static void DebugShowBodyCollision (const NewtonBody* const body, DEBUG_DRAW_MODE mode)
{
switch (NewtonBodyGetType(body))
{
case NEWTON_DYNAMIC_BODY:
{
int sleepState = NewtonBodyGetSleepState(body);
if (sleepState == 1) {
// indicate when body is sleeping
glColor3f(0.42f, 0.73f, 0.98f);
} else {
// body is active
glColor3f(1.0f, 1.0f, 1.0f);
}
break;
}
case NEWTON_KINEMATIC_BODY:
glColor3f(1.0f, 1.0f, 0.0f);
break;
case NEWTON_DEFORMABLE_BODY:
glColor3f (0.0f, 1.0f, 1.0f);
break;
}
dMatrix matrix;
NewtonBodyGetMatrix(body, &matrix[0][0]);
NewtonCollisionForEachPolygonDo (NewtonBodyGetCollision(body), &matrix[0][0], DebugShowGeometryCollision, (void*) mode);
}
virtual void SimulationPreListener(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timestep)
{
// UpdateStuff(scene);
int sleepState = NewtonBodyGetSleepState(m_puckBody);
if (sleepState)
{
LaunchPuck();
}
}
CustomKinematicController::CustomKinematicController(NewtonBody* const body, const dVector& handleInGlobalSpace)
:CustomJoint(6, body, NULL)
{
dMatrix matrix;
// get the initial position and orientation
NewtonBodyGetMatrix (body, &matrix[0][0]);
m_autoSlepState = NewtonBodyGetSleepState (body);
NewtonBodySetAutoSleep (body, 0);
m_localHandle = matrix.UntransformVector (handleInGlobalSpace);
matrix.m_posit = handleInGlobalSpace;
SetPickMode (1);
SetTargetMatrix (matrix);
SetMaxLinearFriction(1.0f);
SetMaxAngularFriction(1.0f);
}
void CarBoxCallback(const NewtonBody* body, float timestep, int threadIndex)
{
float mass, ix, iy, iz;
NewtonBodyGetMassMatrix(body, &mass, &ix, &iy, &iz);
Vector4 gravityForce = Vector4(0.0f, mass * GRAVITY, 0.0f, 1.0f);
// set gravity as a force
//NewtonBodySetForce(body, (float*)&gravityForce);
CMesh *object = (CMesh*)NewtonBodyGetUserData(body);
Vector3 force;
if (Keydown('w')) force = object->forward;
if (Keydown('s')) force = -object->forward;
//if (Keydown('a')) force -= object->right;
//if (Keydown('d')) force += object->right;
force *= cv_speed.GetFloat(); // speed
//force.y = GRAVITY;
force *= mass;
/*float f[3];
NewtonBodyGetForce(body, &f[0]);
Debug("BODY: %f %f %f", f[0], f[1], f[2]);
Debug("FORCE: %f %f %f", force.x, force.y, force.z);
*/
NewtonBodySetForce(body, &force[0]);
//NewtonBodyAddImpulse(body, &force[0], &object->GetWorldPosition()[0]);
//NewtonBodySetVelocity(body, &force[0]);
float torqueForce = cv_rspeed.GetFloat();
Vector3 torque;
if (Keydown('a')) torque.y -= torqueForce;
if (Keydown('d')) torque.y += torqueForce;
// Damping has no effect at all
/* static float damp = 0.5f;
if (KeyPressed('p')) damp += 0.1f;
if (KeyPressed('o')) damp -= 0.1f;
Vector3 damping = Vector3(damp,damp,damp);
damping *= damp;
NewtonBodySetAngularDamping(body, &damping[0]);
*/
NewtonBodySetOmega(body, &torque[0]);
//torque *= mass;
//NewtonBodyAddTorque(body, &torque[0]);
int sleep = NewtonBodyGetSleepState(body);
object->color = sleep == 1 ? GREEN : RED;
//Vector3 speed;
//NewtonBodyGetVelocity(body, &speed[0]);
}
bool NzPhysObject::IsSleeping() const
{
return NewtonBodyGetSleepState(m_body) != 0;
}
bool dNewtonBody::GetSleepState() const
{
return NewtonBodyGetSleepState(m_body) ? true : false;
}
