void* OgreNewtonSceneBody::AddCollisionTree (SceneNode* const treeNode)
{
OgreNewtonWorld* const world = (OgreNewtonWorld*) GetNewton();
// convert the nod and all its children to a newton mesh
OgreNewtonMesh mesh (world, treeNode);
mesh.Polygonize();
// create a collision tree mesh
dNewtonCollisionMesh meshCollision (world, mesh, 0);
// add this collision to the scene body
return AddCollision (&meshCollision);
}
void DemoEntityManager::LoadScene (const char* const fileName)
{
dScene database (GetNewton());
database.Deserialize(fileName);
// this will apply all global the scale to the mesh
database.FreezeScale();
// this will apply all local scale and transform to the mesh
//database.FreezePivot();
// Load the Visual Scene
EntityDictionary entDictionary;
LoadVisualScene(&database, entDictionary);
//Load the physics world
dList<NewtonBody*> bodyList;
database.SceneToNewtonWorld(m_world, bodyList);
// bind every rigidBody loaded to the scene entity
for (dList<NewtonBody*>::dListNode* bodyNode = bodyList.GetFirst(); bodyNode; bodyNode = bodyNode->GetNext()) {
// find the user data and set to the visual entity in the scene
NewtonBody* const body = bodyNode->GetInfo();
dScene::dTreeNode* const sceneNode = (dScene::dTreeNode*)NewtonBodyGetUserData(body);
DemoEntity* const entity = entDictionary.Find(sceneNode)->GetInfo();
NewtonBodySetUserData(body, entity);
// see if this body have some special setups
dScene::dTreeNode* const node = database.FindChildByType(sceneNode, dRigidbodyNodeInfo::GetRttiType());
dAssert (node);
dRigidbodyNodeInfo* const bodyData = (dRigidbodyNodeInfo*) database.GetInfoFromNode(node);
dVariable* bodyType = bodyData->FindVariable("rigidBodyType");
// set the default call backs
if (!bodyType || !strcmp (bodyType->GetString(), "default gravity")) {
NewtonBodySetTransformCallback(body, DemoEntity::TransformCallback);
NewtonBodySetForceAndTorqueCallback(body, PhysicsApplyGravityForce);
NewtonBodySetDestructorCallback (body, PhysicsBodyDestructor);
}
}
// clean up all caches the engine have saved
NewtonInvalidateCache (m_world);
}
void* OgreNewtonSceneBody::AddTerrain (Terrain* const terrain)
{
OgreNewtonWorld* const world = (OgreNewtonWorld*) GetNewton();
int width = terrain->getSize() - 1;
int height = terrain->getSize() - 1;
int size = width * height;
// Real min = terrain->getMinHeight();
// Real max = terrain->getMaxHeight();
Real horizontalScale = (terrain->getWorldSize() / (terrain->getSize() - 1));
dNewtonScopeBuffer<dFloat> elevations(size);
dNewtonScopeBuffer<char> attributes(size);
for (int i = 0; i < width; i++) {
int index = i * height;
for (int k = 0; k < height; k++) {
// for now make collsionID zero, until we can get material information from the terrain tile
attributes[index] = 0;
elevations[index] = terrain->getHeightAtPoint(i, k);
index ++;
}
}
// build the height field collision
dNewtonCollisionHeightField terrainCollision (world, width, height, 5, 0, 1.0f, horizontalScale, &elevations[0], &attributes[0], 0);
// set the offset matrix for this collision shape
Vector3 posit (-(width / 2.0f) * horizontalScale, 0.0f, (height / 2.0f) * horizontalScale);
Quaternion rot(Ogre::Degree(90.0f), Ogre::Vector3(0.0f, 1.0f, 0.0f));
Matrix4 matrix;
matrix.makeTransform (posit, Vector3(1.0f, 1.0f, 1.0f), rot);
matrix = matrix.transpose();
terrainCollision.SetMatrix (&matrix[0][0]);
return AddCollision (&terrainCollision);
}
void DemoEntityManager::RenderFrame ()
{
dTimeTrackerEvent(__FUNCTION__);
// Make context current
if (m_mainWindow->m_suspendVisualUpdates) {
return;
}
dFloat timestep = dGetElapsedSeconds();
m_mainWindow->CalculateFPS(timestep);
// update the the state of all bodies in the scene
unsigned64 time0 = dGetTimeInMicrosenconds ();
UpdatePhysics(timestep);
unsigned64 time1 = dGetTimeInMicrosenconds ();
m_mainThreadPhysicsTime = dFloat ((time1 - time0) / 1000.0f);
// Get the interpolated location of each body in the scene
m_cameraManager->InterpolateMatrices (this, CalculateInteplationParam());
// Our shading model--Goraud (smooth).
glShadeModel (GL_SMOOTH);
// Culling.
glCullFace (GL_BACK);
glFrontFace (GL_CCW);
glEnable (GL_CULL_FACE);
// glEnable(GL_DITHER);
// z buffer test
glEnable(GL_DEPTH_TEST);
glDepthFunc (GL_LEQUAL);
glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_FASTEST);
glHint(GL_POLYGON_SMOOTH_HINT, GL_FASTEST);
glClearColor (0.5f, 0.5f, 0.5f, 0.0f );
//glClear( GL_COLOR_BUFFER_BIT );
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// set default lightning
// glDisable(GL_BLEND);
glEnable (GL_LIGHTING);
// make sure the model view matrix is set to identity before setting world space ligh sources
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
dFloat cubeColor[] = { 1.0f, 1.0f, 1.0f, 1.0 };
glMaterialParam(GL_FRONT, GL_SPECULAR, cubeColor);
glMaterialParam(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, cubeColor);
glMaterialf(GL_FRONT, GL_SHININESS, 50.0);
glTexEnvf(GL_TEXTURE_ENV, GL_TEXTURE_ENV_MODE, GL_MODULATE);
// one light form the Camera eye point
GLfloat lightDiffuse0[] = { 0.5f, 0.5f, 0.5f, 0.0 };
GLfloat lightAmbient0[] = { 0.0f, 0.0f, 0.0f, 0.0 };
dVector camPosition (m_cameraManager->GetCamera()->m_matrix.m_posit);
GLfloat lightPosition0[] = {camPosition.m_x, camPosition.m_y, camPosition.m_z};
glLightfv(GL_LIGHT0, GL_POSITION, lightPosition0);
glLightfv(GL_LIGHT0, GL_AMBIENT, lightAmbient0);
glLightfv(GL_LIGHT0, GL_DIFFUSE, lightDiffuse0);
glLightfv(GL_LIGHT0, GL_SPECULAR, lightDiffuse0);
glEnable(GL_LIGHT0);
// set just one directional light
GLfloat lightDiffuse1[] = { 0.7f, 0.7f, 0.7f, 0.0 };
GLfloat lightAmbient1[] = { 0.2f, 0.2f, 0.2f, 0.0 };
GLfloat lightPosition1[] = { -500.0f, 200.0f, 500.0f, 0.0 };
glLightfv(GL_LIGHT1, GL_POSITION, lightPosition1);
glLightfv(GL_LIGHT1, GL_AMBIENT, lightAmbient1);
glLightfv(GL_LIGHT1, GL_DIFFUSE, lightDiffuse1);
glLightfv(GL_LIGHT1, GL_SPECULAR, lightDiffuse1);
glEnable(GL_LIGHT1);
// update Camera
m_cameraManager->GetCamera()->SetViewMatrix(GetWidth(), GetHeight());
// render all entities
if (m_mainWindow->m_hideVisualMeshes) {
if (m_sky) {
glPushMatrix();
m_sky->Render(timestep, this);
glPopMatrix();
}
} else {
for (dListNode* node = dList<DemoEntity*>::GetFirst(); node; node = node->GetNext()) {
DemoEntity* const entity = node->GetInfo();
glPushMatrix();
entity->Render(timestep, this);
glPopMatrix();
}
}
if (m_tranparentHeap.GetCount()) {
dMatrix modelView;
glGetFloat (GL_MODELVIEW_MATRIX, &modelView[0][0]);
while (m_tranparentHeap.GetCount()) {
const TransparentMesh& transparentMesh = m_tranparentHeap[0];
glLoadIdentity();
glLoadMatrix(&transparentMesh.m_matrix[0][0]);
transparentMesh.m_mesh->RenderTransparency();
m_tranparentHeap.Pop();
}
glLoadMatrix(&modelView[0][0]);
}
m_cameraManager->RenderPickedTarget ();
if (m_mainWindow->m_showContactPoints) {
RenderContactPoints (GetNewton());
}
if (m_mainWindow->m_showNormalForces) {
RenderNormalForces (GetNewton());
}
if (m_mainWindow->m_showNormalForces) {
// if (1) {
// see if there is a vehicle controller and
void* const vehListerNode = NewtonWorldGetPreListener(GetNewton(), VEHICLE_PLUGIN_NAME);
if (vehListerNode) {
CustomVehicleControllerManager* const manager = (CustomVehicleControllerManager*)NewtonWorldGetListenerUserData(GetNewton(), vehListerNode);
manager->Debug();
}
void* const characterListerNode = NewtonWorldGetPreListener(GetNewton(), PLAYER_PLUGIN_NAME);
if (characterListerNode) {
CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*)NewtonWorldGetListenerUserData(GetNewton(), characterListerNode);
manager->Debug();
}
}
if (m_mainWindow->m_showAABB) {
RenderAABB (GetNewton());
}
if (m_mainWindow->m_showCenterOfMass) {
RenderCenterOfMass (GetNewton());
}
if (m_mainWindow->m_showJoints) {
RenderJointsDebugInfo (GetNewton(), 0.5f);
}
DEBUG_DRAW_MODE mode = m_solid;
if (m_mainWindow->m_debugDisplayMode) {
mode = (m_mainWindow->m_debugDisplayMode == 1) ? m_solid : m_lines;
DebugRenderWorldCollision (GetNewton(), mode);
}
if (m_mainWindow->m_showStatistics) {
dVector color (1.0f, 1.0f, 1.0f, 0.0f);
Print (color, 10, 20, "render fps: %7.2f", m_mainWindow->m_fps);
Print (color, 10, 42, "physics time on main thread: %7.2f ms", GetPhysicsTime() * 1000.0f);
Print (color, 10, 64, "total memory: %d kbytes", NewtonGetMemoryUsed() / (1024));
Print (color, 10, 86, "number of bodies: %d", NewtonWorldGetBodyCount(GetNewton()));
Print (color, 10, 108, "number of threads: %d", NewtonGetThreadsCount(GetNewton()));
Print (color, 10, 130, "auto sleep: %s", m_mainWindow->m_autoSleepState ? "on" : "off");
}
int lineNumber = 130 + 22;
if (m_renderHood) {
// set display for 2d render mode
dFloat width = GetWidth();
dFloat height = GetHeight();
glColor3f(1.0, 1.0, 1.0);
glPushMatrix();
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
gluOrtho2D(0, width, 0, height);
glPushMatrix();
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glDisable(GL_LIGHTING);
glDisable(GL_DEPTH_TEST);
glEnable(GL_TEXTURE_2D);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
// render 2d display
m_renderHood (this, m_renderHoodContext, lineNumber);
// restore display mode
glMatrixMode(GL_PROJECTION);
glPopMatrix();
glMatrixMode(GL_MODELVIEW);
glPopMatrix();
}
// draw everything and swap the display buffer
glFlush();
// Swap
SwapBuffers();
}
void OgreNewtonDynamicBody::OnForceAndTorque (dFloat timestep, int threadIndex)
{
const OgreNewtonWorld* const world = (OgreNewtonWorld*) GetNewton();
SetForce (world->GetGravity() * GetMass());
}
