void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
NewtonCollision* shape;
NewtonBody* floorBody;
void* materialManager;
SoundManager* sndManager;
PhysicsMaterialInteration matInterations;
sndManager = sceneManager->GetSoundManager();
// Create the material for this scene, and attach it to the Newton World
materialManager = CreateMaterialManager (world, sndManager);
// add the Material table
matInterations.m_restitution = 0.6f;
matInterations.m_staticFriction = 0.6f;
matInterations.m_kineticFriction = 0.3f;
matInterations.m_scrapingSound = NULL;
matInterations.m_impactSound = sndManager->LoadSound ("metalMetal.wav");
AddMaterilInteraction (materialManager, m_metal, m_metal, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxBox.wav");
AddMaterilInteraction (materialManager, m_wood, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metalBox.wav");
AddMaterilInteraction (materialManager, m_metal, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass0.wav");
AddMaterilInteraction (materialManager, m_wood, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxHit.wav");
AddMaterilInteraction (materialManager, m_wood, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass1.wav");
AddMaterilInteraction (materialManager, m_metal, m_grass, &matInterations);
AddMaterilInteraction (materialManager, m_grass, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metal.wav");
AddMaterilInteraction (materialManager, m_metal, m_bricks, &matInterations);
AddMaterilInteraction (materialManager, m_grass, m_grass, &matInterations);
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
floor->LoadMesh ("LevelMesh.dat");
// add static floor Physics
int materialMap[] = {m_bricks, m_grass, m_wood, m_metal};
shape = CreateMeshCollision (world, floor, materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
// add some visual entities.
dFloat y0 = FindFloor (world, 0.0f, 0.0f) + 10.0f;
for (int i = 0; i < 5; i ++) {
Entity* smilly;
NewtonBody* smillyBody;
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = y0;
y0 += 2.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, m_metal);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
// add some visual entities.
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, m_wood);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
y0 = FindFloor (world, 0.0f, 2.0f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("dumb.dat");
frowny->m_curPosition.m_z = 2.0f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
int materialMap[] = {m_grass, m_wood, m_metal, m_metal};
shape = CreateNewtonCompoundFromEntitySubmesh (world, frowny, materialMap);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
// set the Camera EyePoint close to the scene action
InitCamera (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
Entity* smilly;
Entity* frowny;
NewtonBody* floorBody;
NewtonBody* smillyBody;
NewtonBody* frownyBody;
NewtonCollision* shape;
// Create the material for this scene
CreateMateials (world, sceneManager);
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
// add scene collision from a level mesh
shape = CreateHeightFieldCollision (world, "h2.raw", 0);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// make a visual mesh for the collision data
CreateHeightFieldMesh (shape, floor);
// set the matrix at the origin
dVector boxP0;
dVector boxP1;
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// place the origin of the visual mesh at the center of the height field
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
floor->m_curPosition = matrix.m_posit;
floor->m_prevPosition = matrix.m_posit;
// relocate the body;
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// add some extra padding
boxP0.m_x -= 50.0f;
boxP0.m_y -= 500.0f;
boxP0.m_z -= 50.0f;
boxP1.m_x += 50.0f;
boxP1.m_y += 500.0f;
boxP1.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &boxP0[0], &boxP1[0]);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (floorBody, g_floorMaterial);
// add some visual entities.
dFloat y0 = FindFloor (world, 0.0f, 0.0f) + 10.0f;
for (int i = 0; i < 5; i ++) {
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = y0;
y0 += 2.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (smillyBody, g_metalMaterial);
}
// add some visual entities.
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
// assign an Material ID to this body
NewtonBodySetMaterialGroupID (frownyBody, g_woodMaterial);
}
// set the Camera EyePoint close to the scene action
InitCamera (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
}
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
// add some visual entities.
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = 10.0f + 0.4f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
/*
The only difference between the creation of these bodies is that these bodies
have non zero mass. In the Newton world when a body have a zero Mass, it is
consider to be a Static body. Also these are much more smaller entities.
*/
The second body uses a different collision mesh called Convex Hull. The utility function to create a convex hull collision mesh looks like this
NewtonCollision* CreateNewtonConvex (NewtonWorld* world, Entity *ent, int shapeId)
{
// now create a convex hull shape from the vertex geometry
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
Entity* smilly;
Entity* frowny;
NewtonBody* floorBody;
NewtonBody* smillyBody;
NewtonBody* frownyBody;
NewtonCollision* shape;
////////////////////////////////////////////////////////////////////////////////
// STATIC BODY 1 - FLOOR
////////////////////////////////////////////////////////////////////////////////
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
floor->LoadMesh ("FloorBox.dat");
// add static floor Physics
shape = CreateNewtonBox (world, floor, 0);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonReleaseCollision (world, shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
// DYNAMIC BODY 1
////////////////////////////////////////////////////////////////////////////////
// add some visual entities.
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = 10.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonReleaseCollision (world, shape);
////////////////////////////////////////////////////////////////////////////////
// DYNAMIC BODY 2
////////////////////////////////////////////////////////////////////////////////
// add some visual entities.
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = 10.0f + 0.4f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonReleaseCollision (world, shape);
}
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
Entity* smilly;
Entity* frowny;
NewtonBody* floorBody;
NewtonBody* smillyBody;
NewtonBody* frownyBody;
NewtonCollision* shape;
// initialize the camera
InitCamera (dVector (-15.0f, 5.0f, 0.0f, 0.0f), dVector (1.0f, 0.0f, 0.0f));
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
floor->LoadMesh ("FloorBox.dat");
// add static floor Physics
shape = CreateNewtonBox (world, floor, 0);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
// add some visual entities.
smilly = sceneManager->CreateEntity();
smilly->LoadMesh ("Smilly.dat");
smilly->m_curPosition.m_y = 10.0f;
smilly->m_prevPosition = smilly->m_curPosition;
// add a body with a box shape
shape = CreateNewtonBox (world, smilly, 0);
smillyBody = CreateRigidBody (world, smilly, shape, 10.0f);
NewtonDestroyCollision(shape);
// add some visual entities.
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = 10.0f + 0.4f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonDestroyCollision(shape);
// we will Link the Frowny Body to the world with Hinge regenerated from a Generic 6DOF joint.
matrix = GetIdentityMatrix();
matrix.m_posit = frowny->m_curPosition;
matrix.m_posit.m_z += 0.2f;
matrix.m_posit.m_y += 0.4f;
// specify the limits for defining a Hinge around the x axis
dVector minLinearLimits (0.0f, 0.0f, 0.0f, 0.0f);
dVector maxLinearLimits (0.0f, 0.0f, 0.0f, 0.0f);
dVector minAngulaLimits (-0.5f * 3.1416f, 0.0f, 0.0f, 0.0f);
dVector maxAngulaLimits ( 0.5f * 3.1416f, 0.0f, 0.0f, 0.0f);
NewtonUserJoint* frownyHinge;
// Create a 6DOF joint
frownyHinge = CreateCustomJoint6DOF (&matrix[0][0], &matrix[0][0], frownyBody, NULL);
// set the hinge Limits
CustomJoint6DOF_SetLinearLimits (frownyHinge, &minLinearLimits[0], &maxLinearLimits[0]);
CustomJoint6DOF_SetAngularLimits (frownyHinge, &minAngulaLimits[0], &maxAngulaLimits[0]);
// now we will link the body of Smilly and Frowny with a specialize Hinge Joint
NewtonUserJoint* smillyFrownyHinge;
matrix.m_posit = smilly->m_curPosition;
matrix.m_posit.m_z += 0.2f;
matrix.m_posit.m_y += 0.4f;
smillyFrownyHinge = CreateCustomHinge (&matrix[0][0], smillyBody, frownyBody);
HingeEnableLimits (smillyFrownyHinge, 1);
HingeSetLimits (smillyFrownyHinge, -0.5f * 3.1416f, 0.5f * 3.1416f);
// smillyFrownyHinge = CreateCustomBallAndSocket (&matrix[0][0], smillyBody, frownyBody);
// BallAndSocketSetConeAngle (smillyFrownyHinge, 0.5f * 3.1416f);
// BallAndSocketSetTwistAngle (smillyFrownyHinge, -0.5f * 3.1416f, 0.5f * 3.1416f);
// smillyFrownyHinge = CreateCustomSlider (&matrix[0][0], smillyBody, frownyBody);
// SliderEnableLimits (smillyFrownyHinge, 1);
// SliderSetLimis (smillyFrownyHinge, -0.5f * 3.1416f, 0.5f * 3.1416f);
{
// adding two Kinematic controlled object
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 4.0f;
frowny->m_curPosition.m_y = 7.0f;
frowny->m_prevPosition = frowny->m_curPosition;
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonDestroyCollision(shape);
FollowPath* path;
NewtonUserJoint* g_pathFollow;
path = (FollowPath*) malloc (sizeof (FollowPath));
NewtonBodyGetMatrix (frownyBody, &matrix[0][0]);
path->m_origin = matrix.m_posit;
path->m_angle = 0.0f;
path->radius = 3.0f;
g_pathFollow = CreateCustomKinematicController (frownyBody, &matrix.m_posit[0]);
CustomKinematicControllerSetPickMode (g_pathFollow, 1);
CustomKinematicControllerSetMaxAngularFriction (g_pathFollow, 200.0f);
CustomKinematicControllerSetMaxLinearFriction (g_pathFollow, 1000.0f);
CustomSetUserData(g_pathFollow, path);
CustomSetDestructorCallback(g_pathFollow, FollowPath::Destroy);
CustomSetSubmitContraintCallback (g_pathFollow, FollowPath::EvaluatePath);
matrix = path->BuildMatrix (0.0f);
NewtonBodySetMatrix(frownyBody, &matrix[0][0]);
}
{
// adding two Kinematic controlled object
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = -4.0f;
frowny->m_curPosition.m_y = 6.0f;
frowny->m_prevPosition = frowny->m_curPosition;
shape = CreateNewtonConvex (world, frowny, 0);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonDestroyCollision(shape);
FollowPath* path;
NewtonUserJoint* g_pathFollow;
path = (FollowPath*) malloc (sizeof (FollowPath));
NewtonBodyGetMatrix (frownyBody, &matrix[0][0]);
path->m_origin = matrix.m_posit;
path->m_angle = 3.1416f;
path->radius = 3.0f;
g_pathFollow = CreateCustomKinematicController (frownyBody, &matrix.m_posit[0]);
CustomKinematicControllerSetPickMode (g_pathFollow, 1);
CustomKinematicControllerSetMaxAngularFriction (g_pathFollow, 200.0f);
CustomKinematicControllerSetMaxLinearFriction (g_pathFollow, 1000.0f);
CustomSetUserData(g_pathFollow, path);
CustomSetDestructorCallback(g_pathFollow, FollowPath::Destroy);
CustomSetSubmitContraintCallback (g_pathFollow, FollowPath::EvaluatePath);
matrix = path->BuildMatrix (0.0f);
NewtonBodySetMatrix(frownyBody, &matrix[0][0]);
}
}
