void SimpleConvexShatter (DemoEntityManager* const scene)
{
// suspend simulation before making changes to the physics world
scene->StopsExecution ();
// load the skybox
scene->Append(new SkyBox());
xxxxx(scene->GetNewton());
// load the scene from and alchemedia file format
CreateLevelMesh (scene, "flatPlane.ngd", false);
// CreateLevelMesh (scene, "sponza.ngd", false);
// CreateLevelMesh (scene, "sponza.ngd", true);
// create a shattered mesh array
//CreateSimpleVoronoiShatter (scene);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
int count = 5;
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
//for (int i = 0; i < 1; i ++)
//AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
// place camera into position
dQuaternion rot;
// dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
dVector origin (-15.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
// resume the simulation
scene->ContinueExecution();
}
void dgMatrix::PolarDecomposition (dgMatrix& transformMatrix, dgVector& scale, dgMatrix& stretchAxis, const dgMatrix* const initialStretchAxis) const
{
// a polar decomposition decompose matrix A = O * S
// where S = sqrt (transpose (L) * L)
/*
// calculate transpose (L) * L
dgMatrix LL ((*this) * Transpose());
// check is this is a pure uniformScale * rotation * translation
dgFloat32 det2 = (LL[0][0] + LL[1][1] + LL[2][2]) * dgFloat32 (1.0f / 3.0f);
dgFloat32 invdet2 = 1.0f / det2;
dgMatrix pureRotation (LL);
pureRotation[0] = pureRotation[0].Scale3 (invdet2);
pureRotation[1] = pureRotation[1].Scale3 (invdet2);
pureRotation[2] = pureRotation[2].Scale3 (invdet2);
dgFloat32 sign = ((((*this)[0] * (*this)[1]) % (*this)[2]) > 0.0f) ? 1.0f : -1.0f;
dgFloat32 det = (pureRotation[0] * pureRotation[1]) % pureRotation[2];
if (dgAbsf (det - dgFloat32 (1.0f)) < dgFloat32 (1.0e-5f)) {
// this is a pure scale * rotation * translation
det = sign * dgSqrt (det2);
scale[0] = det;
scale[1] = det;
scale[2] = det;
det = dgFloat32 (1.0f)/ det;
transformMatrix.m_front = m_front.Scale3 (det);
transformMatrix.m_up = m_up.Scale3 (det);
transformMatrix.m_right = m_right.Scale3 (det);
transformMatrix[0][3] = dgFloat32 (0.0f);
transformMatrix[1][3] = dgFloat32 (0.0f);
transformMatrix[2][3] = dgFloat32 (0.0f);
transformMatrix.m_posit = m_posit;
stretchAxis = dgGetIdentityMatrix();
} else {
stretchAxis = LL;
stretchAxis.EigenVectors (scale);
// I need to deal with by seeing of some of the Scale are duplicated
// do this later (maybe by a given rotation around the non uniform axis but I do not know if it will work)
// for now just us the matrix
scale[0] = sign * dgSqrt (scale[0]);
scale[1] = sign * dgSqrt (scale[1]);
scale[2] = sign * dgSqrt (scale[2]);
scale[3] = dgFloat32 (0.0f);
dgMatrix scaledAxis;
scaledAxis[0] = stretchAxis[0].Scale3 (dgFloat32 (1.0f) / scale[0]);
scaledAxis[1] = stretchAxis[1].Scale3 (dgFloat32 (1.0f) / scale[1]);
scaledAxis[2] = stretchAxis[2].Scale3 (dgFloat32 (1.0f) / scale[2]);
scaledAxis[3] = stretchAxis[3];
dgMatrix symetricInv (stretchAxis.Transpose() * scaledAxis);
transformMatrix = symetricInv * (*this);
transformMatrix.m_posit = m_posit;
}
*/
// test the f*****g factorization
dgMatrix xxxxx(dgRollMatrix(30.0f * 3.1416f / 180.0f));
xxxxx = dgYawMatrix(30.0f * 3.1416f / 180.0f) * xxxxx;
dgMatrix xxxxx1(dgGetIdentityMatrix());
xxxxx1[0][0] = 2.0f;
dgMatrix xxxxx2(xxxxx.Inverse() * xxxxx1 * xxxxx);
dgMatrix xxxxx3 (xxxxx2);
xxxxx2.EigenVectors(scale);
dgMatrix xxxxx4(xxxxx2.Inverse() * xxxxx1 * xxxxx2);
//dgFloat32 sign = ((((*this)[0] * (*this)[1]) % (*this)[2]) > 0.0f) ? 1.0f : -1.0f;
dgFloat32 sign = dgSign(((*this)[0] * (*this)[1]) % (*this)[2]);
stretchAxis = (*this) * Transpose();
stretchAxis.EigenVectors (scale);
// I need to deal with by seeing of some of the Scale are duplicated
// do this later (maybe by a given rotation around the non uniform axis but I do not know if it will work)
// for now just us the matrix
scale[0] = sign * dgSqrt (scale[0]);
scale[1] = sign * dgSqrt (scale[1]);
scale[2] = sign * dgSqrt (scale[2]);
scale[3] = dgFloat32 (0.0f);
dgMatrix scaledAxis;
scaledAxis[0] = stretchAxis[0].Scale3 (dgFloat32 (1.0f) / scale[0]);
scaledAxis[1] = stretchAxis[1].Scale3 (dgFloat32 (1.0f) / scale[1]);
scaledAxis[2] = stretchAxis[2].Scale3 (dgFloat32 (1.0f) / scale[2]);
scaledAxis[3] = stretchAxis[3];
dgMatrix symetricInv (stretchAxis.Transpose() * scaledAxis);
transformMatrix = symetricInv * (*this);
transformMatrix.m_posit = m_posit;
}
