static void AddGear (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const box0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
// this is a fix joint
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// connect two bodies with a hinge
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 1.0f, box0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 1.0f, box0);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
// relate the two body motion with a gear joint
dVector pin0 (matrix0.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector (1.0f, 0.0f, 0.0f)));
new CustomGear (4.0f, pin0, pin1, body0, body1);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
// NewtonSkeletonContainerAttachBone(skeleton, box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), box0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
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);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel1);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, reel1, NULL);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->GetBody0(), reel1);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddGearAndRack (DemoEntityManager* const scene, const dVector& origin)
{
NewtonBody* const reel0 = CreateCylinder(scene, origin + dVector (0.0f, 4.0f, 0.0f), 0.25f, 4.0f);
NewtonBody* const reel1 = CreateBox(scene, origin + dVector (0.0f, 4.0f, 2.0f), dVector(4.0f, 0.25f, 0.25f));
dMatrix matrix;
NewtonBodySetMassMatrix(reel0, 0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetMassMatrix(reel1, 0.0f, 0.0f, 0.0f, 0.0f);
CustomHinge* const hinge0 = AddHingeWheel (scene, origin + dVector (-1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomHinge* const hinge1 = AddHingeWheel (scene, origin + dVector ( 1.0f, 4.0f, 0.0f), 0.5f, 0.5f, reel0);
CustomCorkScrew* const cylinder = AddCylindricalWheel(scene, origin + dVector (0.0f, 4.0f, 2.0f), 0.5f, 1.0f, reel0);
cylinder->EnableLinearLimits(true);
cylinder->SetLinearLimis(-2.0f, 2.0f);
NewtonBody* const body0 = hinge0->GetBody0();
NewtonBody* const body1 = hinge1->GetBody0();
NewtonBody* const body2 = cylinder->GetBody0();
dMatrix matrix0;
dMatrix matrix1;
dMatrix matrix2;
NewtonBodyGetMatrix (body0, &matrix0[0][0]);
NewtonBodyGetMatrix (body1, &matrix1[0][0]);
NewtonBodyGetMatrix (body2, &matrix2[0][0]);
dVector pin0 (matrix0.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin1 (matrix1.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
dVector pin2 (matrix2.RotateVector(dVector( 1.0f, 0.0f, 0.0f)));
new CustomGear (1.0f, pin0, pin2, body0, body2);
new CustomRackAndPinion (1.0f, pin1, pin2, body1, body2);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), reel0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, hinge0->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, hinge1->GetBody0(), reel0);
NewtonSkeletonContainerAttachBone(skeleton, cylinder->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);
NewtonCollisionAggregateAddBody(aggregate, body2);
}
