void AddPulley (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 0.0f), dVector(4.0f, 0.25f, 0.25f));
// NewtonBodySetMassMatrix (reel0, 0.0f, 0.0f, 0.0f, 0.0f);
// NewtonBodySetMassMatrix (reel1, 0.0f, 0.0f, 0.0f, 0.0f);
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
NewtonBodyGetMatrix(reel0, &matrix[0][0]);
CustomHinge* const fixJoint0 = new CustomHinge(matrix, reel0, NULL);
fixJoint0->EnableLimits(true);
fixJoint0->SetLimis(0.0f, 0.0f);
NewtonBodyGetMatrix(reel1, &matrix[0][0]);
CustomHinge* const fixJoint1 = new CustomHinge(matrix, reel1, NULL);
fixJoint1->EnableLimits(true);
fixJoint1->SetLimis(0.0f, 0.0f);
CustomSlider* const slider0 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0);
CustomSlider* const slider1 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel1);
slider0->EnableLimits(true);
slider0->SetLimis (-2.0f, 2.0f);
NewtonBody* const body0 = slider0->GetBody0();
NewtonBody* const body1 = slider1->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
new CustomPulley (4.0f, pin0, pin1, body0, body1);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, slider0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, reel1, NULL);
NewtonSkeletonContainerAttachBone(skeleton, slider1->GetBody0(), reel1);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
void AddPulley (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
// this is just for show
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 0.0f), dVector(4.0f, 0.25f, 0.25f));
NewtonBodySetMassMatrix (reel0, 0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetMassMatrix (reel1, 0.0f, 0.0f, 0.0f, 0.0f);
dMatrix matrix;
CustomSlider* const slider0 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0);
CustomSlider* const slider1 = AddSliderWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
slider0->EnableLimits(true);
slider0->SetLimits (-2.0f, 2.0f);
NewtonBody* const body0 = slider0->GetBody0();
NewtonBody* const body1 = slider1->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
new CustomPulley (4.0f, pin0, pin1, body0, body1);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, slider0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, slider1->GetBody0(), reel0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
// make an aggregate for disabling collisions
void* const aggregate = NewtonCollisionAggregateCreate (scene->GetNewton());
NewtonCollisionAggregateSetSelfCollision (aggregate, 0);
NewtonCollisionAggregateAddBody (aggregate, reel0);
NewtonCollisionAggregateAddBody (aggregate, reel1);
NewtonCollisionAggregateAddBody (aggregate, body0);
NewtonCollisionAggregateAddBody (aggregate, body1);
}
