dFloat dMeshNodeInfo::RayCast (const dVector& p0, const dVector& p1) const
{
dVector q0 (m_matrix.UntransformVector(p0));
dVector q1 (m_matrix.UntransformVector(p1));
// int vertexCount = NewtonMeshGetVertexCount(m_mesh);
int strideInBytes = NewtonMeshGetVertexStrideInByte(m_mesh);
float* const vertexList = NewtonMeshGetVertexArray(m_mesh);
dFloat t = 1.2f;
int xxx = 0;
int xxx2 = 0;
for (void* face = NewtonMeshGetFirstFace (m_mesh); face; face = NewtonMeshGetNextFace (m_mesh, face)) {
if (!NewtonMeshIsFaceOpen (m_mesh, face)) {
xxx ++;
int indices[1024];
int vertexCount = NewtonMeshGetFaceIndexCount (m_mesh, face);
NewtonMeshGetFaceIndices (m_mesh, face, indices);
dFloat t1 = dPolygonRayCast (q0, q1, vertexCount, vertexList, strideInBytes, indices);
if (t1 < t) {
xxx2 = xxx;
if (xxx2 == 40276)
xxx2 = xxx;
t = t1;
}
}
}
return t;
}
dFloat dMeshNodeInfo::RayCast (const dVector& q0, const dVector& q1) const
{
// int vertexCount = NewtonMeshGetVertexCount(m_mesh);
int strideInBytes = NewtonMeshGetVertexStrideInByte(m_mesh);
const dFloat64* const vertexList = NewtonMeshGetVertexArray(m_mesh);
dFloat t = 1.2f;
dVector p0 = m_matrix.UntransformVector(q0);
dVector p1 = m_matrix.UntransformVector(q1);
for (void* face = NewtonMeshGetFirstFace (m_mesh); face; face = NewtonMeshGetNextFace (m_mesh, face)) {
if (!NewtonMeshIsFaceOpen (m_mesh, face)) {
int indices[1024];
int vertexCount = NewtonMeshGetFaceIndexCount (m_mesh, face);
NewtonMeshGetFaceIndices (m_mesh, face, indices);
dFloat t1 = dPolygonRayCast (p0, p1, vertexCount, vertexList, strideInBytes, indices);
if (t1 < t) {
t = t1;
}
}
}
return t;
}
void ConvexApproximationObject::BuildMesh()
{
// since max does no provide the iNode that will own this mesh I have no choice bu to apply the root matrix to all vertex
ConvexApproximationClassDesc* const desc = (ConvexApproximationClassDesc*) ConvexApproximationClassDesc::GetDescriptor();
INode* const sourceNode = desc->m_sourceNode;
//dMatrix rootMatrix1 (GetMatrixFromMaxMatrix (sourceNode->GetNodeTM (0)));
dMatrix rootMatrix (GetMatrixFromMaxMatrix (sourceNode->GetObjectTM(0)));
dVector scale;
dMatrix stretchAxis;
dMatrix orthogonalRootTransform;
rootMatrix.PolarDecomposition (orthogonalRootTransform, scale, stretchAxis);
orthogonalRootTransform = orthogonalRootTransform.Inverse();
// create a Newton world, as a manager of everything Newton related stuff
NewtonWorld* const world = NewtonCreate ();
// create an empty mesh and load the max mesh to it
NewtonMesh* const sourceMesh = NewtonMeshCreate (world);
// load all faces
NewtonMeshBeginFace(sourceMesh);
LoadGeometries (sourceMesh, orthogonalRootTransform);
NewtonMeshEndFace(sourceMesh);
// make a convex approximation form this newton mesh effect
desc->m_progress = -1;
Interface* const inteface = desc->m_currentInterface;
inteface->ProgressStart("Creation Convex approx ...", TRUE, ConvexApproximationClassDesc::ReportMaxProgress, NULL);
NewtonMesh* approximationMesh = NewtonMeshApproximateConvexDecomposition (sourceMesh, m_currentConcavity, 0.2f, m_currentMaxCount, 1000, ConvexApproximationClassDesc::ReportProgress);
inteface->ProgressEnd();
NewtonMeshDestroy (sourceMesh);
// now convert the new mesh to a max poly Object
MNMesh& maxMesh = GetMesh();
maxMesh.ClearAndFree();
int faceCount = 0;
int vertexCount = NewtonMeshGetVertexCount(approximationMesh);
for (void* face = NewtonMeshGetFirstFace(approximationMesh); face; face = NewtonMeshGetNextFace(approximationMesh, face)) {
if (!NewtonMeshIsFaceOpen(approximationMesh, face)) {
faceCount ++;
}
}
//maxMesh.Clear();
maxMesh.setNumVerts(vertexCount);
maxMesh.setNumFaces(faceCount);
// add all vertex
int vertexStride = NewtonMeshGetVertexStrideInByte(approximationMesh) / sizeof (dFloat64);
dFloat64* const vertex = NewtonMeshGetVertexArray (approximationMesh);
for (int j = 0; j < vertexCount; j ++) {
dVector p (orthogonalRootTransform.TransformVector(dVector (float (vertex[vertexStride * j + 0]), float (vertex[vertexStride * j + 1]), float (vertex[vertexStride * j + 2]), float(1.0f))));
maxMesh.P(j) = Point3 (p.m_x, p.m_y, p.m_z);
}
// count the number of face and make a face map
int faceIndex = 0;
for (void* face = NewtonMeshGetFirstFace(approximationMesh); face; face = NewtonMeshGetNextFace(approximationMesh, face)) {
if (!NewtonMeshIsFaceOpen(approximationMesh, face)) {
int faceIndices[256];
int indexCount = NewtonMeshGetFaceIndexCount (approximationMesh, face);
NewtonMeshGetFaceIndices (approximationMesh, face, faceIndices);
MNFace* const face = maxMesh.F(faceIndex);
face->MakePoly(indexCount, faceIndices, NULL, NULL);
face->material = 0;
faceIndex ++;
}
}
maxMesh.InvalidateGeomCache();
maxMesh.InvalidateTopoCache();
maxMesh.FillInMesh();
maxMesh.AutoSmooth(45.0f * 3.1416f / 160.0f, false, false);
NewtonMeshDestroy (approximationMesh);
NewtonDestroy (world);
}
void BuildClothPatch (DemoEntityManager* const scene, int size_x, int size_z)
{
NewtonWorld* const world = scene->GetNewton();
NewtonMesh* const clothPatch = CreateQuadClothPatch(scene, size_x, size_z);
// create the array of points;
int vertexCount = NewtonMeshGetVertexCount(clothPatch);
int stride = NewtonMeshGetVertexStrideInByte (clothPatch) / sizeof (dFloat64);
const dFloat64* const meshPoints = NewtonMeshGetVertexArray (clothPatch);
dVector* const points = new dVector[vertexCount];
for (int i =0; i < vertexCount; i ++ ) {
points[i].m_x = dFloat (meshPoints[i * stride + 0]);
points[i].m_y = dFloat (meshPoints[i * stride + 1]);
points[i].m_z = dFloat (meshPoints[i * stride + 2]);
points[i].m_w = 0.0f;
}
dFloat mass = 8.0f;
// set the particle masses
dFloat unitMass = mass / vertexCount;
dFloat* const clothMass = new dFloat[vertexCount];
for (int i =0; i < vertexCount; i ++ ) {
clothMass[i] = unitMass;
}
int linksCount = 0;
const int maxLinkCount = size_x * size_z * 16;
// create the structual constation array;
dFloat structuralSpring = dAbs(mass * DEMO_GRAVITY) / 0.01f;
dFloat structuralDamper = 30.0f;
int* const links = new int[2 * maxLinkCount];
dFloat* const spring = new dFloat[maxLinkCount];
dFloat* const damper = new dFloat[maxLinkCount];
for (void* edgeNode = NewtonMeshGetFirstEdge (clothPatch); edgeNode; edgeNode = NewtonMeshGetNextEdge (clothPatch, edgeNode)) {
int v0;
int v1;
NewtonMeshGetEdgeIndices (clothPatch, edgeNode, &v0, &v1);
links[linksCount * 2 + 0] = v0;
links[linksCount * 2 + 1] = v1;
spring[linksCount] = structuralSpring;
damper[linksCount] = structuralDamper;
linksCount ++;
dAssert (linksCount <= maxLinkCount);
}
// add shear constraints
dFloat shearSpring = structuralSpring;
dFloat shearDamper = structuralDamper;
for (void* faceNode = NewtonMeshGetFirstFace (clothPatch); faceNode; faceNode = NewtonMeshGetNextFace (clothPatch, faceNode)) {
if (!NewtonMeshIsFaceOpen(clothPatch, faceNode)) {
int face[8];
int indexCount = NewtonMeshGetFaceIndexCount (clothPatch, faceNode);
NewtonMeshGetFaceIndices (clothPatch, faceNode, face);
for (int i = 2; i < indexCount - 1; i ++) {
links[linksCount * 2 + 0] = face[0];
links[linksCount * 2 + 1] = face[i];
spring[linksCount] = shearSpring;
damper[linksCount] = shearDamper;
linksCount ++;
dAssert (linksCount <= maxLinkCount);
}
for (int i = 3; i < indexCount; i ++) {
links[linksCount * 2 + 0] = face[1];
links[linksCount * 2 + 1] = face[i];
spring[linksCount] = shearSpring;
damper[linksCount] = shearDamper;
linksCount ++;
dAssert (linksCount <= maxLinkCount);
}
}
}
//linksCount = 0;
NewtonCollision* const deformableCollision = NewtonCreateMassSpringDamperSystem(world, 0,
&points[0].m_x, vertexCount, sizeof (dVector), clothMass,
links, linksCount, spring, damper);
m_body = CreateRigidBody(scene, mass, deformableCollision);
DemoMesh* const mesh = new ClothPatchMesh (scene, clothPatch, m_body);
SetMesh(mesh, dGetIdentityMatrix());
// do not forget to destroy this objects, else you get bad memory leaks.
mesh->Release();
NewtonDestroyCollision(deformableCollision);
NewtonMeshDestroy(clothPatch);
delete[] links;
delete[] damper;
delete[] spring;
delete[] clothMass;
delete[] points;
}
void Import::LoadGeometries (dScene& scene, GeometryCache& meshCache, const MaterialCache& materialCache)
{
dScene::Iterator iter (scene);
for (iter.Begin(); iter; iter ++) {
dScene::dTreeNode* const geometryNode = iter.GetNode();
dNodeInfo* const info = scene.GetInfoFromNode(geometryNode);
if (info->IsType(dGeometryNodeInfo::GetRttiType())) {
if (info->GetTypeId() == dMeshNodeInfo::GetRttiType()) {
// add the vertices
//TriObject* const geometry = CreateNewTriObject();
TriObject* const geometry = (TriObject*) CreateInstance (GEOMOBJECT_CLASS_ID, Class_ID(TRIOBJ_CLASS_ID, 0));
meshCache.AddMesh(geometry, geometryNode);
dMeshNodeInfo* const meshInfo = (dMeshNodeInfo*) scene.GetInfoFromNode(geometryNode);
NewtonMesh* const mesh = meshInfo->GetMesh();
NewtonMeshTriangulate (mesh);
int vertexCount = NewtonMeshGetVertexCount(mesh);
int pointCount = NewtonMeshGetPointCount(mesh);
//int triangleCount = NewtonMeshGetTotalFaceCount(mesh);
int triangleCount = 0;
for (void* face = NewtonMeshGetFirstFace(mesh); face; face = NewtonMeshGetNextFace(mesh, face)) {
if (!NewtonMeshIsFaceOpen(mesh, face)) {
triangleCount += NewtonMeshGetFaceIndexCount (mesh, face) - 2;
}
}
Mesh& maxMesh = geometry->mesh;
maxMesh.setNumVerts(vertexCount);
maxMesh.setNumFaces(triangleCount);
maxMesh.setNumTVerts(pointCount);
maxMesh.setNumTVFaces(triangleCount);
int vertexStride = NewtonMeshGetVertexStrideInByte(mesh) / sizeof (dFloat64);
dFloat64* const vertex = NewtonMeshGetVertexArray (mesh);
for (int j = 0; j < vertexCount; j ++) {
Point3 vx (vertex[vertexStride * j + 0], vertex[vertexStride * j + 1], vertex[vertexStride * j + 2]);
maxMesh.setVert(j, vx);
}
int pointStride = NewtonMeshGetPointStrideInByte(mesh) / sizeof (dFloat64);
dFloat64* const points = NewtonMeshGetUV0Array(mesh);
for (int j = 0; j < pointCount; j ++) {
Point3 uv (dFloat(points[j * pointStride + 0]), dFloat(points[j * pointStride + 1]), 0.0f);
maxMesh.setTVert(j, uv);
}
int faceIndex = 0;
for (void* face = NewtonMeshGetFirstFace(mesh); face; face = NewtonMeshGetNextFace(mesh, face)) {
if (!NewtonMeshIsFaceOpen(mesh, face)) {
int vertexInices[256];
int pointIndices[256];
int indexCount = NewtonMeshGetFaceIndexCount (mesh, face);
int matId = NewtonMeshGetFaceMaterial (mesh, face);
MaterialProxi material;
material.m_mtl = 0;
material.m_matID = 0;
MaterialCache::dTreeNode* const materialNode = materialCache.Find(matId);
if (materialNode) {
material = materialNode->GetInfo();
}
NewtonMeshGetFaceIndices (mesh, face, vertexInices);
NewtonMeshGetFacePointIndices (mesh, face, pointIndices);
for (int i = 2; i < indexCount; i ++) {
Face* f = &maxMesh.faces[faceIndex];
TVFace* t = &maxMesh.tvFace[faceIndex];
f->v[0] = vertexInices[0];
f->v[1] = vertexInices[i - 1];
f->v[2] = vertexInices[i];
f->setEdgeVis(0, 1);
f->setEdgeVis(1, 1);
f->setEdgeVis(2, 1);
f->setSmGroup(0);
//f->setMatID((MtlID)matID);
f->setMatID(material.m_matID);
t->t[0] = pointIndices[0];
t->t[1] = pointIndices[i - 1];
t->t[2] = pointIndices[i];
faceIndex ++;
}
}
}
SetSmoothingGroups (maxMesh);
#if 0
if (geom->m_uv1) {
int texChannel = 2;
// maxMesh.setNumMaps (texChannel, TRUE);
maxMesh.setMapSupport (texChannel);
if (maxMesh.mapSupport(texChannel)) {
maxMesh.setNumMapVerts (texChannel, triangleCount * 3);
maxMesh.setNumMapFaces (texChannel, triangleCount);
UVVert *tv = maxMesh.mapVerts(texChannel);
faceIndex = 0;
TVFace *tf = maxMesh.mapFaces(texChannel);
for (segmentPtr = geom->GetFirst(); segmentPtr; segmentPtr = segmentPtr->GetNext()) {
const dSubMesh& segment = segmentPtr->GetInfo();
int triangleCount = segment.m_indexCount / 3;
for (k = 0; k < triangleCount; k ++) {
for (int m = 0; m < 3; m ++) {
int index = segment.m_indexes[k * 3 + m];
UVVert v (dFloat (geom->m_uv1[index * 2 + 0]), dFloat (geom->m_uv1[index * 2 + 1]), 0.0f);
tv[faceIndex * 3 + m] = v;
tf[faceIndex].t[m] = faceIndex * 3 + m;
}
faceIndex ++;
}
}
}
}
#endif
} else {
_ASSERTE (0);
}
}
}
}
void Import::LoadGeometries (dScene& scene, GeometryCache& meshCache, const MaterialCache& materialCache)
{
dScene::Iterator iter (scene);
for (iter.Begin(); iter; iter ++) {
dScene::dTreeNode* const geometryNode = iter.GetNode();
dNodeInfo* const info = scene.GetInfoFromNode(geometryNode);
if (info->IsType(dGeometryNodeInfo::GetRttiType())) {
if (info->GetTypeId() == dMeshNodeInfo::GetRttiType()) {
// add the vertices
PolyObject* const geometry = (PolyObject*) CreateInstance (GEOMOBJECT_CLASS_ID, Class_ID(POLYOBJ_CLASS_ID, 0));
meshCache.AddMesh(geometry, geometryNode);
MNMesh& maxMesh = geometry->GetMesh();
dMeshNodeInfo* const meshInfo = (dMeshNodeInfo*) scene.GetInfoFromNode(geometryNode);
NewtonMesh* const mesh = meshInfo->GetMesh();
//NewtonMeshTriangulate (mesh);
//NewtonMeshPolygonize (mesh);
int faceCount = 0;
int vertexCount = NewtonMeshGetVertexCount(mesh);
for (void* face = NewtonMeshGetFirstFace(mesh); face; face = NewtonMeshGetNextFace(mesh, face)) {
if (!NewtonMeshIsFaceOpen(mesh, face)) {
faceCount ++;
}
}
maxMesh.Clear();
maxMesh.setNumVerts(vertexCount);
maxMesh.setNumFaces(faceCount);
// add all vertex
int vertexStride = NewtonMeshGetVertexStrideInByte(mesh) / sizeof (dFloat64);
dFloat64* const vertex = NewtonMeshGetVertexArray (mesh);
for (int j = 0; j < vertexCount; j ++) {
maxMesh.P(j) = Point3 (vertex[vertexStride * j + 0], vertex[vertexStride * j + 1], vertex[vertexStride * j + 2]);
}
// count the number of face and make a face map
int faceIndex = 0;
for (void* face = NewtonMeshGetFirstFace(mesh); face; face = NewtonMeshGetNextFace(mesh, face)) {
if (!NewtonMeshIsFaceOpen(mesh, face)) {
int faceIndices[256];
int indexCount = NewtonMeshGetFaceIndexCount (mesh, face);
int matId = NewtonMeshGetFaceMaterial (mesh, face);
MaterialProxi material;
material.m_mtl = 0;
material.m_matID = 0;
MaterialCache::dTreeNode* const materialNode = materialCache.Find(matId);
if (materialNode) {
material = materialNode->GetInfo();
}
NewtonMeshGetFaceIndices (mesh, face, faceIndices);
MNFace* const face = maxMesh.F(faceIndex);
face->MakePoly(indexCount, faceIndices, NULL, NULL);
face->material = material.m_matID;
faceIndex ++;
}
}
int pointCount = NewtonMeshGetPointCount(mesh);
int texChannels = 2;
maxMesh.SetMapNum (texChannels);
maxMesh.M(texChannels - 1)->ClearFlag (MN_DEAD);
maxMesh.M(texChannels - 1)->setNumFaces (faceCount);
maxMesh.M(texChannels - 1)->setNumVerts (pointCount);
UVVert* const tv = maxMesh.M(texChannels - 1)->v;
MNMapFace* const tf = maxMesh.M(texChannels - 1)->f;
// add uvs
dFloat64* const uv0 = NewtonMeshGetUV0Array(mesh);
int pointStride = NewtonMeshGetPointStrideInByte(mesh) / sizeof (dFloat64);
for (int j = 0; j < pointCount; j ++) {
tv[j] = Point3 (uv0[pointStride * j + 0], uv0[pointStride * j + 1], 0.0);
}
faceIndex = 0;
for (void* face = NewtonMeshGetFirstFace(mesh); face; face = NewtonMeshGetNextFace(mesh, face)) {
if (!NewtonMeshIsFaceOpen(mesh, face)) {
int faceIndices[256];
int indexCount = NewtonMeshGetFaceIndexCount (mesh, face);
NewtonMeshGetFacePointIndices (mesh, face, faceIndices);
MNMapFace* const textFace = &tf[faceIndex];
textFace->MakePoly (indexCount, faceIndices);
faceIndex ++;
}
}
maxMesh.InvalidateGeomCache();
maxMesh.InvalidateTopoCache();
maxMesh.FillInMesh();
} else {
_ASSERTE (0);
}
}
}
}