/*
=============
CMod_PhysicsInit
=============
*/
void CMod_PhysicsInit() {
Com_Printf("----- Initializing Newton Physics Engine -----\n");
Com_Printf("Initialized with Newton Version %i.%i \n", NEWTON_MAJOR_VERSION, NEWTON_MINOR_VERSION);
Com_Printf("----------------------------------------------\n");
// create the Newton World
bspModels.clear();
g_world = NewtonCreate (AllocMemory, FreeMemory);
// use the standard x86 floating point model
// Dushan - the engine will try to use the best possible hardware setting found in the current platform this is the default configuration
NewtonSetPlatformArchitecture (g_world, 2);
// Set up default material properties for newton
defaultMaterialGroup = NewtonMaterialGetDefaultGroupID(g_world);
NewtonMaterialSetDefaultFriction (g_world, defaultMaterialGroup, defaultMaterialGroup, 0.9f, 0.5f);
NewtonMaterialSetDefaultElasticity (g_world, defaultMaterialGroup, defaultMaterialGroup, 0.4f);
NewtonMaterialSetDefaultSoftness (g_world, defaultMaterialGroup, defaultMaterialGroup, 0.1f);
NewtonMaterialSetCollisionCallback (g_world, defaultMaterialGroup, defaultMaterialGroup, NULL, NULL, NULL);
NewtonMaterialSetDefaultCollidable (g_world, defaultMaterialGroup, defaultMaterialGroup, 1 );
// configure the Newton world to use iterative solve mode 0
// this is the most efficient but the less accurate mode
NewtonSetSolverModel (g_world, 8);
NewtonSetFrictionModel (g_world, 0);
g_collision = NULL;
}
// create physics scene
void PrimitiveCollision (DemoEntityManager* const scene)
{
// load the skybox
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
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
int materialID = NewtonMaterialGetDefaultGroupID (world);
// disable collision
NewtonMaterialSetDefaultCollidable (world, materialID, materialID, 0);
AddSinglePrimitive (scene, -10.0f, _SPHERE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -8.0f, _BOX_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -6.0f, _CAPSULE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -4.0f, _CYLINDER_PRIMITIVE, materialID);
AddSinglePrimitive (scene, -2.0f, _CONE_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 4.0f, _CHAMFER_CYLINDER_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 6.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, materialID);
AddSinglePrimitive (scene, 8.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, materialID);
// here we will change the standard gravity force callback and apply null and add a
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
DemoEntity* const entity = (DemoEntity*) NewtonBodyGetUserData(body);
entity->SetUserData (new ShowCollisionCollide(body));
NewtonBodySetForceAndTorqueCallback(body, PhysicsSpinBody);
NewtonBodySetAutoSleep (body, 0);
}
// place camera into position
//dMatrix camMatrix (dYawMatrix(90.0f * dDegreeToRad));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 0.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void Physics::setupMaterials()
{
assert( _p_world );
// get the default material ID
int defaultID = NewtonMaterialGetDefaultGroupID( _p_world );
// set default material properties
NewtonMaterialSetDefaultSoftness( _p_world, defaultID, defaultID, 0.05f );
NewtonMaterialSetDefaultElasticity( _p_world, defaultID, defaultID, 0.4f );
NewtonMaterialSetDefaultCollidable( _p_world, defaultID, defaultID, 1 );
NewtonMaterialSetDefaultFriction( _p_world, defaultID, defaultID, 1.0f, 0.5f );
NewtonMaterialSetCollisionCallback( _p_world, defaultID, defaultID, &defaultCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// create all predefined materials IDs
int nocolID = NewtonMaterialCreateGroupID( _p_world );
int wallID = NewtonMaterialCreateGroupID( _p_world );
int levelID = NewtonMaterialCreateGroupID( _p_world );
int woodID = NewtonMaterialCreateGroupID( _p_world );
int metalID = NewtonMaterialCreateGroupID( _p_world );
int stoneID = NewtonMaterialCreateGroupID( _p_world );
int grassID = NewtonMaterialCreateGroupID( _p_world );
_materials.insert( std::make_pair( "default", defaultID ) );
_materials.insert( std::make_pair( "wall" , wallID ) );
_materials.insert( std::make_pair( "nocol" , nocolID ) );
_materials.insert( std::make_pair( "level" , levelID ) );
_materials.insert( std::make_pair( "wood" , woodID ) );
_materials.insert( std::make_pair( "metal" , metalID ) );
_materials.insert( std::make_pair( "stone" , stoneID ) );
_materials.insert( std::make_pair( "grass" , grassID ) );
// set non-colliding pairs
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, defaultID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, wallID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, levelID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, woodID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, metalID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, grassID, 0 );
NewtonMaterialSetDefaultCollidable( _p_world, nocolID, stoneID, 0 );
// set the material properties for level on wood
NewtonMaterialSetDefaultElasticity( _p_world, levelID, woodID, 0.5f );
NewtonMaterialSetDefaultFriction ( _p_world, levelID, woodID, 0.7f, 0.6f);
NewtonMaterialSetCollisionCallback( _p_world, levelID, woodID, &level_woodCollStruct, genericContactBegin, levelContactProcess, genericContactEnd );
// set the material properties for level on metal
NewtonMaterialSetDefaultElasticity( _p_world, levelID, metalID, 0.5f );
NewtonMaterialSetDefaultFriction ( _p_world, levelID, metalID, 0.8f, 0.6f );
NewtonMaterialSetCollisionCallback( _p_world, levelID, metalID, &level_metalCollStruct, genericContactBegin, levelContactProcess, genericContactEnd );
// set the material properties for level on grass
NewtonMaterialSetDefaultElasticity( _p_world, levelID, grassID, 0.3f );
NewtonMaterialSetDefaultFriction ( _p_world, levelID, grassID, 0.9f, 0.7f );
NewtonMaterialSetCollisionCallback( _p_world, levelID, grassID, &level_grassCollStruct, genericContactBegin, levelContactProcess, genericContactEnd );
// set the material properties for level on stone
NewtonMaterialSetDefaultElasticity( _p_world, levelID, stoneID, 0.45f );
NewtonMaterialSetDefaultFriction ( _p_world, levelID, stoneID, 0.8f, 0.7f );
NewtonMaterialSetCollisionCallback( _p_world, levelID, stoneID, &level_stoneCollStruct, genericContactBegin, levelContactProcess, genericContactEnd );
//------
// set the material properties for wood on wood
NewtonMaterialSetDefaultElasticity( _p_world, woodID, woodID, 0.3f );
NewtonMaterialSetDefaultFriction ( _p_world, woodID, woodID, 1.1f, 0.7f);
NewtonMaterialSetCollisionCallback( _p_world, woodID, woodID, &wood_woodCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for wood on metal
NewtonMaterialSetDefaultElasticity( _p_world, woodID, metalID, 0.5f );
NewtonMaterialSetDefaultFriction ( _p_world, woodID, metalID, 0.8f, 0.6f );
NewtonMaterialSetCollisionCallback( _p_world, woodID, metalID, &wood_metalCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for wood on grass
NewtonMaterialSetDefaultElasticity( _p_world, woodID, grassID, 0.2f );
NewtonMaterialSetDefaultFriction ( _p_world, woodID, grassID, 0.9f, 0.7f );
NewtonMaterialSetCollisionCallback( _p_world, woodID, grassID, &wood_grassCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for wood on stone
NewtonMaterialSetDefaultElasticity( _p_world, woodID, stoneID, 0.45f );
NewtonMaterialSetDefaultFriction ( _p_world, woodID, stoneID, 0.7f, 0.6f );
NewtonMaterialSetCollisionCallback( _p_world, woodID, stoneID, &wood_stoneCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
//------
// set the material properties for metal on metal
NewtonMaterialSetDefaultElasticity( _p_world, metalID, metalID, 0.7f );
NewtonMaterialSetDefaultFriction ( _p_world, metalID, metalID, 0.5f, 0.2f );
NewtonMaterialSetCollisionCallback( _p_world, metalID, metalID, &metal_metalCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for metal on grass
NewtonMaterialSetDefaultElasticity( _p_world, metalID, grassID, 0.2f );
NewtonMaterialSetDefaultFriction ( _p_world, metalID, grassID, 0.6f, 0.5f );
NewtonMaterialSetCollisionCallback( _p_world, metalID, grassID, &metal_grassCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for metal on stone
NewtonMaterialSetDefaultElasticity( _p_world, metalID, stoneID, 0.6f );
NewtonMaterialSetDefaultFriction ( _p_world, metalID, stoneID, 0.5f, 0.4f );
NewtonMaterialSetCollisionCallback( _p_world, metalID, stoneID, &metal_stoneCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
//------
// set the material properties for stone on stone
NewtonMaterialSetDefaultElasticity( _p_world, stoneID, stoneID, 0.8f );
NewtonMaterialSetDefaultFriction ( _p_world, stoneID, stoneID, 0.5f, 0.2f );
NewtonMaterialSetCollisionCallback( _p_world, stoneID, stoneID, &stone_stoneCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
// set the material properties for stone on grass
NewtonMaterialSetDefaultElasticity( _p_world, stoneID, grassID, 0.2f );
NewtonMaterialSetDefaultFriction ( _p_world, stoneID, grassID, 0.7f, 0.6f );
NewtonMaterialSetCollisionCallback( _p_world, stoneID, grassID, &stone_grassCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
//------
// set the material properties for grass on grass ( may we need this!? )
NewtonMaterialSetDefaultElasticity( _p_world, grassID, grassID, 0.1f );
NewtonMaterialSetDefaultFriction ( _p_world, grassID, grassID, 0.9f, 0.8f );
NewtonMaterialSetCollisionCallback( _p_world, grassID, grassID, &grass_grassCollStruct, genericContactBegin, genericContactProcess, genericContactEnd );
}
void tContact::SetCollidable(int state)
{
NewtonMaterialSetDefaultCollidable(tWorld::Instance()->_getNewtonWorld(), mId0->GetId(), mId1->GetId(), state);
}
static void BuildFloorAndSceneRoot (SceneManager& system)
{
NewtonWorld* world;
RenderPrimitive* floor;
NewtonBody* floorBody;
NewtonCollision* floorCollision;
OGLMesh* meshInstance;
world = system.m_world;
// /////////////////////////////////////////////////////////////////////
//
// create the sky box,
system.AddModel (new SkyBox ());
// create the the floor graphic objects
dVector floorSize (100.0f, 2.0f, 100.0f);
dMatrix location (GetIdentityMatrix());
location.m_posit.m_y = -5.0f;
// create a box for floor
floorCollision = NewtonCreateBox (world, floorSize.m_x, floorSize.m_y, floorSize.m_z, 0, NULL);
// meshInstance = OGLMesh::MakeBox (world, size.m_x, size.m_y, size.m_z, "GrassAndDirt.tga");
meshInstance = new OGLMesh (floorCollision, "GrassAndDirt.tga", "metal_30.tga", "metal_30.tga");
floor = new RenderPrimitive (location, meshInstance);
system.AddModel (floor);
meshInstance->Release();
// create the the floor collision, and body with default values
floorBody = NewtonCreateBody (world, floorCollision);
NewtonReleaseCollision (world, floorCollision);
// set the transformation for this rigid body
NewtonBodySetMatrix (floorBody, &location[0][0]);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (floorBody, floor);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (floorBody, PhysicsBodyDestructor);
// get the default material ID
int defaultID;
defaultID = NewtonMaterialGetDefaultGroupID (world);
// set default material properties
NewtonMaterialSetDefaultSoftness (world, defaultID, defaultID, 0.05f);
NewtonMaterialSetDefaultElasticity (world, defaultID, defaultID, 0.4f);
NewtonMaterialSetDefaultCollidable (world, defaultID, defaultID, 1);
NewtonMaterialSetDefaultFriction (world, defaultID, defaultID, 1.0f, 0.5f);
NewtonMaterialSetCollisionCallback (world, defaultID, defaultID, NULL, NULL, GenericContactProcess);
// NewtonMaterialSetSurfaceThickness(world, materialID, materialID, 0.1f);
NewtonMaterialSetSurfaceThickness(world, defaultID, defaultID, 0.0f);
// set the island update callback
NewtonSetIslandUpdateEvent (world, PhysicsIslandUpdate);
// save the callback
SetDemoCallbacks (system);
InitEyePoint (dVector (1.0f, 0.0f, 0.0f), dVector (-40.0f, 10.0f, 0.0f));
}
void PhysWorld3D::SetMaterialDefaultCollidable(int firstMaterial, int secondMaterial, bool collidable)
{
NewtonMaterialSetDefaultCollidable(m_world, firstMaterial, secondMaterial, collidable);
}
