NewtonMesh* CreateQuadClothPatch(DemoEntityManager* const scene, int size_x, int size_z) { size_x += 1; size_z += 1; dAssert(size_x <= 129); dAssert(size_z <= 129); dFloat dimension = 0.125f; dBigVector* const points = new dBigVector[size_x * size_z]; int* const faceIndexCount = new int[(size_x - 1) * (size_z - 1)]; int* const faceVertexIndex = new int[4 * (size_x - 1) * (size_z - 1)]; dFloat y = 0.0f; int vertexCount = 0; for (int i = 0; i < size_z; i++) { dFloat z = (i - size_z / 2) * dimension; for (int j = 0; j < size_x; j++) { dFloat x = (j - size_x / 2) * dimension; points[vertexCount] = dVector(x, y, z, 0.0f); vertexCount++; } } int faceCount = 0; for (int i = 0; i < size_z - 1; i++) { for (int j = 0; j < size_x - 1; j++) { faceIndexCount[faceCount] = 4; faceVertexIndex[faceCount * 4 + 0] = (i + 0) * size_x + j + 0; faceVertexIndex[faceCount * 4 + 1] = (i + 0) * size_x + j + 1; faceVertexIndex[faceCount * 4 + 2] = (i + 1) * size_x + j + 1; faceVertexIndex[faceCount * 4 + 3] = (i + 1) * size_x + j + 0; faceCount++; } } dMatrix aligmentUV(dGetIdentityMatrix()); NewtonMeshVertexFormat vertexFormat; NewtonMeshClearVertexFormat(&vertexFormat); vertexFormat.m_faceCount = faceCount; vertexFormat.m_faceIndexCount = faceIndexCount; vertexFormat.m_vertex.m_data = &points[0][0]; vertexFormat.m_vertex.m_indexList = faceVertexIndex; vertexFormat.m_vertex.m_strideInBytes = sizeof(dBigVector); NewtonMesh* const clothPatch = NewtonMeshCreate(scene->GetNewton()); NewtonMeshBuildFromVertexListIndexList(clothPatch, &vertexFormat); int material = LoadTexture("persianRug.tga"); NewtonMeshApplyBoxMapping(clothPatch, material, material, material, &aligmentUV[0][0]); delete[] points; delete[] faceIndexCount; delete[] faceVertexIndex; return clothPatch; }
// create a mesh using the NewtonMesh low lever interface static NewtonBody* CreateSimpleBox_NewtonMesh (DemoEntityManager* const scene, const dVector& origin, const dVector& scale, dFloat mass) { dBigVector array[8]; dBigVector scale1 (scale); for (int i = 0; i < 8; i ++) { dBigVector p(&BoxPoints[i * 4]); array[i] = scale1 * p; } NewtonMeshVertexFormat vertexFormat; NewtonMeshClearVertexFormat(&vertexFormat); vertexFormat.m_faceCount = 10; vertexFormat.m_faceIndexCount = faceIndexList; vertexFormat.m_faceMaterial = faceMateriaIndexList; vertexFormat.m_vertex.m_data = &array[0][0]; vertexFormat.m_vertex.m_indexList = BoxIndices; vertexFormat.m_vertex.m_strideInBytes = sizeof (dBigVector); vertexFormat.m_normal.m_data = normal; vertexFormat.m_normal.m_indexList = faceNormalIndex; vertexFormat.m_normal.m_strideInBytes = 3 * sizeof (dFloat); // all channel are now optionals so we not longer has to pass default values // vertexFormat.m_uv0.m_data = uv0; // vertexFormat.m_uv0.m_indexList = uv0_indexList; // vertexFormat.m_uv0.m_strideInBytes = 2 * sizeof (dFloat); // now we create and empty mesh NewtonMesh* const newtonMesh = NewtonMeshCreate(scene->GetNewton()); NewtonMeshBuildFromVertexListIndexList(newtonMesh, &vertexFormat); // now we can use this mesh for lot of stuff, we can apply UV, we can decompose into convex, NewtonCollision* const collision = NewtonCreateConvexHullFromMesh(scene->GetNewton(), newtonMesh, 0.001f, 0); // for now we will simple make simple Box, make a visual Mesh DemoMesh* const visualMesh = new DemoMesh (newtonMesh); dMatrix matrix (dGetIdentityMatrix()); matrix.m_posit = origin; matrix.m_posit.m_w = 1.0f; NewtonBody* const body = CreateSimpleSolid(scene, visualMesh, mass, matrix, collision, 0); dVector veloc(1, 0, 2, 0); NewtonBodySetVelocity(body, &veloc[0]); visualMesh->Release(); NewtonDestroyCollision(collision); NewtonMeshDestroy (newtonMesh); return body; }
static NewtonBody* CreateSimpleNewtonMeshBox (DemoEntityManager* const scene, const dVector& origin, const dVector& scale, dFloat mass) { // the vertex array, vertices's has for values, x, y, z, w // w is use as a id to have multiple copy of the same very, like for example mesh that share more than two edges. // in most case w can be set to 0.0 static dFloat64 BoxPoints[] = { -1.0, -1.0, -1.0, 0.0, -1.0, -1.0, 1.0, 0.0, -1.0, 1.0, 1.0, 0.0, -1.0, 1.0, -1.0, 0.0, 1.0, -1.0, -1.0, 0.0, 1.0, -1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 0.0, 1.0, 1.0, -1.0, 0.0, }; // the vertex index list is an array of all the face, in any order, the can be convex or concave, // and has and variable umber of indices static int BoxIndices[] = { 2,3,0,1, // this is quad 5,2,1, // triangle 6,2,5, // another triangle 5,1,0,4, // another quad 2,7,3, // and so on 6,7,2, 3,4,0, 7,4,3, 7,5,4, 6,5,7 }; // the number of index for each face is specified by an array of consecutive face index static int faceIndexList [] = {4, 3, 3, 4, 3, 3, 3, 3, 3, 3}; // each face can have an arbitrary index that the application can use as a material index // for example the index point to a texture, we can have the each face of the cube with a different texture static int faceMateriaIndexList [] = {0, 4, 4, 2, 3, 3, 3, 3, 3, 3}; // the normal is specified per vertex and each vertex can have a unique normal or a duplicated // for example a cube has 6 normals static dFloat normal[] = { 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, -1.0, }; static int faceNormalIndex [] = { 0, 0, 0, 0, // first face uses the first normal of each vertex 3, 3, 3, // second face uses the third normal 3, 3, 3, // third face uses the fifth normal 1, 1, 1, 1, // third face use the second normal 2, 2, 2, // and so on 2, 2, 2, 4, 2, 1, // a face can have per vertex normals 4, 4, 4, 5, 5, 5, // two coplanar face can even has different normals 3, 2, 0, }; /* // the UV are encode the same way as the vertex an the normals, a UV list and an index list // since we do not have UV we can assign the all to zero static dFloat uv0[] = { 0, 0}; static int uv0_indexList [] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, }; */ dBigVector array[8]; dBigVector scale1 (scale); for (int i = 0; i < 8; i ++) { dBigVector p(&BoxPoints[i * 4]); array[i] = scale1 * p; } NewtonMeshVertexFormat vertexFormat; NewtonMeshClearVertexFormat(&vertexFormat); vertexFormat.m_faceCount = 10; vertexFormat.m_faceIndexCount = faceIndexList; vertexFormat.m_faceMaterial = faceMateriaIndexList; vertexFormat.m_vertex.m_data = &array[0][0]; vertexFormat.m_vertex.m_indexList = BoxIndices; vertexFormat.m_vertex.m_strideInBytes = sizeof (dBigVector); vertexFormat.m_normal.m_data = normal; vertexFormat.m_normal.m_indexList = faceNormalIndex; vertexFormat.m_normal.m_strideInBytes = 3 * sizeof (dFloat); // all channel are now optionals so we not longer has to pass default values // vertexFormat.m_uv0.m_data = uv0; // vertexFormat.m_uv0.m_indexList = uv0_indexList; // vertexFormat.m_uv0.m_strideInBytes = 2 * sizeof (dFloat); // now we create and empty mesh NewtonMesh* const newtonMesh = NewtonMeshCreate(scene->GetNewton()); NewtonMeshBuildFromVertexListIndexList(newtonMesh, &vertexFormat); // now we can use this mesh for lot of stuff, we can apply UV, we can decompose into convex, NewtonCollision* const collision = NewtonCreateConvexHullFromMesh(scene->GetNewton(), newtonMesh, 0.001f, 0); // for now we will simple make simple Box, make a visual Mesh DemoMesh* const visualMesh = new DemoMesh (newtonMesh); dMatrix matrix (dGetIdentityMatrix()); matrix.m_posit = origin; matrix.m_posit.m_w = 1.0f; NewtonBody* const body = CreateSimpleSolid (scene, visualMesh, mass, matrix, collision, 0); visualMesh->Release(); NewtonDestroyCollision(collision); NewtonMeshDestroy (newtonMesh); return body; }