void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = CreatePhysics();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Set Core Dump directory
char buff[512];
FindMediaFile(fnameCD, buff);
#ifdef WIN32
SetCurrentDirectory(buff);
#elif LINUX
chdir(buff);
#endif
// Create the objects in the scene
NxActor* groundPlane = CreateGroundPlane();
NxActor* box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
NxActor* sphere = CreateSphere(NxVec3(0,0,0), 1, 10);
NxActor* capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
// pyramid = CreatePyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
AddUserDataToActors(gScene);
gSelectedActor = capsule;
// gSelectedActor = pyramid;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void MasterEntity::InitEntity( EntityID id, bool hidden, bool dummy )
{
m_EntityID = id;
if( !dummy )
{
CreatePhysics();
m_Physics->SetMaster( this );
gGame->GetWorld()->AddEntity( GetEntityID(), m_Physics.Self() );
}
if( !hidden )
CreateGraphics();
}
bool MainScene::init()
{
// Create physical world
CreatePhysics();
// Create the body with fixtures
CreateBody();
// Adding the debug lines so that we can draw the path followed.
addChild(DebugLinesLayer::create());
// Box2d Debug
addChild(Box2DDebugDrawLayer::create(_world));
// Grid
addChild(GridLayer::create());
return true;
}
bool CMotionSpider::Create(Math::Vector pos, float angle, ObjectType type,
float power)
{
int rank, i, j, parent;
char name[50];
float table[] =
{
// x y z
0.6f, 0.0f, 0.0f, // back leg
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
0.8f, 0.0f, -0.2f, // middle-back leg
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
1.0f, 0.0f, -0.2f, // middle-front leg
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
1.2f, 0.0f, 0.0f, // front leg
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
0.0f, 0.0f, -2.0f,
};
Gfx::CModelManager* modelManager = Gfx::CModelManager::GetInstancePointer();
m_object->SetType(type);
// Creates the main base.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_VEHICLE); // this is a moving object
m_object->SetObjectRank(0, rank);
// This is an "empty" object, without triangles
m_object->SetPosition(0, pos);
m_object->SetAngleY(0, angle);
// A vehicle must have a obligatory collision
// with a sphere of center (0, y, 0) (see GetCrashSphere).
m_object->CreateCrashSphere(Math::Vector(0.0f, -2.0f, 0.0f), 4.0f, SOUND_BOUM, 0.20f);
m_object->SetGlobalSphere(Math::Vector(-0.5f, 1.0f, 0.0f), 4.0f);
// Creates the abdomen.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(1, rank);
m_object->SetObjectParent(1, 0);
modelManager->AddModelReference("spider1.mod", false, rank);
m_object->SetPosition(1, Math::Vector(1.0f, 0.0f, 0.0f));
// Creates the head.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(2, rank);
m_object->SetObjectParent(2, 0);
modelManager->AddModelReference("spider2.mod", false, rank);
m_object->SetPosition(2, Math::Vector(1.0f, 0.0f, 0.0f));
// Creates legs.
for ( i=0 ; i<4 ; i++ )
{
for ( j=0 ; j<4 ; j++ )
{
sprintf(name, "spider%d.mod", j+3); // 3..6
// Creates the right leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(3+i*4+j, rank);
if ( j == 0 ) parent = 0;
else parent = 3+i*4+j-1;
m_object->SetObjectParent(3+i*4+j, parent);
modelManager->AddModelReference(name, false, rank);
pos.x = table[i*12+j*3+0];
pos.y = table[i*12+j*3+1];
pos.z = table[i*12+j*3+2];
m_object->SetPosition(3+i*4+j, pos);
// Creates the left leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(19+i*4+j, rank);
if ( j == 0 ) parent = 0;
else parent = 19+i*4+j-1;
m_object->SetObjectParent(19+i*4+j, parent);
modelManager->AddModelReference(name, true, rank);
pos.x = table[i*12+j*3+0];
pos.y = table[i*12+j*3+1];
pos.z = -table[i*12+j*3+2];
m_object->SetPosition(19+i*4+j, pos);
}
}
// Creates the right mandible.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(35, rank);
m_object->SetObjectParent(35, 1);
modelManager->AddModelReference("spider7.mod", false, rank);
m_object->SetPosition(35, Math::Vector(0.0f, 0.0f, -0.3f));
// Creates the left mandible.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(36, rank);
m_object->SetObjectParent(36, 1);
modelManager->AddModelReference("spider7.mod", true, rank);
m_object->SetPosition(36, Math::Vector(0.0f, 0.0f, 0.3f));
m_object->CreateShadowCircle(4.0f, 0.5f);
CreatePhysics();
m_object->SetFloorHeight(0.0f);
pos = m_object->GetPosition(0);
m_object->SetPosition(0, pos); // to display the shadows immediately
m_engine->LoadAllTextures();
return true;
}
bool CMotionAnt::Create(Math::Vector pos, float angle, ObjectType type,
float power)
{
Gfx::CModelManager* modelManager = Gfx::CModelManager::GetInstancePointer();
int rank;
m_object->SetType(type);
// Creates the main base.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_VEHICLE); // this is a moving object
m_object->SetObjectRank(0, rank);
modelManager->AddModelReference("ant1.mod", false, rank);
m_object->SetPosition(0, pos);
m_object->SetAngleY(0, angle);
// A vehicle must have necessarily a collision
//with a sphere of center (0, y, 0) (see GetCrashSphere).
m_object->CreateCrashSphere(Math::Vector(0.0f, -2.0f, 0.0f), 4.0f, SOUND_BOUM, 0.20f);
m_object->SetGlobalSphere(Math::Vector(-0.5f, 1.0f, 0.0f), 4.0f);
// Creates the head.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(1, rank);
m_object->SetObjectParent(1, 0);
modelManager->AddModelReference("ant2.mod", false, rank);
m_object->SetPosition(1, Math::Vector(2.0f, 0.0f, 0.0f));
// Creates the tail.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(2, rank);
m_object->SetObjectParent(2, 0);
modelManager->AddModelReference("ant3.mod", false, rank);
m_object->SetPosition(2, Math::Vector(-1.0f, 0.0f, 0.0f));
// Creates a right-back thigh.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(3, rank);
m_object->SetObjectParent(3, 0);
modelManager->AddModelReference("ant4.mod", false, rank);
m_object->SetPosition(3, Math::Vector(-0.4f, -0.1f, -0.3f));
// Creates a right-back leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank,Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(4, rank);
m_object->SetObjectParent(4, 3);
modelManager->AddModelReference("ant5.mod", false, rank);
m_object->SetPosition(4, Math::Vector(0.0f, 0.0f, -1.0f));
// Creates a right-back foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(5, rank);
m_object->SetObjectParent(5, 4);
modelManager->AddModelReference("ant6.mod", false, rank);
m_object->SetPosition(5, Math::Vector(0.0f, 0.0f, -2.0f));
// Creates two middle-right thighs.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(6, rank);
m_object->SetObjectParent(6, 0);
modelManager->AddModelReference("ant4.mod", false, rank);
m_object->SetPosition(6, Math::Vector(0.1f, -0.1f, -0.4f));
// Creates two middle-right legs.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(7, rank);
m_object->SetObjectParent(7, 6);
modelManager->AddModelReference("ant5.mod", false, rank);
m_object->SetPosition(7, Math::Vector(0.0f, 0.0f, -1.0f));
// Creates two middle-right foots.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(8, rank);
m_object->SetObjectParent(8, 7);
modelManager->AddModelReference("ant6.mod", false, rank);
m_object->SetPosition(8, Math::Vector(0.0f, 0.0f, -2.0f));
// Creates the right front thigh.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(9, rank);
m_object->SetObjectParent(9, 0);
modelManager->AddModelReference("ant4.mod", false, rank);
m_object->SetPosition(9, Math::Vector(1.4f, -0.1f, -0.6f));
// Creates the right front leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(10, rank);
m_object->SetObjectParent(10, 9);
modelManager->AddModelReference("ant5.mod", false, rank);
m_object->SetPosition(10, Math::Vector(0.0f, 0.0f, -1.0f));
// Creates the right front foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(11, rank);
m_object->SetObjectParent(11, 10);
modelManager->AddModelReference("ant6.mod", false, rank);
m_object->SetPosition(11, Math::Vector(0.0f, 0.0f, -2.0f));
// Creates a left-back thigh.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(12, rank);
m_object->SetObjectParent(12, 0);
modelManager->AddModelReference("ant4.mod", true, rank);
m_object->SetPosition(12, Math::Vector(-0.4f, -0.1f, 0.3f));
// Creates a left-back leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(13, rank);
m_object->SetObjectParent(13, 12);
modelManager->AddModelReference("ant5.mod", true, rank);
m_object->SetPosition(13, Math::Vector(0.0f, 0.0f, 1.0f));
// Creates a left-back foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(14, rank);
m_object->SetObjectParent(14, 13);
modelManager->AddModelReference("ant6.mod", true, rank);
m_object->SetPosition(14, Math::Vector(0.0f, 0.0f, 2.0f));
// Creates two middle-left thighs.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(15, rank);
m_object->SetObjectParent(15, 0);
modelManager->AddModelReference("ant4.mod", true, rank);
m_object->SetPosition(15, Math::Vector(0.1f, -0.1f, 0.4f));
// Creates two middle-left legs.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(16, rank);
m_object->SetObjectParent(16, 15);
modelManager->AddModelReference("ant5.mod", true, rank);
m_object->SetPosition(16, Math::Vector(0.0f, 0.0f, 1.0f));
// Creates two middle-left foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(17, rank);
m_object->SetObjectParent(17, 16);
modelManager->AddModelReference("ant6.mod", true, rank);
m_object->SetPosition(17, Math::Vector(0.0f, 0.0f, 2.0f));
// Creates the left front thigh.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(18, rank);
m_object->SetObjectParent(18, 0);
modelManager->AddModelReference("ant4.mod", true, rank);
m_object->SetPosition(18, Math::Vector(1.4f, -0.1f, 0.6f));
// Creates the left front leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(19, rank);
m_object->SetObjectParent(19, 18);
modelManager->AddModelReference("ant5.mod", true, rank);
m_object->SetPosition(19, Math::Vector(0.0f, 0.0f, 1.0f));
// Creates the left front foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(20, rank);
m_object->SetObjectParent(20, 19);
modelManager->AddModelReference("ant6.mod", true, rank);
m_object->SetPosition(20, Math::Vector(0.0f, 0.0f, 2.0f));
m_object->CreateShadowCircle(4.0f, 0.5f);
CreatePhysics();
m_object->SetFloorHeight(0.0f);
pos = m_object->GetPosition(0);
m_object->SetPosition(0, pos); // to display the shadows immediately
m_engine->LoadAllTextures();
return true;
}
// loading a robot from a file
bool VDSSceneEntity::Load( const char* _pFileName, bool _bCreatePhysics )
{
// Create a file pointer
TSRFileStream* fPtr = NULL;
unsigned int k; // looping indices
// open the file for loading as read, binary
fPtr = TSRFileSystem::OpenFileStream( _pFileName, "rb" );
// on failure.. return failure and do nothing
if ( !fPtr )
{
return false;
}
// destroy any existing data
//SelfDestruct();
// two float data might be nedded
float Length1, Length2;
// clear the already existing robot
//SelfDestruct();
// pointer to iterate with through blocks
VDSBuildingBlock* pCurBlock;
// block type of the loaded block
eBlockType BlockType;
TSRVector3 Dimensions;
// first read the number of blocks coming
unsigned int NumBlocks;
fread( &NumBlocks, sizeof( int ), 1, fPtr );
unsigned int NumInputs;
fread( &NumInputs, sizeof( int ), 1, fPtr );
// number of rows and columns is needed before creating the blocks being loaded
int NumRows;
int NumCols;
// now loop and read them one by one
for ( k = 0; k < NumBlocks; k++ )
{
// first read the type of the block found
fread( &BlockType, sizeof( BlockType ), 1, fPtr );
// then read the number of rows and columns
fread( &NumRows, sizeof( NumRows ), 1, fPtr );
fread( &NumCols, sizeof( NumRows ), 1, fPtr );
// according to the type
// switch and create a new object
switch ( BlockType )
{
case BLOCK_FIXEDBASE:
int ThickNess;
fread( &ThickNess, sizeof( int ), 1, fPtr );
pCurBlock = new VDSBrick( NumRows, NumCols, ThickNess );
break;
case BLOCK_LEVER:
float MaxTrans;
fread( &MaxTrans, sizeof( float ), 1, fPtr );
pCurBlock = new VDSLeverBrick( NumRows, NumCols, MaxTrans );
break;
case BLOCK_ROTBASE:
pCurBlock = new VDSRotatingBrick( NumRows, NumCols );
break;
case BLOCK_PYRAMID:
pCurBlock = new VDSPyramidBrick;
break;
case BLOCK_WHEEL:
{
// read the radius and thickness of the wheel
float Radius, Thickness;
// additional data for the double arm (second joint response)
fread( &Radius, sizeof( float ), 1, fPtr );
fread( &Thickness, sizeof( float ), 1, fPtr );
pCurBlock = new VDSWheelBrick( NumRows, NumCols, Radius, Thickness );
break;
}
case BLOCK_DOUBLEWHEEL:
{
// read the radius and thickness of the wheel
float Radius, Thickness;
// additional data for the double arm (second joint response)
fread( &Radius, sizeof( float ), 1, fPtr );
fread( &Thickness, sizeof( float ), 1, fPtr );
pCurBlock = new VDSDoubleWheelBrick( NumRows, NumCols, Radius, Thickness );
break;
}
case BLOCK_SINGLEARM:
{
// cast into a single arm to get the data
fread( &Length1, sizeof( float ), 1, fPtr );
pCurBlock = new VDSArmBrick( Length1, NumRows, NumCols );
VDSArmBrick* pArm = ( VDSDoubleArmBrick* ) pCurBlock;
fread( &pArm->m_AlignedEnd, sizeof( bool ), 1, fPtr );
}
break;
case BLOCK_DOUBLEARM:
{
// cast into a single arm to get the data
fread( &Length1, sizeof( float ), 1, fPtr );
fread( &Length2, sizeof( float ), 1, fPtr );
pCurBlock = new VDSDoubleArmBrick( Length1, Length2, NumRows, NumCols );
// put omega and zeta in the 2nd arm
VDSDoubleArmBrick* pArm = ( VDSDoubleArmBrick* ) pCurBlock;
fread( &pArm->m_Arm2Response.m_Wn, sizeof( float ), 1, fPtr );
fread( &pArm->m_Arm2Response.m_Zeta, sizeof( float ), 1, fPtr );
fread( &pArm->m_AlignedEnd, sizeof( bool ), 1, fPtr );
}
break;
case BLOCK_IKARM:
break;
case BLOCK_EYE:
{
pCurBlock = new VDSCameraBrick( NumRows, NumCols );
// cast into a eye to get the data..put it in file..
VDSCameraBrick* pEye = ( VDSCameraBrick* ) pCurBlock;
// additional data for the eye
fread( &pEye->m_PitchResponse.m_Wn, sizeof( float ), 1, fPtr );
fread( &pEye->m_PitchResponse.m_Zeta, sizeof( float ), 1, fPtr );
fread( &pEye->m_RollResponse.m_Wn, sizeof( float ), 1, fPtr );
fread( &pEye->m_RollResponse.m_Zeta, sizeof( float ), 1, fPtr );
}
break;
default:
break;
}
// put omega and zeta from the file (response parameters)
// only do this if this not a fixed plate
if ( pCurBlock->m_Type != BLOCK_FIXEDBASE )
{
float W, Z;
fread( &Z, sizeof( float ), 1, fPtr );
fread( &W, sizeof( float ), 1, fPtr );
pCurBlock->SetResponseParams( W, Z );
}
// load the block name
fread( pCurBlock->m_Name, sizeof( pCurBlock->m_Name ), 1, fPtr );
// load the parent index, which will be -1 for the root block
fread( &pCurBlock->m_ParentIndex, sizeof( pCurBlock->m_ParentIndex ), 1, fPtr );
// load the relation between the object and its parent
fread( &pCurBlock->m_bParentIsUp, sizeof( pCurBlock->m_bParentIsUp ), 1, fPtr );
// load the pivot position
fread( &pCurBlock->m_PivotX, sizeof( pCurBlock->m_PivotX ), 1, fPtr );
fread( &pCurBlock->m_PivotY, sizeof( pCurBlock->m_PivotX ), 1, fPtr );
// now load the slot map data
// starting and ending positions, and dimensions
// load the upper slot first
fread( &pCurBlock->m_UpSlots.m_uiRowsCount, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount ), 1, fPtr );
fread( &pCurBlock->m_UpSlots.m_NumColumns, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount ), 1, fPtr );
fread( &pCurBlock->m_UpSlots.m_StartX, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount ), 1, fPtr );
fread( &pCurBlock->m_UpSlots.m_StartY, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount ), 1, fPtr );
// allocate places in the upper slots
pCurBlock->m_UpSlots.Create( pCurBlock->m_UpSlots.m_uiRowsCount, pCurBlock->m_UpSlots.m_NumColumns );
//pCurBlock->m_UpSlots.m_EndX = pCurBlock->m_UpSlots.m_StartX + pCurBlock->m_UpSlots.m_uiRowsCount;
//pCurBlock->m_UpSlots.m_EndY = pCurBlock->m_UpSlots.m_StartY + pCurBlock->m_UpSlots.m_NumColumns;
// load the lowers slots
fread( &pCurBlock->m_DownSlots.m_uiRowsCount, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount ), 1, fPtr );
fread( &pCurBlock->m_DownSlots.m_NumColumns, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount), 1, fPtr );
fread( &pCurBlock->m_DownSlots.m_StartX, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount), 1, fPtr );
fread( &pCurBlock->m_DownSlots.m_StartY, sizeof( pCurBlock->m_UpSlots.m_uiRowsCount), 1, fPtr );
//pCurBlock->m_DownSlots.m_EndX = pCurBlock->m_DownSlots.m_StartX + pCurBlock->m_DownSlots.m_uiRowsCount;
//pCurBlock->m_DownSlots.m_EndY = pCurBlock->m_DownSlots.m_StartY + pCurBlock->m_DownSlots.m_NumColumns;
// allocate places in the lower slots
pCurBlock->m_DownSlots.Create( pCurBlock->m_DownSlots.m_uiRowsCount, pCurBlock->m_DownSlots.m_NumColumns );
// the slots will be automatically filled when we call put on/put below
// finally load the matrix
// load the bounding box matrix
fread( pCurBlock->m_BoundBox.m_Transform.d, sizeof( TSRMatrix4 ), 1, fPtr );
// and the bounding box dimensions
fread( &pCurBlock->m_BoundBox.m_Dimensions, sizeof( TSRVector3 ), 1, fPtr );
// Load the material
fread( &pCurBlock->m_Material, sizeof( sVDSMaterialDescriptor ), 1, fPtr );
// load the density
fread( &pCurBlock->m_Density, sizeof( float ), 1, fPtr );
pCurBlock->SetDensity( pCurBlock->m_Density );
// block loaded, add it
m_AllBlocks.push_back( pCurBlock );
}//
eVDSInputType InputType;
// now we should load the input objects
for ( k = 0; k < NumInputs; k++ )
{
// save the block type first
fread( &InputType, sizeof( eVDSInputType ), 1, fPtr );
// accoring to the type
// save additional data..
switch ( InputType )
{
case KEYS_INPUT:
{
VDSKeyBoardInput* pKey = new VDSKeyBoardInput;
fread( &pKey->m_BlockIndex, sizeof( int ), 1, fPtr );
fread( &pKey->m_Key, sizeof( unsigned long ), 1, fPtr );
fread( &pKey->m_Value1, sizeof( float ), 1, fPtr );
fread( &pKey->m_Value2, sizeof( float ), 1, fPtr );
fread( &pKey->m_Value3, sizeof( float ), 1, fPtr );
m_AllInputs.push_back( pKey );
}
break;
case MOUS_INPUT:
{
VDSMouseInput* pMous=new VDSMouseInput;
fread( &pMous->m_BlockIndex, sizeof( int ), 1, fPtr );
fread( &pMous->m_Scale1, sizeof( float ), 1, fPtr );
fread( &pMous->m_Scale2, sizeof( float ), 1, fPtr );
fread( &pMous->m_Scale3, sizeof( float ), 1, fPtr );
fread( &pMous->m_bUseX, sizeof( bool ), 1, fPtr );
m_AllInputs.push_back(pMous);
}
break;
}
}
// after loading everything..
// its time to assemble the block together
for ( k = 0; k < m_AllBlocks.size(); k++ )
{
// if the block has a parent
if ( m_AllBlocks[ k ]->m_ParentIndex != -1 )
{
// call puton/putbelow according to the boolean (m_bParentIsUp)
if ( m_AllBlocks[ k ]->m_bParentIsUp )
{
m_AllBlocks[ k ]->PutBelow( *m_AllBlocks[ m_AllBlocks[ k ]->m_ParentIndex ] );
}
else
{
m_AllBlocks[ k ]->PutOn( *m_AllBlocks[ m_AllBlocks[ k ]->m_ParentIndex ] );
}
}
}
// point to the root
if ( m_AllBlocks.size() )
{
m_pRootBlock = m_AllBlocks[ 0 ];
// get pointers to all eyes in the robot
for ( unsigned int i = 0; i < m_AllBlocks.size(); i++ )
{
if ( m_AllBlocks[ i ]->m_Type == BLOCK_EYE )
{
m_aCameras.push_back( ( VDSCameraBrick* ) m_AllBlocks[ i ] );
}
}
}
else
{
m_pRootBlock = NULL;
}
// done..close the file and return success
fclose( fPtr );
if ( _bCreatePhysics )
{
Translate( 0.0f, 50.0f, 0.0f );
GenerateRigidBodiesDescriptors();
CreatePhysics();
}
return true;
}
void CMotionWorm::Create(Math::Vector pos, float angle, ObjectType type,
float power, Gfx::COldModelManager* modelManager)
{
int rank, i;
float px;
m_object->SetType(type);
// Creates the main base.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_VEHICLE); // this is a moving object
m_object->SetObjectRank(0, rank);
// This is an "empty" object, without triangles
m_object->SetPosition(pos);
m_object->SetRotationY(angle);
// A vehicle must have a obligatory collision with a sphere of center (0, y, 0) (see GetCrashSphere).
m_object->AddCrashSphere(CrashSphere(Math::Vector(0.0f, 0.0f, 0.0f), 4.0f, SOUND_BOUM, 0.20f));
m_object->SetCameraCollisionSphere(Math::Sphere(Math::Vector(0.0f, 0.0f, 0.0f), 5.0f));
px = 1.0f+WORM_PART/2;
// Creates the head.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(1, rank);
m_object->SetObjectParent(1, 0);
modelManager->AddModelReference("worm1.mod", false, rank);
m_object->SetPartPosition(1, Math::Vector(px, 0.0f, 0.0f));
px -= 1.0f;
// Creates the body.
for ( i=0 ; i<WORM_PART ; i++ )
{
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(2+i, rank);
m_object->SetObjectParent(2+i, 0);
modelManager->AddModelReference("worm2.mod", false, rank);
m_object->SetPartPosition(2+i, Math::Vector(px, 0.0f, 0.0f));
px -= 1.0f;
}
// Creates the tail.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(2+WORM_PART, rank);
m_object->SetObjectParent(2+WORM_PART, 0);
modelManager->AddModelReference("worm3.mod", false, rank);
m_object->SetPartPosition(2+WORM_PART, Math::Vector(px, 0.0f, 0.0f));
m_object->CreateShadowCircle(0.0f, 1.0f, Gfx::ENG_SHADOW_WORM);
CreatePhysics();
m_object->SetFloorHeight(0.0f);
pos = m_object->GetPosition();
m_object->SetPosition(pos); // to display the shadows immediately
m_engine->LoadAllTextures();
}
void MainScene::onEnter()
{
CCScene::onEnter();
// Create physical world
CreatePhysics();
// Add a color background. This will make it easier on the eyes.
addChild(SunBackgroundLayer::create());
// Adding the debug lines so that we can draw the path followed.
DebugLinesLayer* linesLayer = DebugLinesLayer::create();
assert(linesLayer != NULL);
addChild(DebugLinesLayer::create());
linesLayer->setTag(TAG_DEBUG_LINES);
addChild(linesLayer);
// Grid
// This should be at the bottom of the layer stack.
GridLayer* gridLayer = GridLayer::create(5);
assert(gridLayer != NULL);
gridLayer->setTag(TAG_DEBUG_GRID);
addChild(gridLayer);
// Box2d Debug
Box2DDebugDrawLayer* debugLayer = Box2DDebugDrawLayer::create(_world);
assert(debugLayer != NULL);
debugLayer->setTag(TAG_DEBUG_BOX2D);
addChild(debugLayer);
// Asteroids
_asteroidLayer = SpriteBatchLayer::create("Asteroids_ImgData.png", "Asteroids_ImgData.plist");
assert(_asteroidLayer != NULL);
addChild(_asteroidLayer);
// Space Ships
_shipLayer = SpriteBatchLayer::create("EntitySpriteImages.png", "EntitySpriteImages.plist");
assert(_shipLayer != NULL);
addChild(_shipLayer);
// Touch Input
addChild(TapDragPinchInput::create(this));
// User Controls
addChild(PlayerGameControlsLayer::create());
// Create the Anchor
CreateAnchor();
// Asteroids
CreateAsteroids();
// Populate physical world
CreateEntity();
// Create the sensor grid
CreateSensors();
// Contact Counts
// addChild(GraphSensorContactLayer::create());
// Register for events
Notifier::Instance().Attach(this, NE_VIEWPORT_CHANGED);
Notifier::Instance().Attach(this, NE_GAME_COMMAND_ZOOM_IN);
Notifier::Instance().Attach(this, NE_GAME_COMMAND_ZOOM_OUT);
Notifier::Instance().Attach(this, NE_GAME_COMMAND_TRACK);
// Kickstart all sizes
ViewportChanged();
}
bool CMotionMother::Create(Math::Vector pos, float angle, ObjectType type,
float power)
{
Gfx::CModelManager* modelManager = Gfx::CModelManager::GetInstancePointer();
int rank;
m_object->SetType(type);
// Creates main base.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_VEHICLE); // this is a moving object
m_object->SetObjectRank(0, rank);
modelManager->AddModelReference("mother1.mod", false, rank);
m_object->SetPosition(0, pos);
m_object->SetAngleY(0, angle);
// A vehicle must have a obligatory collision
//with a sphere of center (0, y, 0) (see GetCrashSphere).
m_object->CreateCrashSphere(Math::Vector(0.0f, 0.0f, 0.0f), 20.0f, SOUND_BOUM, 0.20f);
m_object->SetGlobalSphere(Math::Vector(-2.0f, 10.0f, 0.0f), 25.0f);
// Creates the head.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(1, rank);
m_object->SetObjectParent(1, 0);
modelManager->AddModelReference("mother2.mod", false, rank);
m_object->SetPosition(1, Math::Vector(16.0f, 3.0f, 0.0f));
// Creates a right-back leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(2, rank);
m_object->SetObjectParent(2, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(2, Math::Vector(-5.0f, -1.0f, -12.0f));
// Creates a right-back foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(3, rank);
m_object->SetObjectParent(3, 2);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(3, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates a middle-right leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(4, rank);
m_object->SetObjectParent(4, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(4, Math::Vector(3.5f, -1.0f, -12.0f));
// Creates a middle-right foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(5, rank);
m_object->SetObjectParent(5, 4);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(5, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates a right-front leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(6, rank);
m_object->SetObjectParent(6, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(6, Math::Vector(10.0f, -1.0f, -10.0f));
// Creates a right-front foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(7, rank);
m_object->SetObjectParent(7, 6);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(7, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates a left-back leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(8, rank);
m_object->SetObjectParent(8, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(8, Math::Vector(-5.0f, -1.0f, 12.0f));
m_object->SetAngleY(8, Math::PI);
// Creates a left-back foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(9, rank);
m_object->SetObjectParent(9, 8);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(9, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates a middle-left leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(10, rank);
m_object->SetObjectParent(10, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(10, Math::Vector(3.5f, -1.0f, 12.0f));
m_object->SetAngleY(10, Math::PI);
// Creates a middle-left foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(11, rank);
m_object->SetObjectParent(11, 10);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(11, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates a left-front leg.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(12, rank);
m_object->SetObjectParent(12, 0);
modelManager->AddModelReference("mother3.mod", false, rank);
m_object->SetPosition(12, Math::Vector(10.0f, -1.0f, 10.0f));
m_object->SetAngleY(12, Math::PI);
// Creates a left-front foot.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(13, rank);
m_object->SetObjectParent(13, 12);
modelManager->AddModelReference("mother4.mod", false, rank);
m_object->SetPosition(13, Math::Vector(0.0f, 0.0f, -8.5f));
// Creates the right antenna.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(14, rank);
m_object->SetObjectParent(14, 1);
modelManager->AddModelReference("mother5.mod", false, rank);
m_object->SetPosition(14, Math::Vector(6.0f, 1.0f, -2.5f));
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(15, rank);
m_object->SetObjectParent(15, 14);
modelManager->AddModelReference("mother6.mod", false, rank);
m_object->SetPosition(15, Math::Vector(8.0f, 0.0f, 0.0f));
// Creates the left antenna.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(16, rank);
m_object->SetObjectParent(16, 1);
modelManager->AddModelReference("mother5.mod", false, rank);
m_object->SetPosition(16, Math::Vector(6.0f, 1.0f, 2.5f));
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(17, rank);
m_object->SetObjectParent(17, 16);
modelManager->AddModelReference("mother6.mod", false, rank);
m_object->SetPosition(17, Math::Vector(8.0f, 0.0f, 0.0f));
// Creates the right claw.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(18, rank);
m_object->SetObjectParent(18, 1);
modelManager->AddModelReference("mother7.mod", false, rank);
m_object->SetPosition(18, Math::Vector(-4.0f, -3.5f, -8.0f));
m_object->SetZoomX(18, 1.2f);
// Creates the left claw.
rank = m_engine->CreateObject();
m_engine->SetObjectType(rank, Gfx::ENG_OBJTYPE_DESCENDANT);
m_object->SetObjectRank(19, rank);
m_object->SetObjectParent(19, 1);
modelManager->AddModelReference("mother7.mod", true, rank);
m_object->SetPosition(19, Math::Vector(-4.0f, -3.5f, 8.0f));
m_object->SetZoomX(19, 1.2f);
m_object->CreateShadowCircle(18.0f, 0.8f);
CreatePhysics();
m_object->SetFloorHeight(0.0f);
pos = m_object->GetPosition(0);
m_object->SetPosition(0, pos); // to display the shadows immediately
m_engine->LoadAllTextures();
return true;
}
void ProcessInputs()
{
ProcessForceKeys();
// Core dump
if (bCoreDump)
{
bool ok = NXU::coreDump(gPhysicsSDK, fnameCD, NXU::FT_XML, true, false);
if(ok) {
printf("Output core dump successfully!\n");
} else {
printf("Output core dump failed!\n");
}
bCoreDump = false;
}
// Load core to core container
if (bLoadCore)
{
if(gPhysicsCollection) {
NXU::releaseCollection(gPhysicsCollection);
gPhysicsCollection = NULL;
}
gPhysicsCollection = LoadCoreDump(fnameCD);
if(!gPhysicsCollection) {
printf("Unable to load the core dump, please first save a core dump.\n");
}
else
{
printf("Core dump has been loaded into container.\n");
}
bLoadCore = false;
}
// instantiate a core dump
if(bInstantiateCore) {
if(gPhysicsCollection) {
if(gPhysicsSDK) {
ReleasePhysicsSDK(gPhysicsSDK);
gPhysicsSDK = CreatePhysics();
}
if(InstantiateCoreDump(gPhysicsSDK, gPhysicsCollection)) {
if(gPhysicsSDK->getNbScenes()) {
gScene = gPhysicsSDK->getScene(0);
AddUserDataToActors(gScene);
NxActor** actors = gScene->getActors();
gSelectedActor = *actors;
while(!IsSelectable(gSelectedActor))
{
gSelectedActor = *actors++;
}
}
printf("Core dump instantiated\n");
}
else
{
printf("Error in instantiating the core dump\n");
}
}
else
{
printf("Unable to instantiate the core dump with an empty container\n");
}
bInstantiateCore = false;
}
// Show debug wireframes
if (bDebugWireframeMode)
{
if (gScene) gDebugRenderer.renderData(*gScene->getDebugRenderable());
}
}
