//////////////////////////////////////////////////////////////////////////
// Position the body precisely
//////////////////////////////////////////////////////////////////////////
void DropDownBox(NewtonBody *body)
{
float matrix[16];
NewtonBodyGetMatrix(body, matrix);
Matrix4 m = Matrix4(matrix);
Vector3 pos = m.GetPosition();
pos.y += 1.0f;
m.SetPosition(pos);
Vector3 p = pos;
p.y -= 20;
// cast collision shape within +20 -20 y range
NewtonWorld *world = NewtonBodyGetWorld(body);
NewtonCollision *collision = NewtonBodyGetCollision(body);
float param;
NewtonWorldConvexCastReturnInfo info[16];
m.FlattenToArray(matrix);
NewtonWorldConvexCast(world, matrix, &p[0], collision, ¶m, body, DropDownConvexCastCallback, info, 16, 0);
m = Matrix4(matrix);
pos = m.GetPosition();
m.SetPosition(pos + Vector3(0, (p.y - pos.y) * param, 0) );
m.FlattenToArray(matrix);
NewtonBodySetMatrix(body, matrix);
}
NewtonBody* CPhysics::CreateBox(NewtonWorld *world, CObject3D *object, float x, float y, float z, float mass, Vector3 offset)
{
Matrix4 offsetMat;
offsetMat.SetPosition(offset);
float m[16];
offsetMat.FlattenToArray(m);
NewtonCollision *collision = NewtonCreateBox(world, x, y, z, 0, m);
return CreateRigidBody(world, object, collision, mass);
}