void StructuredConvexFracturing (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
//CreateLevelMesh (scene, "ruinsFloor.ngd", true);
CreateLevelMesh (scene, "flatPlane.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
AddPrimitiveArray (scene, 0.0f, dVector (0.0f, 0.0f, 0.0f, 0.0f), dVector (100.0f, 1.0f, 100.0f, 0.0f), 1, 1, 0, _BOX_PRIMITIVE, 0, dGetIdentityMatrix());
AddStructuredFractured (scene, dVector (0.0f, 0.0f, 0.0f, 0.0f), 0, "colum.ngd");
// create a shattered mesh array
//CreateSimpleVoronoiFracture (scene);
//int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.75f, 0.75f, 0.75f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// place camera into position
dQuaternion rot (dVector (0.0f, 1.0f, 0.0f, 0.0f), -30.0f * 3.141592f / 180.0f);
dVector origin (-45.0f, 20.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void BasicCar (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// CreateHeightFieldTerrain (scene, 10, 8.0f, 5.0f, 0.2f, 200.0f, -50.0f);
dMatrix location (dGetIdentityMatrix());
location.m_posit = dVector (0.0f, 10.0f, 0.0f, 1.0f);
location.m_posit = FindFloor (scene->GetNewton(), location.m_posit, 100.0f);
location.m_posit.m_y += 2.0f;
NewtonWorld* const world = scene->GetNewton();
// create a vehicle controller manager
BasicCarControllerManager* const manager = new BasicCarControllerManager (world);
// load
basicCarParameters.m_differentialType = BasciCarParameters::m_RWD;
BasicCarEntity* const heavyVehicle = new BasicCarEntity (scene, manager, location, basicCarParameters);
heavyVehicle->BuidlBasicCar (basicCarParameters);
// set this vehicle as the player
manager->SetAsPlayer(heavyVehicle);
dMatrix camMatrix (manager->m_player->GetNextMatrix());
scene->SetCameraMouseLock (true);
scene->SetCameraMatrix(camMatrix, camMatrix.m_posit);
//
// dVector location (origin);
// location.m_x += 20.0f;
// location.m_z += 20.0f;
// location.m_posit.m_z += 4.0f;
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector size (3.0f, 0.125f, 3.0f, 0.0f);
//AddPrimitiveArray(scene, 100.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
size = dVector(1.0f, 0.5f, 1.0f, 0.0f);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// NewtonSerializeToFile (scene->GetNewton(), "C:/Users/Julio/Desktop/newton-dynamics/applications/media/xxxxx.bin");
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
//float xxx[] = {2.3257, -3.6253, -2.7155, 2.7075, -3.6253, -2.7155, 2.7075, -3.6253, -2.3337, 2.3257, -3.6253, -2.3337};
//NewtonCollision* aaa = NewtonCreateConvexHull(scene->GetNewton(), sizeof (xxx) /(3 * sizeof (float)), xxx, 3 * sizeof (float), 0, 0, 0);
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
// place camera into position
// dQuaternion rot;
// dVector posit (0.0f, 1.0f, 0.0f, 0.0f);
// scene->SetCameraMatrix(rot, posit);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 1.0f, 0.0f);
// int count = 1;
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
void CompoundCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", true);
// CreateLevelMesh (scene, "playground.ngd", true);
// CreateLevelMesh (scene, "sponza.ngd", true);
CreateHeightFieldTerrain(scene, HEIGHTFIELD_DEFAULT_SIZE, HEIGHTFIELD_DEFAULT_CELLSIZE,
1.5f, 0.2f, 200.0f, -50.0f);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
// set a material callback to get the colliding shape
NewtonMaterialSetCollisionCallback (scene->GetNewton(), defaultMaterialID, defaultMaterialID, NULL, OnGettingTheCollisionSubShapeFromMaterialCallback);
NewtonMaterialSetCompoundCollisionCallback(scene->GetNewton(), defaultMaterialID, defaultMaterialID, OnSubShapeAABBOverlapTest);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (100.0f, 0.0f, 100.0f, 0.0f);
dFloat hight = 1000.0f;
origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, hight, origin .m_z, 0.0f), hight * 2);
origin.m_y += 10.0f;
dVector location (origin);
location.m_x += 40.0f;
location.m_z += 40.0f;
// this crash temporarily (I need to make the compound use shape Instance)
MakeFunnyCompound (scene, location);
int count = 5;
dVector size (0.5f, 0.5f, 0.75f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// place camera into position
// dQuaternion rot;
// dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
//ExportScene (scene->GetNewton(), "../../../media/test1.ngd");
}
void BasicPlayerController (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
//CreateLevelMesh (scene, "flatPlane.ngd", true);
//CreateLevelMesh (scene, "playground.ngd", true);
CreateLevelMesh (scene, "castle.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
//CreateLevelMesh (scene, "sibenik.ngd", true);
NewtonWorld* const world = scene->GetNewton();
// add an input Manage to manage the inputs and user interaction
BasicPlayerInputManager* const inputManager = new BasicPlayerInputManager (scene);
// create a character controller manager
BasicPlayerControllerManager* const playerManager = new BasicPlayerControllerManager (world);
// add main player
dMatrix location (dGetIdentityMatrix());
location.m_posit.m_x = -4.0f;
location.m_posit.m_y = 5.0f;
location.m_posit.m_z = 0.0f;
location.m_posit.m_x = 98.710999f;
location.m_posit.m_y =-0.96156919f;
location.m_posit.m_z = 27.254711f;
location.m_posit = FindFloor (scene->GetNewton(), location.m_posit, 10.0f);
BasicPlayerEntity* const player = new BasicPlayerEntity (scene, playerManager, 0.5f, 1.9f, location);
// set as the player with the camera
inputManager->AddPlayer(player);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
location.m_posit.m_x += 5.0f;
dVector size (2.0f, 2.0f, 2.0f, 0.0f);
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 100.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix, 10.0f);
dVector origin (-10.0f, 2.0f, 0.0f, 0.0f);
dQuaternion rot;
scene->SetCameraMatrix(rot, origin);
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.25f, 0.25f, 0.5f, 0.0f);
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
void NonUniformScaledCollision(DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh(scene, "flatPlane.ngd", 1);
// CreateLevelMesh (scene, "sponza.ngd", 1);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", 1);
dMatrix camMatrix(dRollMatrix(-20.0f * 3.1416f / 180.0f) * dYawMatrix(-45.0f * 3.1416f / 180.0f));
dQuaternion rot(camMatrix);
// dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
dVector origin(-10.0f, 5.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID(world);
dVector location(0.0f, 0.0f, 0.0f, 0.0f);
dVector size0(0.5f, 0.5f, 1.0f, 0.0f);
dVector size1(0.5f, 0.5f, 0.5f, 0.0f);
int count = 5;
dMatrix shapeOffsetMatrix(dRollMatrix(3.141592f / 2.0f));
shapeOffsetMatrix.m_posit.m_y = 0.0f;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void UserPlaneCollision (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// create a user define infinite plane collision, and use it as a floor
CreatePlaneCollision (scene, dVector (0.0f, 1.0f, 0.0f, 0.0f));
dMatrix camMatrix (dRollMatrix(-20.0f * dDegreeToRad) * dYawMatrix(-45.0f * dDegreeToRad));
dQuaternion rot (camMatrix);
dVector origin (0.0f, 0.0f, 0.0f, 0.0f);
// dFloat hight = 1000.0f;
// origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, hight, origin .m_z, 0.0f), hight * 2);
origin.m_y += 10.0f;
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (origin);
location.m_x += 20.0f;
location.m_z += 20.0f;
// dVector size (0.5f, 0.5f, 0.75f, 0.0f);
dVector size (1.0f, 1.0f, 1.0f, 0.0f);
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddUniformScaledPrimitives(scene, 10.0f, location, size, count, count, 4.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void UserHeightFieldCollision (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateHeightFieldTerrain(scene, HEIGHTFIELD_DEFAULT_SIZE, HEIGHTFIELD_DEFAULT_CELLSIZE, 1.5f, 0.2f, 200.0f, -50.0f);
dMatrix camMatrix (dRollMatrix(-20.0f * dDegreeToRad) * dYawMatrix(-45.0f * dDegreeToRad));
dQuaternion rot (camMatrix);
dVector origin (250.0f, 0.0f, 250.0f, 0.0f);
dFloat height = 1000.0f;
origin = FindFloor (scene->GetNewton(), dVector (origin.m_x, height, origin .m_z, 0.0f), height * 2);
origin.m_y += 10.0f;
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (origin);
location.m_x += 20.0f;
location.m_z += 20.0f;
dVector size (0.5f, 0.5f, 0.75f, 0.0f);
int count = 5;
// int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void ScaledMeshCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh (scene, "flatPlane.ngd", 1);
//CreateLevelMesh (scene, "flatPlaneDoubleFace.ngd", 1);
//CreateLevelMesh (scene, "sponza.ngd", 0);
//CreateLevelMesh (scene, "cattle.ngd", fileName);
//CreateLevelMesh (scene, "playground.ngd", 0);
//dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
//origin = origin.Scale (0.25f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit = location;
matrix.m_posit.m_x = 0.0f;
matrix.m_posit.m_y = 0.0f;
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_w = 1.0f;
DemoEntity teaPot (dGetIdentityMatrix(), NULL);
teaPot.LoadNGD_mesh("teapot.ngd", world);
//teaPot.LoadNGD_mesh("box.ngd", world);
NewtonCollision* const staticCollision = CreateCollisionTree (world, &teaPot, 0, true);
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (1.0f, 1.0f, 1.0f, 0.0f));
// CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (3.0f, 3.0f, 1.5f, 0.0f));
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_x = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 0.5f, 0.0f));
matrix.m_posit.m_x = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (2.0f, 2.0f, 2.0f, 0.0f));
// do not forget to destroy the collision mesh helper
NewtonDestroyCollision(staticCollision);
dVector size0 (1.0f, 1.0f, 1.0f, 0.0f);
dVector size1 (0.5f, 1.0f, 1.0f, 0.0f);
dMatrix shapeOffsetMatrix (dRollMatrix(3.141592f/2.0f));
int count = 3;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
origin.m_x -= 4.0f;
origin.m_y += 1.0f;
scene->SetCameraMatrix(rot, origin);
}
void SceneCollision (DemoEntityManager* const scene)
{
NewtonWorld* world = scene->GetNewton();
// add the Sky
scene->CreateSkyBox();
// create a body and with a scene collision
NewtonCollision* const sceneCollision = NewtonCreateSceneCollision (scene->GetNewton(), 0);
// create a visual scene empty mesh
ComplexScene* const visualMesh = new ComplexScene(sceneCollision);
scene->Append (visualMesh);
// add some shapes
visualMesh->AddPrimitives(scene);
// this is optional, finish the scene construction, optimize the collision scene
dMatrix matrix (dGetIdentityMatrix());
// create the level body and add it to the world
NewtonBody* const level = NewtonCreateDynamicBody (world, sceneCollision, &matrix[0][0]);
// replace the collision with the newly created one the
visualMesh->m_sceneCollision = NewtonBodyGetCollision(level);
// set the reference to the visual
NewtonBodySetUserData(level, visualMesh);
// do not forget to release the collision
NewtonDestroyCollision (sceneCollision);
// add few objects
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
NewtonMaterialSetCollisionCallback (world, defaultMaterialID, defaultMaterialID, OnBodyAABBOverlap, OnContactCollision);
NewtonMaterialSetCompoundCollisionCallback(world, defaultMaterialID, defaultMaterialID, OnSubShapeAABBOverlapTest);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int count = 5;
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void PrecessingTops (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (3.0f, 2.0f, 0.0f, 0.0f);
// create an array of cones
const int count = 10;
// all shapes use the x axis as the axis of symmetry, to make an upright cone we apply a 90 degree rotation local matrix
dMatrix shapeOffsetMatrix (dRollMatrix(-3.141592f/2.0f));
AddPrimitiveArray(scene, 50.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, 0, shapeOffsetMatrix);
// till the cont 30 degrees, and apply a local high angular velocity
dMatrix matrix (dRollMatrix (-25.0f * 3.141592f / 180.0f));
dVector omega (0.0f, 50.0f, 0.0f);
omega = matrix.RotateVector (omega);
dVector damp (0.0f, 0.0f, 0.0f, 0.0f);
int topscount = 0;
NewtonBody* array[count * count];
NewtonWorld* const world = scene->GetNewton();
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
NewtonCollision* const collision = NewtonBodyGetCollision(body);
dVector com;
if (NewtonCollisionGetType (collision) == SERIALIZE_ID_CONE) {
array[topscount] = body;
topscount ++;
}
}
for (int i = 0; i < topscount ; i ++) {
dMatrix bodyMatrix;
NewtonBody* const body = array[i];
NewtonBodyGetMatrix(body, &bodyMatrix[0][0]);
matrix.m_posit = bodyMatrix.m_posit;
matrix.m_posit.m_y += 1.0f;
NewtonBodySetMatrix(body, &matrix[0][0]);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodySetMassMatrix(body, mass, Ixx, Iyy * 8.0f, Izz);
NewtonBodySetOmega (body, &omega[0]);
NewtonBodySetAutoSleep (body, 0);
NewtonBodySetLinearDamping(body, 0.0f);
NewtonBodySetAngularDamping (body, &damp[0]);
}
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void AlchimedesBuoyancy(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// load the mesh
CreateLevelMesh (scene, "swimmingPool.ngd", true);
// add a trigger Manager to the world
MyTriggerManager* const triggerManager = new MyTriggerManager(scene->GetNewton());
dMatrix triggerLocation (dGetIdentityMatrix());
triggerLocation.m_posit.m_x = 17.0f;
triggerLocation.m_posit.m_y = -3.5f;
NewtonCollision* const poolBox = NewtonCreateBox (scene->GetNewton(), 30.0f, 6.0f, 20.0f, 0, NULL);
triggerManager->CreateBuoyancyTrigger (triggerLocation, poolBox);
NewtonDestroyCollision (poolBox);
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-20.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
/*
//test buoyancy on scaled collisions
dVector plane (0.0f, 1.0f, 0.0f, 0.0f);
dMatrix L1 (dPitchMatrix(30.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
NewtonCollision* xxx0 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCompoundCollisionBeginAddRemove(xxx0);
NewtonCollision* xxxx0 = NewtonCreateBox(scene->GetNewton(), 1.0f, 2.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx0, xxxx0);
NewtonCompoundCollisionEndAddRemove(xxx0);
NewtonCollision* xxx1 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCollision* xxxx1 = NewtonCreateBox(scene->GetNewton(), 1.0f, 1.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx1, xxxx1);
NewtonCompoundCollisionEndAddRemove(xxx1);
NewtonCollisionSetScale(xxx1, 1.0f, 2.0f, 1.0f);
//dMatrix m (dPitchMatrix(45.0f * 3.141692f / 180.0f) * dYawMatrix(40.0f * 3.141692f / 180.0f) * dRollMatrix(70.0f * 3.141692f / 180.0f));
dMatrix m (dPitchMatrix(0.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
dVector gravity (0.0f, 0.0f, -9.8f, 0.0f);
dVector cog0 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass0;
dVector torquePerUnitMass0;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx0, &m[0][0], &cog0[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass0[0], &torquePerUnitMass0[0]);
dVector cog1 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass1;
dVector torquePerUnitMass1;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx1, &m[0][0], &cog1[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass1[0], &torquePerUnitMass1[0]);
*/
int count = 5;
dVector size (1.0f, 0.25f, 0.5f);
dVector location (10.0f, 0.0f, 0.0f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
/*
for (NewtonBody* bodyPtr = NewtonWorldGetFirstBody(scene->GetNewton()); bodyPtr; bodyPtr = NewtonWorldGetNextBody(scene->GetNewton(), bodyPtr)) {
NewtonCollision* collision = NewtonBodyGetCollision(bodyPtr);
if (NewtonCollisionGetType(collision) == SERIALIZE_ID_COMPOUND) {
NewtonCollisionSetScale (collision, 0.5f, 0.5f, 0.5f);
}
}
*/
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}