void RigidBodyWorld::UpdatePhysics ()
{
RigidBodyWorldDesc* const desc = (RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
float timestep = 1.0f / desc->m_minFps;
if (timestep > 1.0f / 60.0f) {
timestep = 1.0f / 60.0f;
}
desc->m_updateRigidBodyMatrix = false;
NewtonUpdate(desc->m_newton, timestep);
TimeValue t (GetCOREInterface()->GetTime());
float scale = 1.0f / float (GetMasterScale(UNITS_METERS));
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; body = NewtonWorldGetNextBody(desc->m_newton, body)) {
dMatrix matrix;
INode* const node = (INode*)NewtonBodyGetUserData(body);
NewtonBodyGetMatrix(body, &matrix[0][0]);
matrix = desc->m_systemMatrix * matrix * desc->m_systemMatrixInv;
matrix.m_posit = matrix.m_posit.Scale (scale);
Matrix3 maxMatrix (GetMatrixFromdMatrix (matrix));
node->SetNodeTM(t, maxMatrix);
}
UpdateViewPorts ();
desc->m_updateRigidBodyMatrix = true;
}
void RigidBodyWorld::InitUI(HWND hWnd)
{
RigidBodyWorldDesc* const desc = (RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
HWND minFps = GetDlgItem(hWnd, IDC_MINUMIN_SIMULATION_RATE);
HWND gravity_x = GetDlgItem(hWnd, IDC_GRAVITY_X);
HWND gravity_y = GetDlgItem(hWnd, IDC_GRAVITY_Y);
HWND gravity_z = GetDlgItem(hWnd, IDC_GRAVITY_Z);
m_minFps = GetICustEdit(minFps);
m_gravity[0] = GetICustEdit(gravity_x);
m_gravity[1] = GetICustEdit(gravity_y);
m_gravity[2] = GetICustEdit(gravity_z);
float scale = 1.0f / float (GetMasterScale(UNITS_METERS));
dVector gravity = desc->m_systemMatrixInv.RotateVector(desc->m_gravity.Scale (scale));
m_minFps->SetText(desc->m_minFps);
m_gravity[0]->SetText(gravity.m_x, 1);
m_gravity[1]->SetText(gravity.m_y, 1);
m_gravity[2]->SetText(gravity.m_z, 1);
RegisterNotification(OnUndoRedo, this, NOTIFY_SCENE_UNDO);
RegisterNotification (OnUndoRedo, this, NOTIFY_SCENE_REDO);
}
Import::Import(const char* pathName, Interface* ip, ImpInterface* impip)
{
// set the path for textures
char* ptr = NULL;
sprintf (m_path, "%s", pathName);
for (int i = 0; m_path[i]; i ++) {
if ((m_path[i] == '\\') || (m_path[i] == '/') ) {
ptr = &m_path[i];
}
}
*ptr = 0;
m_ip = ip;
m_impip = impip;
m_succes = TRUE;
MaterialCache materialCache (NewDefaultMultiMtl());
SetSceneParameters();
dFloat scale;
scale = float (GetMasterScale(UNITS_METERS));
dMatrix scaleMatrix (GetIdentityMatrix());
scaleMatrix[0][0] = 1.0f / scale;
scaleMatrix[1][1] = 1.0f / scale;
scaleMatrix[2][2] = 1.0f / scale;
dMatrix globalRotation (scaleMatrix * dPitchMatrix(3.14159265f * 0.5f) * dRollMatrix(3.14159265f * 0.5f));
NewtonWorld* newton = NewtonCreate();
dScene scene (newton);
scene.Deserialize (pathName);
// dScene::Iterator iter (scene);
// for (iter.Begin(); iter; iter ++) {
// dScene::dTreeNode* node = iter.GetNode();
// dNodeInfo* info = scene.GetInfoFromNode(node);
// if (info->GetTypeId() == dMeshNodeInfo::GetRttiType()) {
// dMeshNodeInfo* mesh = (dMeshNodeInfo*) scene.GetInfoFromNode(node);
// mesh->ConvertToTriangles();
// }
// }
scene.BakeTransform (globalRotation);
GeometryCache geometryCache;
MaxNodeChache maxNodeCache;
LoadMaterials (scene, materialCache);
LoadGeometries (scene, geometryCache, materialCache);
LoadNodes (scene, geometryCache, materialCache.m_multiMat, maxNodeCache);
ApplyModifiers (scene, maxNodeCache);
scene.CleanUp();
NewtonDestroy(newton);
}
INT_PTR CALLBACK RigidBodyWorld::Proc(HWND hWnd, UINT msg, WPARAM wParam, LPARAM lParam)
{
RigidBodyWorld* const world = (RigidBodyWorld *)GetWindowLong (hWnd, GWLP_USERDATA);
RigidBodyWorldDesc* const desc = (RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
switch (msg)
{
case WM_INITDIALOG:
{
RigidBodyWorld* const world = (RigidBodyWorld *)lParam;
SetWindowLong(hWnd, GWLP_USERDATA, (LONG)world);
world->m_myWindow = hWnd;
world->RigidBodyWorld::InitUI(hWnd);
break;
}
case WM_DESTROY:
{
world->StopsSimulation ();
world->RigidBodyWorld::DestroyUI(hWnd);
break;
}
case WM_ENABLE:
{
//EnableWindow(obj->m_worldPaneHandle, (BOOL) wParam);
break;
}
case WM_TIMER:
{
world->UpdatePhysics ();
break;
}
case WM_COMMAND:
{
switch (LOWORD(wParam))
{
case IDC_MAKE_RIGIDBODY:
{
world->StopsSimulation ();
Interface* const ip = GetCOREInterface();
int selectionCount = ip->GetSelNodeCount();
for (int i = 0; i < selectionCount; i ++) {
INode* const node = ip->GetSelNode(i);
Object* const obj = node->GetObjOrWSMRef();
if (obj) {
world->AttachRigiBodyController (node);
}
}
world->UpdateViewPorts();
break;
}
case IDC_DELETE_RIGIDBODY:
{
world->StopsSimulation ();
Interface* const ip = GetCOREInterface();
int selectionCount = ip->GetSelNodeCount();
for (int i = 0; i < selectionCount; i ++) {
INode* const node = ip->GetSelNode(i);
world->DetachRigiBodyController (node);
}
world->UpdateViewPorts ();
break;
}
case IDC_SHOW_GIZMOS:
{
world->StopsSimulation ();
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; body = NewtonWorldGetNextBody(desc->m_newton, body)) {
INode* const node = (INode*)NewtonBodyGetUserData(body);
RigidBodyController* const bodyInfo = (RigidBodyController*)desc->GetRigidBodyControl(node);
_ASSERTE (bodyInfo);
bodyInfo->m_hideGizmos = FALSE;
}
world->UpdateViewPorts();
break;
}
case IDC_HIDE_GIZMOS:
{
world->StopsSimulation ();
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; body = NewtonWorldGetNextBody(desc->m_newton, body)) {
INode* const node = (INode*)NewtonBodyGetUserData(body);
RigidBodyController* const bodyInfo = (RigidBodyController*)desc->GetRigidBodyControl(node);
_ASSERTE (bodyInfo);
bodyInfo->m_hideGizmos = TRUE;
}
world->UpdateViewPorts();
break;
}
case IDC_SELECT_ALL:
{
world->StopsSimulation ();
world->m_selectionChange = false;
Interface* const ip = GetCOREInterface();
ip->ClearNodeSelection(FALSE);
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; body = NewtonWorldGetNextBody(desc->m_newton, body)) {
INode* const node = (INode*)NewtonBodyGetUserData(body);
ip->SelectNode(node, 0);
}
world->m_selectionChange = true;
world->SelectionSetChanged (ip, NULL);
world->UpdateViewPorts();
break;
}
case IDC_REMOVE_ALL:
{
world->StopsSimulation ();
Interface* const ip = GetCOREInterface();
ip->ClearNodeSelection(FALSE);
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; ) {
INode* const node = (INode*)NewtonBodyGetUserData(body);
body = NewtonWorldGetNextBody(desc->m_newton, body);
world->DetachRigiBodyController (node);
}
world->UpdateViewPorts();
break;
}
case IDC_MINUMIN_SIMULATION_RATE:
{
world->StopsSimulation ();
desc->m_minFps = world->m_minFps->GetFloat();
break;
}
case IDC_GRAVITY_X:
case IDC_GRAVITY_Y:
case IDC_GRAVITY_Z:
{
world->StopsSimulation ();
dVector gravity (world->m_gravity[0]->GetFloat(), world->m_gravity[1]->GetFloat(), world->m_gravity[2]->GetFloat(), 0.0f);
//world->m_gravity[0]->SetText(gravity.m_x, 1);
//world->m_gravity[1]->SetText(gravity.m_y, 1);
//world->m_gravity[2]->SetText(gravity.m_z, 1);
desc->m_gravity = desc->m_systemMatrix.RotateVector(gravity.Scale(float (GetMasterScale(UNITS_METERS))));
break;
}
case IDC_PREVIEW_WORLD:
{
if (IsDlgButtonChecked(hWnd, IDC_PREVIEW_WORLD) == BST_CHECKED) {
world->Undo();
unsigned timeOut = unsigned (1000.0f / desc->m_minFps);
SetTimer(hWnd, TIMER_ID, timeOut, NULL);
} else {
world->StopsSimulation ();
}
break;
}
case IDC_STEP_WORLD:
{
world->StopsSimulation ();
world->Undo();
world->UpdatePhysics ();
break;
}
}
break;
}
default:
return FALSE;
}
return TRUE;
}
int
AIShapeImport::DoImport(const TCHAR *filename,ImpInterface *i,Interface *gi, BOOL suppressPrompts) {
// Get a scale factor from points (the file storage) to our units
double mScale = GetMasterScale(UNITS_INCHES);
float scaleFactor = float((1.0 / mScale) / 72.0);
// Set a global prompt display switch
showPrompts = suppressPrompts ? FALSE : TRUE;
WorkFile theFile(filename,_T("rb"));
if(suppressPrompts) {
}
else {
if (!DialogBox(hInstance, MAKEINTRESOURCE(IDD_MERGEORREPL), gi->GetMAXHWnd(), ImportDlgProc))
return IMPEXP_CANCEL;
}
dStream = i->DumpFile();
if(!(stream = theFile.Stream())) {
if(showPrompts)
MessageBox(IDS_TH_ERR_OPENING_FILE, IDS_TH_3DSIMP);
return 0; // Didn't open!
}
// Got the file -- Now put up the options dialog!
if(showPrompts) {
int result = DialogBoxParam(hInstance, MAKEINTRESOURCE(IDD_SHAPEIMPORTOPTIONS), gi->GetMAXHWnd(), ShapeImportOptionsDlgProc, (LPARAM)this);
if(result <= 0)
return IMPEXP_CANCEL;
}
else { // Set default parameters here
importType = MULTIPLE_SHAPES;
}
if (replaceScene) {
if (!i->NewScene())
return IMPEXP_CANCEL;
}
theShapeImport = this;
int line,count,status,phase,buflen, reason;
float x1,y1,x2,y2,x3,y3;
char buffer[256];
phase=0;
count=0;
line=0;
gotStuff = FALSE;
GetDecSymbolFromRegistry();
loop:
line++;
if((status=getaline(stream,buffer,255,0))<0)
{
reason = IDS_TH_LINE_TOO_LONG;
corrupted:
if(showPrompts)
MessageBox(reason, IDS_TH_3DSIMP);
FinishWorkingShape(TRUE, i);
return gotStuff;
}
if(status==0) {
FinishWorkingShape(TRUE, i);
return gotStuff; // EOF
}
/* Look for appropriate section of file */
buflen=static_cast<int>(strlen(buffer)); // SR DCAST64: Downcast to 2G limit.
switch(phase)
{
case 0: /* Looking for the path */
buffer[10]=0;
if(stricmp(buffer,"%%endsetup")==0)
phase=1;
break;
case 1: /* Loading the path data -- looking for initial 'm' */
if(buflen<2)
break;
if(buffer[buflen-2]==' ' && buffer[buflen-1]=='m') {
phase=2;
goto phase2;
}
break;
case 2:
phase2:
if(buflen<2)
break;
if(buffer[buflen-2]!=' ')
break;
switch(buffer[buflen-1]) {
case 'm': { /* Moveto */
FixDecimalSymbol(buffer);
if(sscanf(buffer,"%f %f",&x1,&y1)!=2) {
#ifdef DBG1
DebugPrint("Moveto buffer:%s\n",buffer);
#endif
bad_file:
reason = IDS_TH_INVALIDFILE;
goto corrupted;
}
// If had one working, wrap it up
FinishWorkingShape(FALSE, i);
// Start this new spline
if(!StartWorkingShape()) {
reason = IDS_TH_NO_RAM;
goto corrupted;
}
Point3 p(x1 * scaleFactor, y1 * scaleFactor, 0.0f);
SplineKnot k(KTYPE_BEZIER, LTYPE_CURVE, p, p, p);
spline->AddKnot(k);
}
break;
case 'l': /* Lineto */
case 'L': { /* Lineto corner */
FixDecimalSymbol(buffer);
if(sscanf(buffer,"%f %f",&x1,&y1)!=2) {
#ifdef DBG1
DebugPrint("Lineto buffer:%s\n",buffer);
#endif
goto bad_file;
}
Point3 p(x1 * scaleFactor, y1 * scaleFactor, 0.0f);
SplineKnot k(KTYPE_BEZIER, LTYPE_CURVE, p, p, p);
spline->AddKnot(k);
}
break;
case 'c': /* Curveto */
case 'C': { /* Curveto corner */
FixDecimalSymbol(buffer);
if(sscanf(buffer,"%f %f %f %f %f %f",&x1,&y1,&x2,&y2,&x3,&y3)!=6) {
#ifdef DBG1
DebugPrint("Curveto buffer:%s\n",buffer);
#endif
goto bad_file;
}
int lastKnot = spline->KnotCount() - 1;
spline->SetOutVec(lastKnot, Point3(x1 * scaleFactor, y1 * scaleFactor, 0.0f));
Point3 p(x3 * scaleFactor, y3 * scaleFactor, 0.0f);
Point3 in(x2 * scaleFactor, y2 * scaleFactor, 0.0f);
SplineKnot k(KTYPE_BEZIER, LTYPE_CURVE, p, in, p);
spline->AddKnot(k);
}
break;
case 'v': /* Current/vec */
case 'V': { /* Current/vec corner */
FixDecimalSymbol(buffer);
if(sscanf(buffer,"%f %f %f %f",&x2,&y2,&x3,&y3)!=4) {
#ifdef DBG1
DebugPrint("Current/vec buffer:%s\n",buffer);
#endif
goto bad_file;
}
Point3 p(x3 * scaleFactor, y3 * scaleFactor, 0.0f);
Point3 in(x2 * scaleFactor, y2 * scaleFactor, 0.0f);
SplineKnot k(KTYPE_BEZIER, LTYPE_CURVE, p, in, p);
spline->AddKnot(k);
}
break;
case 'y': /* Vec/next */
case 'Y': { /* Vec/next corner */
FixDecimalSymbol(buffer);
if(sscanf(buffer,"%f %f %f %f",&x1,&y1,&x3,&y3)!=4) {
#ifdef DBG1
DebugPrint("vec/next buffer:%s\n",buffer);
#endif
goto bad_file;
}
int lastKnot = spline->KnotCount() - 1;
spline->SetOutVec(lastKnot, Point3(x1 * scaleFactor, y1 * scaleFactor, 0.0f));
Point3 p(x3 * scaleFactor, y3 * scaleFactor, 0.0f);
SplineKnot k(KTYPE_BEZIER, LTYPE_CURVE, p, p, p);
spline->AddKnot(k);
}
break;
}
break;
}
count++;
goto loop;
}
