VALUE MSNewton::Bodies::get_force_in_between(VALUE self, VALUE v_body1, VALUE v_body2) {
const NewtonBody* body1 = Util::value_to_body(v_body1);
const NewtonBody* body2 = Util::value_to_body(v_body2);
Util::validate_two_bodies(body1, body2);
dVector net_force(0.0f, 0.0f, 0.0f);
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body1); joint; joint = NewtonBodyGetNextContactJoint(body1, joint)) {
if (NewtonJointGetBody0(joint) == body2 || NewtonJointGetBody1(joint) == body2) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
NewtonMaterial* material = NewtonContactGetMaterial(contact);
dVector force;
NewtonMaterialGetContactForce(material, body1, &force[0]);
net_force += force;
}
}
}
const NewtonWorld* world = NewtonBodyGetWorld(body1);
WorldData* world_data = (WorldData*)NewtonWorldGetUserData(world);
//BodyData* body1_data = (BodyData*)NewtonBodyGetUserData(body1);
//BodyData* body2_data = (BodyData*)NewtonBodyGetUserData(body2);
/*if (world_data->gravity_enabled && (body1_data->gravity_enabled || body2_data->gravity_enabled)) {
for (int i = 0; i < 3; ++i)
net_force[i] *= world_data->inverse_scale;
}*/
return Util::vector_to_value(net_force, world_data->inverse_scale4);
}
void GetForceOnStaticBody (NewtonBody* body, NewtonBody* staticBody)
{
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint (body); joint; joint = NewtonBodyGetNextContactJoint (body, joint)) {
NewtonBody* body0;
NewtonBody* body1;
body0 = NewtonJointGetBody0(joint);
body1 = NewtonJointGetBody1(joint);
if ((body0 == staticBody) || (body1 == staticBody)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
float forceMag;
dVector point;
dVector normal;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, &forceMag);
NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
dVector force (normal.Scale (-forceMag));
// do wherever you want withteh force
}
}
}
}
static void GetCollisionSubShape(const NewtonJoint* const contactJoint, NewtonBody* const body)
{
NewtonCollisionInfoRecord collisionInfo;
NewtonCollision* const collision = NewtonBodyGetCollision(body);
NewtonCollisionGetInfo (collision, &collisionInfo);
int count = 0;
NewtonCollision* collidingSubShapeArrar[32];
// see if this is a compound collision or any other collision with sub collision shapes
if (collisionInfo.m_collisionType == SERIALIZE_ID_COMPOUND) {
// to get the torque we need the center of gravity in global space
dVector origin;
dMatrix bodyMatrix;
NewtonBodyGetMatrix(body, &bodyMatrix[0][0]);
NewtonBodyGetCentreOfMass(body, &origin[0]);
origin = bodyMatrix.TransformVector(origin);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
// get the material of this contact,
// this part contain all contact information, the sub colliding shape,
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonCollision* const subShape = NewtonMaterialGetBodyCollidingShape (material, body);
int i = count - 1;
for (; i >= 0; i --) {
if (collidingSubShapeArrar[i] == subShape) {
break;
}
}
if (i < 0) {
collidingSubShapeArrar[count] = subShape;
count ++;
dAssert (count < int (sizeof (collidingSubShapeArrar) / sizeof (collidingSubShapeArrar[0])));
// you can also get the forces here, however when tho function is call form a contact material
// we can only get resting forces, impulsive forces can not be read here since they has no being calculated yet.
// whoever if this function function is call after the NetwonUpdate they the application can read the contact force, that was applied to each contact point
dVector force;
dVector posit;
dVector normal;
NewtonMaterialGetContactForce (material, body, &force[0]);
NewtonMaterialGetContactPositionAndNormal (material, body, &posit[0], &normal[0]);
// the torque on this contact is
dVector torque ((origin - posit) * force);
// do what ever you want wit this
}
}
}
// here we should have an array of all colling sub shapes
if (count) {
// do what you need with this sub shape list
}
}
PyObject* Material::GetContactForce ( )
{
dFloat v[3];
NewtonMaterialGetContactForce( m_material, v );
PyObject* r = PyTuple_New( 3 );
PyTuple_SetItem( r, 0, PyFloat_FromDouble( v[0] ) );
PyTuple_SetItem( r, 1, PyFloat_FromDouble( v[1] ) );
PyTuple_SetItem( r, 2, PyFloat_FromDouble( v[2] ) );
return r;
}
static void RenderBodyContactsForces (NewtonBody* const body, dFloat scale)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
//draw normal forces in term of acceleration.
//this mean that two bodies with same shape but different mass will display the same force
if (mass > 0.0f) {
scale = scale/mass;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive (joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
dVector tangnetDir0(0.0f);
dVector tangnetDir1(0.0f);
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce(material, body, &contactForce.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
dVector normalforce (normal.Scale (contactForce % normal));
dVector p0 (point);
dVector p1 (point + normalforce.Scale (scale));
glVertex3f (p0.m_x, p0.m_y, p0.m_z);
glVertex3f (p1.m_x, p1.m_y, p1.m_z);
// these are the components of the tangents forces at the contact point, the can be display at the contact position point.
NewtonMaterialGetContactTangentDirections(material, body, &tangnetDir0[0], &tangnetDir1[0]);
dVector tangentForce1 (tangnetDir0.Scale ((contactForce % tangnetDir0) * scale));
dVector tangentForce2 (tangnetDir1.Scale ((contactForce % tangnetDir1) * scale));
p1 = point + tangentForce1.Scale (scale);
glVertex3f(p0.m_x, p0.m_y, p0.m_z);
glVertex3f(p1.m_x, p1.m_y, p1.m_z);
p1 = point + tangentForce2.Scale (scale);
glVertex3f(p0.m_x, p0.m_y, p0.m_z);
glVertex3f(p1.m_x, p1.m_y, p1.m_z);
}
}
}
}
}
dVector ForceBetweenBody (NewtonBody* const body0, NewtonBody* const body1)
{
dVector reactionforce (0.0f);
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body0); joint; joint = NewtonBodyGetNextContactJoint(body0, joint)) {
if (NewtonJointIsActive(joint) && (NewtonJointGetBody0(joint) == body0) || (NewtonJointGetBody0(joint) == body1)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
dVector point(0.0f);
dVector normal(0.0f);
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactPositionAndNormal (material, body0, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, body0, &contactForce[0]);
reactionforce += contactForce;
}
break;
}
}
return reactionforce;
}
dFloat ForceBodyAccelerationMichio (NewtonBody* const body)
{
dVector reactionforce (0.0f);
// calcualte accelration generate by all contacts
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(body); joint; joint = NewtonBodyGetNextContactJoint(body, joint)) {
if (NewtonJointIsActive(joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce(0.0f);
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
NewtonMaterialGetContactForce(material, body, &contactForce[0]);
reactionforce += contactForce;
}
}
}
dMatrix matrix;
dVector accel;
dVector veloc;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMass(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodyGetAcceleration(body, &accel[0]);
accel -= reactionforce.Scale (1.0f/mass);
//calculate centripetal acceleration here.
NewtonBodyGetMatrix(body, &matrix[0][0]);
dVector radius(matrix.m_posit.Scale(-1.0f));
radius.m_w = 0.0f;
dFloat radiusMag = dSqrt(radius.DotProduct3(radius));
dVector radiusDir (radius.Normalize());
NewtonBodyGetVelocity(body, &veloc[0]);
veloc += radiusDir.Scale(veloc.DotProduct3(radiusDir));
dVector centripetalAccel(veloc.DotProduct3(veloc) / radiusMag);
accel += centripetalAccel;
return dSqrt (accel.DotProduct3(accel));
}
void cPhysicsMaterialNewton::ProcessContactCallback(const NewtonJoint* apJoint,
float afTimeStep,
int alThreadIndex)
{
cPhysicsContactData ContactData;
int lContactNum = 0;
iPhysicsBody * pContactBody1 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody0(apJoint));
iPhysicsBody * pContactBody2 = (iPhysicsBody*) NewtonBodyGetUserData(NewtonJointGetBody1(apJoint));
for (void* pContact = NewtonContactJointGetFirstContact(apJoint);
pContact;
pContact = NewtonContactJointGetNextContact(apJoint, pContact))
{
NewtonMaterial* pMaterial = NewtonContactGetMaterial(pContact);
//Log(" Process contact between body '%s' and '%s'.\n",pContactBody1->GetName().c_str(),
// pContactBody2->GetName().c_str());
//Normal speed
float fNormSpeed = NewtonMaterialGetContactNormalSpeed(pMaterial);
if (ContactData.mfMaxContactNormalSpeed < fNormSpeed)
ContactData.mfMaxContactNormalSpeed = fNormSpeed;
//Tangent speed
float fTanSpeed0 = NewtonMaterialGetContactTangentSpeed(pMaterial, 0);
float fTanSpeed1 = NewtonMaterialGetContactTangentSpeed(pMaterial, 1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed0))
ContactData.mfMaxContactTangentSpeed = fTanSpeed0;
if(std::abs(ContactData.mfMaxContactTangentSpeed) < std::abs(fTanSpeed1))
ContactData.mfMaxContactTangentSpeed = fTanSpeed1;
//Force
cVector3f vForce;
NewtonMaterialGetContactForce(pMaterial,vForce.v);
ContactData.mvForce += vForce;
//Position and normal
cVector3f vPos, vNormal;
NewtonMaterialGetContactPositionAndNormal(pMaterial,vPos.v, vNormal.v);
ContactData.mvContactNormal += vNormal;
ContactData.mvContactPosition += vPos;
//Log(" Norm: %f Tan0: %f Tan1: %f\n",fNormSpeed, fTanSpeed0, fTanSpeed1);
//Log("Force: %s step %f\n", vForce.ToString().c_str(), afTimestep);
if(pContactBody1->GetWorld()->GetSaveContactPoints())
{
cCollidePoint collidePoint;
collidePoint.mfDepth = 1;
NewtonMaterialGetContactPositionAndNormal (pMaterial, collidePoint.mvPoint.v,
collidePoint.mvNormal.v);
pContactBody1->GetWorld()->GetContactPoints()->push_back(collidePoint);
}
lContactNum++;
}
//Log("--- End contact between body '%s' and '%s'.\n",mpContactBody1->GetName().c_str(),
// mpContactBody2->GetName().c_str());
if(lContactNum <= 0) return;
iPhysicsMaterial *pMaterial1 = pContactBody1->GetMaterial();
iPhysicsMaterial *pMaterial2 = pContactBody2->GetMaterial();
ContactData.mvContactNormal = ContactData.mvContactNormal / (float)lContactNum;
ContactData.mvContactPosition = ContactData.mvContactPosition / (float)lContactNum;
pMaterial1->GetSurfaceData()->CreateImpactEffect(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pMaterial2->GetSurfaceData());
int lPrio1 = pMaterial1->GetSurfaceData()->GetPriority();
int lPrio2 = pMaterial2->GetSurfaceData()->GetPriority();
if(lPrio1 >= lPrio2)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial1->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial1->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody1,pContactBody2);
}
if(lPrio2 >= lPrio1 && pMaterial2 != pMaterial1)
{
if(std::abs(ContactData.mfMaxContactNormalSpeed) > 0)
pMaterial2->GetSurfaceData()->OnImpact(ContactData.mfMaxContactNormalSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2);
if(std::abs(ContactData.mfMaxContactTangentSpeed) > 0)
pMaterial2->GetSurfaceData()->OnSlide(ContactData.mfMaxContactTangentSpeed,
ContactData.mvContactPosition,
lContactNum,pContactBody2,pContactBody1);
}
pContactBody1->OnCollide(pContactBody2,&ContactData);
pContactBody2->OnCollide(pContactBody1,&ContactData);
}
Ogre::Vector3 ContactCallback::getContactForce() const
{
Ogre::Vector3 force;
NewtonMaterialGetContactForce( m_material, &force.x );
return force;
}
void GenericContactProcess (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
#if 0
dFloat speed0;
dFloat speed1;
SpecialEffectStruct* currectEffect;
// get the pointer to the special effect structure
currectEffect = (SpecialEffectStruct *)NewtonMaterialGetMaterialPairUserData (material);
// save the contact information
NewtonMaterialGetContactPositionAndNormal (material, &currectEffect->m_position.m_x, &currectEffect->m_normal.m_x);
NewtonMaterialGetContactTangentDirections (material, &currectEffect->m_tangentDir0.m_x, &currectEffect->m_tangentDir1.m_x);
// Get the maximum normal speed of this impact. this can be used for positioning collision sound
speed0 = NewtonMaterialGetContactNormalSpeed (material);
if (speed0 > currectEffect->m_contactMaxNormalSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxNormalSpeed = speed0;
}
// get the maximum of the two sliding contact speed
speed0 = NewtonMaterialGetContactTangentSpeed (material, 0);
speed1 = NewtonMaterialGetContactTangentSpeed (material, 1);
if (speed1 > speed0) {
speed0 = speed1;
}
// Get the maximum tangent speed of this contact. this can be used for particles(sparks) of playing scratch sounds
if (speed0 > currectEffect->m_contactMaxTangentSpeed) {
// save the position of the contact (for 3d sound of particles effects)
currectEffect->m_contactMaxTangentSpeed = speed0;
}
#endif
// read the table direction
// dVector dir (tableDir);
// dVector updir (TableDir);
// NewtonBody* const body = NewtonJointGetBody0(contactJoint);
// for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
// dFloat speed;
// dVector point;
// dVector normal;
// dVector dir0;
// dVector dir1;
// dVector force;
// NewtonMaterial* material;
//
// material = NewtonContactGetMaterial (contact);
// NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
//
// // if the normal is vertical is large the say 40 degrees
// if (fabsf (normal % upDir) > 0.7f) {
// // rotate the normal to be aligned with the table direction
// NewtonMaterialContactRotateTangentDirections (material, dir);
// }
// }
NewtonBody* const body = NewtonJointGetBody0(contactJoint);
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dVector point;
dVector normal;
dVector dir0;
dVector dir1;
dVector force;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, body, &force.m_x);
NewtonMaterialGetContactPositionAndNormal (material, body, &point.m_x, &normal.m_x);
NewtonMaterialGetContactTangentDirections (material, body, &dir0.m_x, &dir1.m_x);
//dFloat speed = NewtonMaterialGetContactNormalSpeed(material);
//speed = NewtonMaterialGetContactNormalSpeed(material);
// play sound base of the contact speed.
//
}
}
void SimulationLister(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
m_delay --;
if (m_delay > 0) {
return;
}
// see if the net force on the body comes fr a high impact collision
dFloat maxInternalForce = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
//dVector point;
//dVector normal;
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
//NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, m_myBody, &contactForce[0]);
dFloat forceMag = contactForce % contactForce;
if (forceMag > maxInternalForce) {
maxInternalForce = forceMag;
}
}
}
// if the force is bigger than 4 Gravities, It is considered a collision force
dFloat maxForce = BREAK_FORCE_IN_GRAVITIES * m_myweight;
if (maxInternalForce > (maxForce * maxForce)) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(m_myBody, &mass, &Ixx, &Iyy, &Izz);
dVector com;
dVector veloc;
dVector omega;
dMatrix bodyMatrix;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
com = bodyMatrix.TransformVector (com);
dMatrix matrix (GetCurrentMatrix());
dQuaternion rotation (matrix);
for (ShatterEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
ShatterAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity (NULL);
entity->SetMesh (atom.m_mesh);
entity->SetMatrix(*scene, rotation, matrix.m_posit);
entity->InterpolateMatrix (*scene, 1.0f);
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
dFloat Ixx = debriMass * atom.m_momentOfInirtia.m_x;
dFloat Iyy = debriMass * atom.m_momentOfInirtia.m_y;
dFloat Izz = debriMass * atom.m_momentOfInirtia.m_z;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateBody (world, atom.m_collision, &matrix[0][0]);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// calculate the center of mas of the debris
dVector center (matrix.TransformVector(atom.m_centerOfMass));
// calculate debris initial velocity
dVector v (veloc + omega * (center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debrie center of mass
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, debriMass, Ixx, Iyy, Izz);
// activate
// NewtonBodyCoriolisForcesMode (blockBoxBody, 1);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set continue collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::SetTransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(world, m_myBody);
scene->RemoveEntity (mynode);
}
};
static void DestroyThisBodyCallback (const NewtonBody* body, const NewtonJoint* contactJoint)
{
NewtonWorld* world;
NewtonMesh* topMesh;
NewtonMesh* bottomMesh;
NewtonMesh* effectMesh;
RenderPrimitive* srcPrimitive;
dMatrix matrix;
dFloat maxForce;
dVector point;
dVector dir0;
dVector dir1;
// Get the world;
world = NewtonBodyGetWorld (body);
// find a the strongest force
maxForce = 0.0f;
for (void* contact = NewtonContactJointGetFirstContact (contactJoint); contact; contact = NewtonContactJointGetNextContact (contactJoint, contact)) {
dVector force;
NewtonMaterial* material;
material = NewtonContactGetMaterial (contact);
NewtonMaterialGetContactForce (material, &force.m_x);
if (force.m_x > maxForce) {
dVector normal;
NewtonMaterialGetContactPositionAndNormal(material, &point[0], &normal[0]);
NewtonMaterialGetContactTangentDirections (material, &dir0[0], &dir0[0]);
}
}
// get the visual primitive
srcPrimitive = (RenderPrimitive*) NewtonBodyGetUserData (body);
// get the effect mesh that is use to create the debris pieces
effectMesh = srcPrimitive->m_specialEffect;
// calculate the cut plane plane
NewtonBodyGetMatrix (body, &matrix[0][0]);
dMatrix clipMatrix (dgGrammSchmidt(dir0) *
dYawMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)) *
dRollMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)));
clipMatrix.m_posit = point;
clipMatrix.m_posit.m_w = 1.0f;
clipMatrix = clipMatrix * matrix.Inverse();
// break the mesh into two pieces
NewtonMeshClip (effectMesh, meshClipper, &clipMatrix[0][0], &topMesh, &bottomMesh);
if (topMesh && bottomMesh) {
dFloat volume;
NewtonMesh* meshPartA = NULL;
NewtonMesh* meshPartB = NULL;
volume = NewtonConvexCollisionCalculateVolume (NewtonBodyGetCollision(body));
// the clipper was able to make a cut now we can create new debris piece for replacement
dMatrix clipMatrix1 (dgGrammSchmidt(dir1) *
dYawMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)) *
dRollMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)));
NewtonMeshClip (bottomMesh, meshClipper, &clipMatrix1[0][0], &meshPartA, &meshPartB);
if (meshPartA && meshPartB) {
// creat another split (you can make as many depend of the FPS)
CreateDebriPiece (body, meshPartA, volume);
CreateDebriPiece (body, meshPartB, volume);
NewtonMeshDestroy(meshPartA);
NewtonMeshDestroy(meshPartB);
} else {
CreateDebriPiece (body, bottomMesh, volume);
}
NewtonMeshDestroy(bottomMesh);
dMatrix clipMatrix2 (dgGrammSchmidt(dir1) *
dYawMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)) *
dRollMatrix(30.0f * 3.1416f/180.0f * RandomVariable(1.0f)));
NewtonMeshClip (topMesh, meshClipper, &clipMatrix2[0][0], &meshPartA, &meshPartB);
if (meshPartA && meshPartB) {
// creat another split (you can make as many depend of the FPS)
CreateDebriPiece (body, meshPartA, volume);
CreateDebriPiece (body, meshPartB, volume);
NewtonMeshDestroy(meshPartA);
NewtonMeshDestroy(meshPartB);
} else {
CreateDebriPiece (body, topMesh, volume);
}
NewtonMeshDestroy(topMesh);
// remove the old visual from graphics world
SceneManager* system = (SceneManager*) NewtonWorldGetUserData(world);
delete srcPrimitive;
system->Remove(srcPrimitive);
// finally destroy this body;
NewtonDestroyBody(world, body);
}
}
virtual void getContactForce(Math::Vector3& _forceVector) const
{
NewtonMaterialGetContactForce(m_pMaterial, _forceVector.m_array);
}
