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);
}
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;
}
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);
}
dNewtonCollisionScene::dNewtonCollisionScene(dNewtonWorld* const world)
:dNewtonCollision(world, 0)
{
NewtonWaitForUpdateToFinish(m_myWorld->m_world);
SetShape(NewtonCreateSceneCollision(m_myWorld->m_world, 0));
}
