NewtonBody* CreateRigidBody(DemoEntityManager* const scene, dFloat mass, NewtonCollision* const deformableCollision)
{
//create the rigid body
NewtonWorld* const world = scene->GetNewton();
dMatrix matrix(GetCurrentMatrix());
//matrix.m_posit.m_y = FindFloor (world, matrix.m_posit.m_x, matrix.m_posit.m_z) + 4.0f;
SetMatrix(*scene, dQuaternion(), matrix.m_posit);
SetMatrix(*scene, dQuaternion(), matrix.m_posit);
NewtonBody* const deformableBody = NewtonCreateDynamicBody(world, deformableCollision, &matrix[0][0]);
// set the mass matrix
NewtonBodySetMassProperties(deformableBody, mass, deformableCollision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData(deformableBody, this);
// assign the wood id
// NewtonBodySetMaterialGroupID (deformableBody, materialId);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback(deformableBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback(deformableBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback(deformableBody, PhysicsApplyGravityForce);
return deformableBody;
}
iPhysicsBody* iPhysics::createBody(iPhysicsCollision* collisionVolume)
{
con_assert(collisionVolume != nullptr, "zero pointer");
con_assert(collisionVolume->_collision != nullptr, "zero pointer");
iaMatrixf matrix;
NewtonWaitForUpdateToFinish(static_cast<const NewtonWorld*>(_defaultWorld));
NewtonBody* newtonBody = NewtonCreateDynamicBody(static_cast<const NewtonWorld*>(_defaultWorld), static_cast<const NewtonCollision*>(collisionVolume->_collision), matrix.getData());
// set callbacks
NewtonBodySetDestructorCallback(newtonBody, reinterpret_cast<NewtonBodyDestructor>(PhysicsNodeDestructor));
NewtonBodySetTransformCallback(newtonBody, reinterpret_cast<NewtonSetTransform>(PhysicsNodeSetTransform));
NewtonBodySetForceAndTorqueCallback(newtonBody, reinterpret_cast<NewtonApplyForceAndTorque>(PhysicsApplyForceAndTorque));
NewtonBodySetMassMatrix(newtonBody, 0, 0, 0, 0);
NewtonBodySetMatrix(newtonBody, matrix.getData());
start();
iPhysicsBody* result = new iPhysicsBody(newtonBody);
_bodyListMutex.lock();
_bodys[result->getID()] = result;
_bodyListMutex.unlock();
return result;
}
static void CreateScaleStaticMesh (DemoEntity* const entity, NewtonCollision* const collision, DemoEntityManager* const scene, const dMatrix& location, const dVector& scale)
{
// now make a scale version of the same model
// first Get The mesh and make a scale copy
DemoMesh* const mesh = (DemoMesh*)entity->GetMesh();
dAssert (mesh->IsType(DemoMesh::GetRttiType()));
// since the render does no handle scale, we will made a duplicated mesh with the scale baked in
DemoMesh* const scaledMesh = new DemoMesh (*mesh);
// now scale the vertex list
for (int i = 0 ; i < mesh->m_vertexCount; i ++) {
scaledMesh->m_vertex[i * 3 + 0] *= scale.m_x;
scaledMesh->m_vertex[i * 3 + 1] *= scale.m_y;
scaledMesh->m_vertex[i * 3 + 2] *= scale.m_z;
}
// re-optimize for render
scaledMesh->OptimizeForRender();
DemoEntity* const scaledEntity = new DemoEntity(location, NULL);
scene->Append (scaledEntity);
scaledEntity->SetMesh(scaledMesh, dGetIdentityMatrix());
scaledMesh->Release();
// now make a body with a scaled collision mesh
// note: the collision do not have to be destroyed because we did no create a new collision we are simple using an existing one
NewtonBody* const scaledBody = NewtonCreateDynamicBody(scene->GetNewton(), collision, &location[0][0]);
NewtonBodySetUserData(scaledBody, scaledEntity);
// apply the scale to the new body collision;
// // note: scaling a collision mesh does not updates the broadPhase, this function is a until that do update broad phase
NewtonBodySetCollisionScale (scaledBody, scale.m_x, scale.m_y, scale.m_z);
}
NewtonBody* CreateBodyPart(DemoEntity* const bodyPart)
{
NewtonWorld* const world = GetWorld();
NewtonCollision* const shape = bodyPart->CreateCollisionFromchildren(world);
dAssert(shape);
// calculate the bone matrix
dMatrix matrix(bodyPart->CalculateGlobalMatrix());
// create the rigid body that will make this bone
NewtonBody* const bone = NewtonCreateDynamicBody(world, shape, &matrix[0][0]);
// calculate the moment of inertia and the relative center of mass of the solid
//NewtonBodySetMassProperties (bone, definition.m_mass, shape);
NewtonBodySetMassProperties(bone, 1.0f, shape);
// save the user data with the bone body (usually the visual geometry)
NewtonBodySetUserData(bone, bodyPart);
// assign the material for early collision culling
//NewtonBodySetMaterialGroupID(bone, m_material);
// set the bod part force and torque call back to the gravity force, skip the transform callback
//NewtonBodySetForceAndTorqueCallback (bone, PhysicsApplyGravityForce);
NewtonBodySetForceAndTorqueCallback(bone, ClampAngularVelocity);
// destroy the collision helper shape
NewtonDestroyCollision(shape);
return bone;
}
OgreNewtonSceneBody::OgreNewtonSceneBody (OgreNewtonWorld* const ogreWorld, dLong collisionMask)
:dNewtonDynamicBody (NULL)
{
Matrix4 matrix (Matrix4::IDENTITY);
dNewtonCollisionScene collision (ogreWorld, collisionMask);
SetBody (NewtonCreateDynamicBody (ogreWorld->GetNewton (), collision.GetShape(), matrix[0]));
}
NewtonBody* CreateBodyPart(DemoEntity* const bodyPart, const dArmRobotConfig& definition)
{
NewtonCollision* const shape = MakeConvexHull(bodyPart);
// calculate the bone matrix
dMatrix matrix(bodyPart->CalculateGlobalMatrix());
NewtonWorld* const world = GetWorld();
// create the rigid body that will make this bone
NewtonBody* const body = NewtonCreateDynamicBody(world, shape, &matrix[0][0]);
// destroy the collision helper shape
NewtonDestroyCollision(shape);
// get the collision from body
NewtonCollision* const collision = NewtonBodyGetCollision(body);
// calculate the moment of inertia and the relative center of mass of the solid
NewtonBodySetMassProperties(body, definition.m_mass, collision);
//NewtonBodySetMassProperties(body, 0.0f, collision);
// save the user lifterData with the bone body (usually the visual geometry)
NewtonBodySetUserData(body, bodyPart);
// assign a body part id
//NewtonCollisionSetUserID(collision, definition.m_bodyPartID);
// set the bod part force and torque call back to the gravity force, skip the transform callback
NewtonBodySetForceAndTorqueCallback(body, PhysicsApplyGravityForce);
return body;
}
static NewtonBody* CreatePlaneCollision (DemoEntityManager* const scene, const dVector& planeEquation)
{
NewtonCollision* const planeCollision = CreateInfinitePlane (scene->GetNewton(), planeEquation);
// create the the rigid body for
dMatrix matrix (dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(scene->GetNewton(), planeCollision, &matrix[0][0]);
// create a visual mesh
DemoMesh* const mesh = CreateVisualPlaneMesh (planeEquation, scene);
DemoEntity* const entity = new DemoEntity(matrix, NULL);
NewtonCollisionGetMatrix(planeCollision, &matrix[0][0]);
scene->Append (entity);
entity->SetMesh(mesh, matrix);
mesh->Release();
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (body, entity);
// destroy the collision shape
NewtonDestroyCollision (planeCollision);
return body;
}
static void LoadPlayGroundScene(DemoEntityManager* const scene, TriggerManager* const triggerManager)
{
NewtonWorld* const world = scene->GetNewton();
// CreateLevelMesh (scene, "flatPlane.ngd", true);
// return;
// make the body with a dummy null collision, so that we can use for attaching world objects
dMatrix matrix (dGetIdentityMatrix());
NewtonCollision* const dommyCollision = NewtonCreateNull(world);
NewtonBody* const playGroundBody = NewtonCreateDynamicBody (world, dommyCollision, &matrix[0][0]);
NewtonDestroyCollision (dommyCollision);
// use a multi shape static scene collision
NewtonCollision* const sceneCollision = NewtonCreateSceneCollision (world, 0);
// start adding shapes to this scene collisions
NewtonSceneCollisionBeginAddRemove (sceneCollision);
// populate the scene collision
{
// load a flat floor
LoadFloor(scene, sceneCollision);
// load a slide platform
dMatrix slideMatrix(dGetIdentityMatrix());
slideMatrix.m_posit.m_x += 80.0f;
slideMatrix.m_posit.m_z = -20.0f;
//LoadSlide(scene, triggerManager, sceneCollision, "slide.ngd", slideMatrix, playGroundBody);
LoadFerryBridge(scene, triggerManager, sceneCollision, "platformBridge.ngd", slideMatrix, playGroundBody);
// load another hanging bridge
dMatrix bridgeMatrix(dGetIdentityMatrix());
bridgeMatrix.m_posit.m_x += 40.0f;
LoadHangingBridge(scene, triggerManager, sceneCollision, "hangingBridge.ngd", bridgeMatrix, playGroundBody);
// load another ferry bridge
bridgeMatrix.m_posit.m_z += 20.0f;
LoadFerryBridge(scene, triggerManager, sceneCollision, "platformBridge.ngd", bridgeMatrix, playGroundBody);
}
// finalize adding shapes to this scene collisions
NewtonSceneCollisionEndAddRemove (sceneCollision);
// attach this collision to the playground Body
NewtonBodySetCollision(playGroundBody, sceneCollision);
// set the reference to the visual
//NewtonBodySetUserData(level, visualMesh);
// do not forget to release the collision
NewtonDestroyCollision (sceneCollision);
}
NewtonBody* CreateSimpleBody (NewtonWorld* const world, void* const userData, dFloat mass, const dMatrix& matrix, NewtonCollision* const collision, int materialId)
{
// calculate the moment of inertia and the relative center of mass of the solid
// dVector origin;
// dVector inertia;
// NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
// dFloat Ixx = mass * inertia[0];
// dFloat Iyy = mass * inertia[1];
// dFloat Izz = mass * inertia[2];
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateDynamicBody (world, collision, &matrix[0][0]);
// set the correct center of gravity for this body (these function are for legacy)
// NewtonBodySetCentreOfMass (rigidBody, &origin[0]);
// NewtonBodySetMassMatrix (rigidBody, mass, Ixx, Iyy, Izz);
// use a more convenient function for setting mass and inertia matrix
NewtonBodySetMassProperties (rigidBody, mass, collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, userData);
// assign the wood id
NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set continuous collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
// set the matrix for both the rigid body and the graphic body
//NewtonBodySetMatrix (rigidBody, &matrix[0][0]);
//PhysicsSetTransform (rigidBody, &matrix[0][0], 0);
//dVector xxx (0, -9.8f * mass, 0.0f, 0.0f);
//NewtonBodySetForce (rigidBody, &xxx[0]);
// force the body to be active of inactive
// NewtonBodySetAutoSleep (rigidBody, sleepMode);
return rigidBody;
}
static void AddFracturedEntity(DemoEntityManager* const scene, DemoMesh* const visualMesh, NewtonCollision* const collision, const FractureEffect& fractureEffect, const dVector& location)
{
dQuaternion rotation;
SimpleFracturedEffectEntity* const entity = new SimpleFracturedEffectEntity(visualMesh, fractureEffect);
entity->SetMatrix(*scene, rotation, location);
entity->InterpolateMatrix(*scene, 1.0f);
scene->Append(entity);
dVector origin(0.0f);
dVector inertia(0.0f);
NewtonConvexCollisionCalculateInertialMatrix(collision, &inertia[0], &origin[0]);
dFloat mass = 10.0f;
int materialId = 0;
//create the rigid body
dMatrix matrix(dGetIdentityMatrix());
matrix.m_posit = location;
NewtonWorld* const world = scene->GetNewton();
NewtonBody* const rigidBody = NewtonCreateDynamicBody(world, collision, &matrix[0][0]);
entity->m_myBody = rigidBody;
entity->m_myMassInverse = 1.0f / mass;
// set the correct center of gravity for this body
//NewtonBodySetCentreOfMass (rigidBody, &origin[0]);
// set the mass matrix
NewtonBodySetMassProperties(rigidBody, mass, collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData(rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID(rigidBody, materialId);
// set continuous collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback(rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback(rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback(rigidBody, PhysicsApplyGravityForce);
}
void dVehicleChassis::Init(NewtonCollision* const chassisShape, dFloat mass, const dMatrix& localFrame, NewtonApplyForceAndTorque forceAndTorque, dFloat gravityMag)
{
dVehicleManager* const manager = (dVehicleManager*)GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a body and call the low level init function
dMatrix locationMatrix(dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(world, chassisShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties(body, mass, chassisShape);
// initialize
Init(body, localFrame, forceAndTorque, gravityMag);
}
void CustomVehicleController::Init (NewtonCollision* const chassisShape, const dMatrix& vehicleFrame, dFloat mass, const dVector& gravityVector)
{
CustomVehicleControllerManager* const manager = (CustomVehicleControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a body and an call the low level init function
dMatrix locationMatrix (dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(world, chassisShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties (body, mass, chassisShape);
// initialize
Init (body, vehicleFrame, gravityVector);
}
void RigidBodyData::CreateBody(NewtonCollision* const collision, const dVector& veloc, const dVector& omega)
{
_ASSERTE (!m_body);
RigidBodyWorldDesc& me = *(RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
dMatrix matrix (GetIdentityMatrix());
m_body = NewtonCreateDynamicBody(me.m_newton, collision, &matrix[0][0]);
//NewtonBodySetMassMatrix(m_body, m_mass, m_mass * m_inertia.m_x, m_mass * m_inertia.m_y, m_mass * m_inertia.m_z);
NewtonBodySetMassProperties(m_body, m_mass, collision);
NewtonBodySetCentreOfMass(m_body, &m_origin[0]);
NewtonBodySetVelocity(m_body, &veloc[0]);
NewtonBodySetOmega(m_body, &omega[0]);
NewtonBodySetForceAndTorqueCallback(m_body, RigidBodyController::ApplyGravityForce);
}
dNewtonDynamicBody::dNewtonDynamicBody(dNewtonWorld* const world, dNewtonCollision* const collision, dMatrix matrix, dFloat mass)
:dNewtonBody(matrix)
{
NewtonWorld* const newton = world->m_world;
NewtonWaitForUpdateToFinish(newton);
m_body = NewtonCreateDynamicBody(newton, collision->m_shape, &matrix[0][0]);
collision->DeleteShape();
collision->SetShape(NewtonBodyGetCollision(m_body));
NewtonBodySetMassProperties(m_body, mass, NewtonBodyGetCollision(m_body));
NewtonBodySetUserData(m_body, this);
NewtonBodySetTransformCallback(m_body, OnBodyTransformCallback);
NewtonBodySetForceAndTorqueCallback(m_body, OnForceAndTorqueCallback);
}
NewtonBody* CreateLevelMeshBody (NewtonWorld* const world, DemoEntity* const ent, bool optimize)
{
NewtonCollision* const collision = CreateCollisionTree (world, ent, 0, optimize);
// Get the root Matrix
dMatrix matrix (ent->CalculateGlobalMatrix(NULL));
// create the level rigid body
NewtonBody* const level = NewtonCreateDynamicBody(world, collision, &matrix[0][0]);
//NewtonCollision* const collision1 = NewtonCreateNull(world);
//NewtonBody* const level = NewtonCreateDynamicBody(world, collision1, &matrix[0][0]);
//NewtonBodySetCollision(level, collision);
//NewtonDestroyCollision (collision1);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (level, ent);
#if 0
NewtonCollisionInfoRecord collisionInfo;
NewtonCollisionGetInfo (collision, &collisionInfo);
if (collisionInfo.m_collisionType == SERIALIZE_ID_TREE) {
int count;
dVector p0(-100, -100, -100);
dVector p1(100, 100, 100);
const dFloat* vertexArray;
int vertexStrideInBytes;
int vertexCount;
int indexList[256];
int attributeList[256/3];
count = NewtonTreeCollisionGetVertexListTriangleListInAABB (collision, &p0[0], &p1[0],
&vertexArray, &vertexCount, &vertexStrideInBytes,
indexList, sizeof (indexList)/sizeof (indexList[0]),
attributeList);
}
#endif
// set a destructor for this rigid body
//NewtonBodySetDestructorCallback (m_level, Destructor);
// release the collision tree (this way the application does not have to do book keeping of Newton objects
NewtonDestroyCollision (collision);
// now we will make a lookup table for quick material index lookup for face to index
//CollsionTreeFaceMap faceMap (NewtonBodyGetCollision(level));
return level;
}
NzPhysObject::NzPhysObject(NzPhysWorld* world, const NzBaseGeom* geom, const NzMatrix4f& mat) :
m_matrix(mat),
m_forceAccumulator(NzVector3f::Zero()),
m_torqueAccumulator(NzVector3f::Zero()),
m_geom(geom),
m_world(world),
m_ownsGeom(false),
m_gravityFactor(1.f),
m_mass(0.f)
{
#if NAZARA_PHYSICS_SAFE
if (!world)
NazaraError("Invalid physics world"); ///TODO: Unexcepted
#endif
m_body = NewtonCreateDynamicBody(world->GetHandle(), geom->GetHandle(), mat);
NewtonBodySetUserData(m_body, this);
}
Error PhysicsWorld::create(AllocAlignedCallback allocCb, void* allocCbData)
{
Error err = ErrorCode::NONE;
m_alloc = HeapAllocator<U8>(allocCb, allocCbData);
// Set allocators
gAlloc = &m_alloc;
NewtonSetMemorySystem(newtonAlloc, newtonFree);
// Initialize world
m_world = NewtonCreate();
if(!m_world)
{
ANKI_LOGE("NewtonCreate() failed");
return ErrorCode::FUNCTION_FAILED;
}
// Set the simplified solver mode (faster but less accurate)
NewtonSetSolverModel(m_world, 1);
// Create scene collision
m_sceneCollision = NewtonCreateSceneCollision(m_world, 0);
Mat4 trf = Mat4::getIdentity();
m_sceneBody = NewtonCreateDynamicBody(m_world, m_sceneCollision, &trf[0]);
NewtonBodySetMaterialGroupID(m_sceneBody, NewtonMaterialGetDefaultGroupID(m_world));
NewtonDestroyCollision(m_sceneCollision); // destroy old scene
m_sceneCollision = NewtonBodyGetCollision(m_sceneBody);
// Set the post update listener
NewtonWorldAddPostListener(m_world, "world", this, postUpdateCallback, destroyCallback);
// Set callbacks
NewtonMaterialSetCollisionCallback(m_world,
NewtonMaterialGetDefaultGroupID(m_world),
NewtonMaterialGetDefaultGroupID(m_world),
nullptr,
onAabbOverlapCallback,
onContactCallback);
return err;
}
// it fires a box when a key is pressed.
static void FireNewtonCcdBox(NewtonWorld* world, const dVector & postion, const dVector & velocity)
{
NewtonCollision* collision = NewtonCreateBox(world, 1.0f, 1.0f, 1.0f, 0, NULL);
dMatrix matrix(dGetIdentityMatrix());
matrix.m_posit = postion;
NewtonBody* const body = NewtonCreateDynamicBody(world, collision, &matrix[0][0]);
// set the force callback for applying the force and torque
NewtonBodySetForceAndTorqueCallback(body, ApplyGravity);
// set the mass for this body
dFloat mass = 1.0f;
NewtonBodySetMassProperties(body, mass, collision);
NewtonDestroyCollision(collision);
NewtonBodySetVelocity(body, &velocity[0]);
NewtonBodySetContinuousCollisionMode(body, 1);
}
static void AddSingleCompound(DemoEntityManager* const scene)
{
NewtonWorld* const world = scene->GetNewton();
NewtonCollision* compoundCollision = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(compoundCollision);
NewtonCollision* boxCollision = NewtonCreateBox(world, 50, 50, 50, 0, NULL);
NewtonCompoundCollisionAddSubCollision(compoundCollision, boxCollision);
NewtonDestroyCollision(boxCollision);
dMatrix matrix(dGetIdentityMatrix());
matrix.m_posit.m_y = 10.0f;
NewtonCompoundCollisionEndAddRemove(compoundCollision);
NewtonBody* compoundBody = NewtonCreateDynamicBody(world, compoundCollision, &matrix[0][0]);
NewtonDestroyCollision(compoundCollision);
// scale after creating body slows everything down. Without the scale it runs fine even though the body is huge
NewtonCollisionSetScale(NewtonBodyGetCollision(compoundBody), 0.05f, 0.05f, 0.05f);
// adding some visualization
NewtonBodySetMassProperties (compoundBody, 1.0f, NewtonBodyGetCollision(compoundBody));
NewtonBodySetTransformCallback(compoundBody, DemoEntity::TransformCallback);
NewtonBodySetForceAndTorqueCallback(compoundBody, PhysicsApplyGravityForce);
DemoMesh* mesh = new DemoMesh("geometry", NewtonBodyGetCollision(compoundBody), "smilli.tga", "smilli.tga", "smilli.tga");
DemoEntity* const entity = new DemoEntity(matrix, NULL);
entity->SetMesh(mesh, dGetIdentityMatrix());
mesh->Release();
NewtonBodySetUserData(compoundBody, entity);
scene->Append(entity);
NewtonBodySetSimulationState(compoundBody, 0);
NewtonBodySetSimulationState(compoundBody, 1);
}
NewtonBody* dRigidbodyNodeInfo::CreateNewtonBody (NewtonWorld* const world, dScene* const scene, dScene::dTreeNode* const myNode) const
{
// find the collision and crate a rigid body
dAssert (IsType (dRigidbodyNodeInfo::GetRttiType()));
// attach the parent node as user data
dScene::dTreeNode* parentNode = scene->FindParentByType(myNode, dSceneNodeInfo::GetRttiType());
dSceneNodeInfo* sceneInfo = (dSceneNodeInfo*) scene->GetInfoFromNode(parentNode);
dScene::dTreeNode* shapeNode = scene->FindChildByType (myNode, dCollisionNodeInfo::GetRttiType());
dAssert (shapeNode);
dCollisionNodeInfo* collInfo = (dCollisionNodeInfo*) scene->GetInfoFromNode(shapeNode);
dMatrix matrix (sceneInfo->CalculateOrthoMatrix());
NewtonCollision* const collision = collInfo->CreateNewtonCollision (world, scene, shapeNode);
NewtonBody* const body = NewtonCreateDynamicBody(world, collision, &matrix[0][0]);
NewtonDestroyCollision(collision);
// NewtonBodySetMatrix(body, &matrix[0][0]);
NewtonBodySetUserData(body, parentNode);
NewtonBodySetCentreOfMass(body, &m_centerOfMass[0]);
NewtonBodySetMassMatrix(body, m_massMatrix.m_w, m_massMatrix.m_x, m_massMatrix.m_y, m_massMatrix.m_z);
NewtonBodySetVelocity(body, &m_velocity[0]);
NewtonBodySetOmega(body, &m_omega[0]);
//dVector internalDamp(rigidBody->GetI);
//NewtonBodySetLinearDamping(body, internalDamp);
//dVariable* bodyType = rigidBody->FindVariable("rigidBodyType");
//if (!bodyType || !strcmp (bodyType->GetString(), "default gravity")) {
// NewtonBodySetTransformCallback(body, DemoEntity::TransformCallback);
//}
return body;
}
static NewtonBody* CreateBackgroundWallsAndCellingBody(NewtonWorld* world)
{
// make a flat quad
dFloat floor[4][3] =
{
{ -100.0f, 0.0f, 100.0f },
{ 100.0f, 0.0f, 100.0f },
{ 100.0f, 0.0f, -100.0f },
{ -100.0f, 0.0f, -100.0f },
};
dFloat wall_N[4][3] =
{
{ -100.0f, 0.0f, 100.0f },
{ -100.0f, 100.0f, 100.0f },
{ 100.0f, 100.0f, 100.0f },
{ 100.0f, 0.0f, 100.0f },
};
dFloat wall_W[4][3] =
{
{ 100.0f, 0.0f, 100.0f },
{ 100.0f, 100.0f, 100.0f },
{ 100.0f, 100.0f, -100.0f },
{ 100.0f, 0.0f, -100.0f },
};
dFloat wall_S[4][3] =
{
{ 100.0f, 0.0f, -100.0f },
{ 100.0f, 100.0f, -100.0f },
{ -100.0f, 100.0f, -100.0f },
{ -100.0f, 0.0f, -100.0f },
};
dFloat wall_E[4][3] =
{
{ -100.0f, 0.0f, -100.0f },
{ -100.0f, 100.0f, -100.0f },
{ -100.0f, 100.0f, 100.0f },
{ -100.0f, 0.0f, 100.0f },
};
dFloat celling[4][3] =
{
{ -100.0f, 100.0f, -100.0f },
{ 100.0f, 100.0f, -100.0f },
{ 100.0f, 100.0f, 100.0f },
{ -100.0f, 100.0f, 100.0f },
};
// crate a collision tree
NewtonCollision* const collision = NewtonCreateTreeCollision(world, 0);
// start building the collision mesh
NewtonTreeCollisionBeginBuild(collision);
// add the face one at a time
NewtonTreeCollisionAddFace(collision, 4, &floor[0][0], 3 * sizeof (dFloat), 0);
NewtonTreeCollisionAddFace(collision, 4, &wall_N[0][0], 3 * sizeof (dFloat), 0);
NewtonTreeCollisionAddFace(collision, 4, &wall_W[0][0], 3 * sizeof (dFloat), 0);
NewtonTreeCollisionAddFace(collision, 4, &wall_S[0][0], 3 * sizeof (dFloat), 0);
NewtonTreeCollisionAddFace(collision, 4, &wall_E[0][0], 3 * sizeof (dFloat), 0);
NewtonTreeCollisionAddFace(collision, 4, &celling[0][0], 3 * sizeof (dFloat), 0);
// finish building the collision
NewtonTreeCollisionEndBuild(collision, 1);
// create a body with a collision and locate at the identity matrix position
dMatrix matrix(dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(world, collision, &matrix[0][0]);
// do no forget to destroy the collision after you not longer need it
NewtonDestroyCollision(collision);
return body;
}
void SimulationPostListener(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
// see if the net force on the body comes fr a high impact collision
dFloat breakImpact = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
dFloat impulseImpact = NewtonMaterialGetContactMaxNormalImpact(material);
if (impulseImpact > breakImpact) {
breakImpact = impulseImpact;
}
}
}
// if the force is bigger than N time Gravities, It is considered a collision force
breakImpact *= m_myMassInverse;
// breakImpact = 1000.0f;
if (breakImpact > BREAK_IMPACT_IN_METERS_PER_SECONDS) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dMatrix bodyMatrix;
dVector com(0.0f);
dVector veloc(0.0f);
dVector omega(0.0f);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
NewtonBodyGetMass(m_myBody, &mass, &Ixx, &Iyy, &Izz);
com = bodyMatrix.TransformVector(com);
dMatrix matrix(GetCurrentMatrix());
dQuaternion rotation(matrix);
// we need to lock the world before creation a bunch of bodies
scene->Lock(m_lock);
for (FractureEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
FractureAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity(dMatrix(rotation, matrix.m_posit), NULL);
entity->SetMesh(atom.m_mesh, dGetIdentityMatrix());
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateDynamicBody(world, atom.m_collision, &matrix[0][0]);
// calculate debris initial velocity
dVector center(matrix.TransformVector(atom.m_centerOfMass));
dVector v(veloc + omega.CrossProduct(center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debris mass properties, mass, center of mass, and inertia
NewtonBodySetMassProperties(rigidBody, debriMass, atom.m_collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData(rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID(rigidBody, materialId);
// set continuous collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback(rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback(rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback(rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(m_myBody);
scene->RemoveEntity(mynode);
// unlock the work after done with the effect
scene->Unlock(m_lock);
}
}
void SceneCollision (DemoEntityManager* const scene)
{
NewtonWorld* world = scene->GetNewton();
// add the Sky
scene->CreateSkyBox();
// create a body and with a scene collision
NewtonCollision* const sceneCollision = NewtonCreateSceneCollision (scene->GetNewton(), 0);
// create a visual scene empty mesh
ComplexScene* const visualMesh = new ComplexScene(sceneCollision);
scene->Append (visualMesh);
// add some shapes
visualMesh->AddPrimitives(scene);
// this is optional, finish the scene construction, optimize the collision scene
dMatrix matrix (dGetIdentityMatrix());
// create the level body and add it to the world
NewtonBody* const level = NewtonCreateDynamicBody (world, sceneCollision, &matrix[0][0]);
// replace the collision with the newly created one the
visualMesh->m_sceneCollision = NewtonBodyGetCollision(level);
// set the reference to the visual
NewtonBodySetUserData(level, visualMesh);
// do not forget to release the collision
NewtonDestroyCollision (sceneCollision);
// add few objects
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
NewtonMaterialSetCollisionCallback (world, defaultMaterialID, defaultMaterialID, OnBodyAABBOverlap, OnContactCollision);
NewtonMaterialSetCompoundCollisionCallback(world, defaultMaterialID, defaultMaterialID, OnSubShapeAABBOverlapTest);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int count = 5;
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void CustomVehicleController::Init (NewtonCollision* const chassisShape, const dMatrix& vehicleFrame, dFloat mass, const dVector& gravityVector)
{
m_finalized = false;
m_externalContactStatesCount = 0;
m_sleepCounter = VEHICLE_SLEEP_COUNTER;
m_freeContactList = m_externalContactStatesPoll.GetFirst();
CustomVehicleControllerManager* const manager = (CustomVehicleControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a compound collision
NewtonCollision* const vehShape = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(vehShape);
// if the shape is a compound collision ass all the pieces one at a time
int shapeType = NewtonCollisionGetType (chassisShape);
if (shapeType == SERIALIZE_ID_COMPOUND) {
for (void* node = NewtonCompoundCollisionGetFirstNode(chassisShape); node; node = NewtonCompoundCollisionGetNextNode (chassisShape, node)) {
NewtonCollision* const subCollision = NewtonCompoundCollisionGetCollisionFromNode(chassisShape, node);
NewtonCompoundCollisionAddSubCollision (vehShape, subCollision);
}
} else {
dAssert ((shapeType == SERIALIZE_ID_CONVEXHULL) || (shapeType == SERIALIZE_ID_BOX));
NewtonCompoundCollisionAddSubCollision (vehShape, chassisShape);
}
NewtonCompoundCollisionEndAddRemove (vehShape);
// create the rigid body for this vehicle
dMatrix locationMatrix (dGetIdentityMatrix());
m_body = NewtonCreateDynamicBody(world, vehShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties (m_body, mass, vehShape);
// set linear and angular drag to zero
dVector drag(0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetLinearDamping(m_body, 0);
NewtonBodySetAngularDamping(m_body, &drag[0]);
// destroy the collision help shape
NewtonDestroyCollision (vehShape);
// initialize vehicle internal components
NewtonBodyGetCentreOfMass (m_body, &m_chassisState.m_com[0]);
m_chassisState.m_comOffset = dVector (0.0f, 0.0f, 0.0f, 0.0f);
m_chassisState.m_gravity = gravityVector;
m_chassisState.m_gravityMag = dSqrt (gravityVector % gravityVector);
m_chassisState.Init(this, vehicleFrame);
// m_stateList.Append(&m_staticWorld);
m_stateList.Append(&m_chassisState);
// create the normalized size tire shape
m_tireCastShape = NewtonCreateChamferCylinder(world, 0.5f, 1.0f, 0, NULL);
// initialize all components to empty
m_engine = NULL;
m_brakes = NULL;
m_steering = NULL;
m_handBrakes = NULL;
SetDryRollingFrictionTorque (100.0f/4.0f);
SetAerodynamicsDownforceCoefficient (0.5f * dSqrt (gravityVector % gravityVector), 60.0f * 0.447f);
}
static void AddStructuredFractured (DemoEntityManager* const scene, const dVector& origin, int materialID, const char* const assetName)
{
// create the shape and visual mesh as a common data to be re used
NewtonWorld* const world = scene->GetNewton();
#if 0
// load the mesh asset
DemoEntity entity(GetIdentityMatrix(), NULL);
entity.LoadNGD_mesh (assetName, world);
DemoMesh____* const mesh = entity.GetMesh();
dAssert (mesh);
// convert the mesh to a newtonMesh
NewtonMesh* const solidMesh = mesh->CreateNewtonMesh (world, entity.GetMeshMatrix() * entity.GetCurrentMatrix());
#else
int externalMaterial = LoadTexture("wood_0.tga");
NewtonCollision* const collision = CreateConvexCollision (world, dGetIdentityMatrix(), dVector (3.0f, 3.0f, 3.0f, 0.0), _BOX_PRIMITIVE, 0);
NewtonMesh* const solidMesh = NewtonMeshCreateFromCollision(collision);
NewtonDestroyCollision(collision);
//NewtonMeshTriangulate(solidMesh);
NewtonMeshApplyBoxMapping (solidMesh, externalMaterial, externalMaterial, externalMaterial);
#endif
// create a random point cloud
dVector points[MAX_POINT_CLOUD_SIZE];
int pointCount = MakeRandomPoisonPointCloud (solidMesh, points);
// int pointCount = MakeRandomGuassianPointCloud (solidMesh, points, MAX_POINT_CLOUD_SIZE);
// create and interiors material for texturing the fractured pieces
//int internalMaterial = LoadTexture("KAMEN-stup.tga");
int internalMaterial = LoadTexture("concreteBrick.tga");
// crate a texture matrix for uv mapping of fractured pieces
dMatrix textureMatrix (dGetIdentityMatrix());
textureMatrix[0][0] = 1.0f / 2.0f;
textureMatrix[1][1] = 1.0f / 2.0f;
/// create the fractured collision and mesh
int debreePhysMaterial = NewtonMaterialGetDefaultGroupID(world);
NewtonCollision* structuredFracturedCollision = NewtonCreateFracturedCompoundCollision (world, solidMesh, 0, debreePhysMaterial, pointCount, &points[0][0], sizeof (dVector), internalMaterial, &textureMatrix[0][0],
OnReconstructMainMeshCallBack, OnEmitFracturedCompound, OnEmitFracturedChunk);
// uncomment this to test serialization
#if 0
FILE* file = fopen ("serialize.bin", "wb");
NewtonCollisionSerialize (world, structuredFracturedCollision, DemoEntityManager::SerializeFile, file);
NewtonDestroyCollision (structuredFracturedCollision);
fclose (file);
file = fopen ("serialize.bin", "rb");
structuredFracturedCollision = NewtonCreateCollisionFromSerialization (world, DemoEntityManager::DeserializeFile, file);
NewtonFracturedCompoundSetCallbacks (structuredFracturedCollision, OnReconstructMainMeshCallBack, OnEmitFracturedCompound, OnEmitFracturedChunk);
fclose (file);
#endif
#if 0
// test the interface
dTree<void*, void*> detachableNodes;
NewtonCompoundCollisionBeginAddRemove(structuredFracturedCollision);
// remove all chunk that can be detached for the first layer
for (void* node = NewtonCompoundCollisionGetFirstNode(structuredFracturedCollision); node; node = NewtonCompoundCollisionGetNextNode(structuredFracturedCollision, node)) {
if (NewtonFracturedCompoundIsNodeFreeToDetach (structuredFracturedCollision, node)) {
detachableNodes.Insert(node, node);
}
// remove any node that can be deched fro the secund layer, this codul; be reusive
void* neighbors[32];
int count = NewtonFracturedCompoundNeighborNodeList (structuredFracturedCollision, node, neighbors, sizeof (neighbors) / sizeof (neighbors[0]));
for (int i = 0; i < count; i ++ ) {
if (NewtonFracturedCompoundIsNodeFreeToDetach (structuredFracturedCollision, neighbors[i])) {
detachableNodes.Insert(node, node);
}
}
}
// now delete the actual nodes
dTree<void*, void*>::Iterator iter (detachableNodes) ;
for (iter.Begin(); iter; iter ++) {
void* const node = iter.GetNode()->GetInfo();
NewtonCompoundCollisionRemoveSubCollision (structuredFracturedCollision, node);
}
NewtonCompoundCollisionEndAddRemove(structuredFracturedCollision);
#endif
#if 1
dVector plane (0.0f, 1.0f, 0.0f, 0.0f);
NewtonCollision* const crack = NewtonFracturedCompoundPlaneClip (structuredFracturedCollision, &plane[0]);
if (crack) {
NewtonDestroyCollision (structuredFracturedCollision);
}
#endif
dVector com(0.0f);
dVector inertia(0.0f);
NewtonConvexCollisionCalculateInertialMatrix (structuredFracturedCollision, &inertia[0], &com[0]);
//dFloat mass = 10.0f;
//int materialId = 0;
//create the rigid body
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit = origin;
matrix.m_posit.m_y = 20.0;
matrix.m_posit.m_w = 1.0f;
NewtonBody* const rigidBody = NewtonCreateDynamicBody (world, structuredFracturedCollision, &matrix[0][0]);
// set the mass and center of mass
dFloat density = 1.0f;
dFloat mass = density * NewtonConvexCollisionCalculateVolume (structuredFracturedCollision);
NewtonBodySetMassProperties (rigidBody, mass, structuredFracturedCollision);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
// create the entity and visual mesh and attach to the body as user data
CreateVisualEntity (scene, rigidBody);
// assign the wood id
// NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set a destructor for this rigid body
// NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// release the interior texture
// ReleaseTexture (internalMaterial);
// delete the solid mesh since it no longed needed
NewtonMeshDestroy (solidMesh);
// destroy the fracture collision
NewtonDestroyCollision (structuredFracturedCollision);
}
static NewtonBody* CreateHeightFieldTerrain (DemoEntityManager* const scene, int sizeInPowerOfTwos, dFloat cellSize, dFloat elevationScale, dFloat roughness, dFloat maxElevation, dFloat minElevation)
{
int size = (1 << sizeInPowerOfTwos) + 1 ;
dFloat* const elevation = new dFloat [size * size];
//MakeFractalTerrain (elevation, sizeInPowerOfTwos, elevationScale, roughness, maxElevation, minElevation);
MakeFractalTerrain (elevation, sizeInPowerOfTwos, elevationScale, roughness, maxElevation, minElevation);
for (int i = 0; i < 4; i ++) {
ApplySmoothFilter (elevation, size);
}
//memset (elevation, 0, size * size * sizeof (dFloat));
//SetBaseHeight (elevation, size);
// apply simple calderas
// MakeCalderas (elevation, size, maxElevation * 0.7f, maxElevation * 0.1f);
// // create the visual mesh
DemoMesh* const mesh = new DemoMesh ("terrain", elevation, size, cellSize, 1.0f/4.0f, TILE_SIZE);
DemoEntity* const entity = new DemoEntity(dGetIdentityMatrix(), NULL);
scene->Append (entity);
entity->SetMesh(mesh, dGetIdentityMatrix());
mesh->Release();
// create the height field collision and rigid body
// create the attribute map
int width = size;
int height = size;
char* const attibutes = new char [size * size];
memset (attibutes, 0, width * height * sizeof (char));
NewtonCollision* collision = NewtonCreateHeightFieldCollision (scene->GetNewton(), width, height, 1, 0, elevation, attibutes, 1.0f, cellSize, 0);
#ifdef USE_STATIC_MESHES_DEBUG_COLLISION
NewtonStaticCollisionSetDebugCallback (collision, ShowMeshCollidingFaces);
#endif
NewtonCollisionInfoRecord collisionInfo;
// keep the compiler happy
memset (&collisionInfo, 0, sizeof (NewtonCollisionInfoRecord));
NewtonCollisionGetInfo (collision, &collisionInfo);
width = collisionInfo.m_heightField.m_width;
height = collisionInfo.m_heightField.m_height;
//elevations = collisionInfo.m_heightField.m_elevation;
dVector boxP0;
dVector boxP1;
// get the position of the aabb of this geometry
dMatrix matrix (entity->GetCurrentMatrix());
NewtonCollisionCalculateAABB (collision, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
//SetMatrix (matrix);
entity->ResetMatrix (*scene, matrix);
// create the terrainBody rigid body
NewtonBody* const terrainBody = NewtonCreateDynamicBody(scene->GetNewton(), collision, &matrix[0][0]);
// release the collision tree (this way the application does not have to do book keeping of Newton objects
NewtonDestroyCollision (collision);
// in newton 300 collision are instance, you need to ready it after you create a body, if you want to male call on the instance
collision = NewtonBodyGetCollision(terrainBody);
#if 0
// uncomment this to test horizontal displacement
unsigned short* const horizontalDisplacemnet = new unsigned short[size * size];
for (int i = 0; i < size * size; i++) {
horizontalDisplacemnet[i] = dRand();
}
NewtonHeightFieldSetHorizontalDisplacement(collision, horizontalDisplacemnet, 0.02f);
delete horizontalDisplacemnet;
#endif
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (terrainBody, entity);
// set the global position of this body
// NewtonBodySetMatrix (m_terrainBody, &matrix[0][0]);
// set the destructor for this object
//NewtonBodySetDestructorCallback (terrainBody, Destructor);
// get the position of the aabb of this geometry
//NewtonCollisionCalculateAABB (collision, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
#ifdef USE_TEST_ALL_FACE_USER_RAYCAST_CALLBACK
// set a ray cast callback for all face ray cast
NewtonTreeCollisionSetUserRayCastCallback (collision, AllRayHitCallback);
dVector p0 (0, 100, 0, 0);
dVector p1 (0, -100, 0, 0);
dVector normal;
dLong id;
dFloat parameter;
parameter = NewtonCollisionRayCast (collision, &p0[0], &p1[0], &normal[0], &id);
#endif
delete[] attibutes;
delete[] elevation;
return terrainBody;
}