody0(), reel0); NewtonSkeletonContainerAttachBone(skeleton, slider1->GetBody0(), reel0); NewtonSkeletonContainerFinalize(skeleton); #endif // make an aggregate for disabling collisions void* const aggregate = NewtonCollisionAggregateCreate (scene->GetNewton()); NewtonCollisionAggregateSetSelfCollision (aggregate, 0); NewtonCollisionAggregateAddBody (aggregate, reel0); NewtonCollisionAggregateAddBody (aggregate, reel1); NewtonCollisionAggregateAddBody (aggregate, body0); NewtonCollisionAggregateAddBody (aggregate, body1); }