void OGPhysic::update(double time){
Vector3d terrainNorm;
Vector3d vertex;
Vector3d pos;
bool collision = terrainCollision(vertex, terrainNorm);
Vector3d fp = Vector3d(0,ball->getMass() * gravity,0); //forza peso
if (!collision){
Vector3d faa = 6 * M_PI * viscosity * ball->getMass() * (wind - ball->getSpeed()); //forza attrito aria
Vector3d fr = fp + faa; //forza attiva sulla pallina
Vector3d acc = fr / ball->getMass();
ball->setSpeed(ball->getSpeed() + (acc * time));
pos = ball->getPosition() + (ball->getSpeed() * time);
}else{
//attrito radente
Vector3d normV = ball->getSpeed().getNormalized();
Vector3d fat = normV * terrainNorm.dot(fp) * friction;
//calcolo forza peso parallela
Vector3d fpp = fp.length() * terrainNorm + Vector3d(0,-1,0);
Vector3d acc = fat + fpp / ball->getMass();
Vector3d speed = ball->getSpeed();
pos = ball->getPosition();
speed = Vector3d(speed.x + (acc.x * time), -speed.y * elasticity, speed.z + (acc.z * time));
pos = Vector3d(pos.x + (speed.x * time), vertex.y + (speed.y * time) ,pos.z + (speed.z * time));
ball->setSpeed(speed);
}
ball->setPosition(pos.x, pos.y, pos.z);
//update pov
pov->setPosition(pos.x, pos.y , pos.z);
}
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);
}
