static void AddCylindrical (DemoEntityManager* const scene, const dVector& origin)
{
// make a reel static
NewtonBody* const box0 = CreateCylinder (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), 0.25f, 8.0f);
NewtonBody* const box1 = CreateWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), 1.0f, 0.5f);
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
//NewtonBodyGetMatrix(box0, &matrix[0][0]);
//CustomHinge* const fixJoint = new CustomHinge(matrix, box0, NULL);
//fixJoint->EnableLimits(true);
//fixJoint->SetLimis(0.0f, 0.0f);
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// connect the bodies by a CorkScrew joint
NewtonBodyGetMatrix (box1, &matrix[0][0]);
CustomCorkScrew* const cylinder = new CustomCorkScrew (matrix, box1, box0);
// enable limit of first axis
cylinder->EnableLinearLimits(true);
// set limit on second axis
cylinder->SetLinearLimis (-4.0f, 4.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddSlidingContact(DemoEntityManager* const scene, const dVector& origin)
{
// make a reel static
NewtonBody* const box0 = CreateBox(scene, origin + dVector(0.0f, 4.0f, 0.0f, 0.0f), dVector(8.0f, 0.25f, 0.25f, 0.0f));
NewtonBody* const box1 = CreateWheel(scene, origin + dVector(0.0f, 4.0f, 0.0f, 0.0f), 1.0f, 0.5f);
dMatrix matrix;
//connect the box0 to the base by a fix joint (a hinge with zero limit)
NewtonBodyGetMatrix(box0, &matrix[0][0]);
CustomHinge* const hinge = new CustomHinge(matrix, box0, NULL);
hinge->EnableLimits(true);
hinge->SetLimis(0.0f, 0.0f);
// connect the bodies by a Slider joint
NewtonBodyGetMatrix(box1, &matrix[0][0]);
CustomSlidingContact* const slider = new CustomSlidingContact(matrix, box1, box0);
slider->EnableLinearLimits (true);
slider->SetLinearLimis (-4.0f, 4.0f);
// enable limit of first axis
slider->EnableAngularLimits(true);
slider->SetAngularLimis (-60.0f * 3.1416f / 180.0f, 60.0f * 3.1416f / 180.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), NULL, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddSlider (DemoEntityManager* const scene, const dVector& origin)
{
// make a reel static
NewtonBody* const box0 = CreateBox (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), dVector (8.0f, 0.25f, 0.25f, 0.0f));
NewtonBody* const box1 = CreateWheel (scene, origin + dVector (0.0f, 4.0f, 0.0f, 0.0f), 1.0f, 0.5f);
dMatrix matrix;
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// connect the bodies by a Slider joint
NewtonBodyGetMatrix (box1, &matrix[0][0]);
CustomSlider* const slider = new CustomSlider (matrix, box1, box0);
// enable limit of first axis
slider->EnableLimits(true);
// set limit on second axis
slider->SetLimits (-4.0f, 4.0f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static void AddUniversal(DemoEntityManager* const scene, const dVector& origin)
{
dVector size(1.0f, 1.0f, 1.0f);
NewtonBody* const box0 = CreateBox(scene, origin + dVector(0.0f, 4.0f, 0.0f, 0.0f), dVector(0.25f, 0.25f, 4.0f, 0.0f));
NewtonBody* const box1 = CreateWheel(scene, origin + dVector(0.0f, 4.0f, 2.0f, 0.0f), 1.0f, 0.5f);
NewtonBody* const box2 = CreateWheel(scene, origin + dVector(0.0f, 4.0f, -2.0f, 0.0f), 1.0f, 0.5f);
NewtonBodySetMassMatrix(box0, 0.0f, 0.0f, 0.0f, 0.0f);
// align the object so that is looks nice
dMatrix matrix;
NewtonBodyGetMatrix(box1, &matrix[0][0]);
matrix = dYawMatrix (3.1416f * 0.5f) * matrix;
NewtonBodySetMatrix(box1, &matrix[0][0]);
((DemoEntity*) NewtonBodyGetUserData(box1))->ResetMatrix (*scene, matrix);
NewtonBodyGetMatrix(box2, &matrix[0][0]);
matrix = dYawMatrix(3.1416f * 0.5f) * matrix;
NewtonBodySetMatrix(box2, &matrix[0][0]);
((DemoEntity*) NewtonBodyGetUserData(box2))->ResetMatrix (*scene, matrix);
// link the two boxes
NewtonBodyGetMatrix(box1, &matrix[0][0]);
CustomUniversal* const joint1 = new CustomUniversal(matrix, box1, box0);
joint1->EnableLimit_0(true);
joint1->SetLimis_0 (-5.0f * 3.141592f, 2.0f * 3.141592f);
joint1->EnableLimit_1(true);
joint1->SetLimis_1 (-3.0f * 3.141592f, 4.0f * 3.141592f);
// link the two boxes
NewtonBodyGetMatrix(box2, &matrix[0][0]);
CustomUniversal* const joint2 = new CustomUniversal(matrix, box2, box0);
joint2->EnableLimit_0(true);
joint2->SetLimis_0 (-3.0f * 3.141592f, 5.0f * 3.141592f);
joint2->EnableLimit_1(true);
joint2->SetLimis_1(-4.0f * 3.141592f, 2.0f * 3.141592f);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), box0, NULL);
NewtonSkeletonContainerAttachBone(skeleton, box1, box0);
NewtonSkeletonContainerAttachBone(skeleton, box2, box0);
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
static CustomCorkScrew* AddCylindricalWheel (DemoEntityManager* const scene, const dVector& origin, dFloat radius, dFloat height, NewtonBody* const parent)
{
NewtonBody* const wheel = CreateWheel (scene, origin, height, radius);
// the joint pin is the first row of the matrix
dMatrix matrix;
NewtonBodyGetMatrix (wheel, &matrix[0][0]);
return new CustomCorkScrew (matrix, wheel, parent);
}
static CustomSlider* AddSliderWheel (DemoEntityManager* const scene, const dVector& origin, dFloat radius, dFloat height, NewtonBody* const parent)
{
NewtonBody* const wheel = CreateWheel (scene, origin, height, radius);
// the joint pin is the first row of the matrix
//dMatrix localPin (dRollMatrix(90.0f * 3.141592f / 180.0f));
dMatrix localPin (dGetIdentityMatrix());
dMatrix matrix;
NewtonBodyGetMatrix (wheel, & matrix[0][0]);
matrix = localPin * matrix;
// connect first box to the world
return new CustomSlider (matrix, wheel, parent);
}
static void AddPathFollow (DemoEntityManager* const scene, const dVector& origin)
{
// create a Bezier Spline path for AI car to drive
DemoEntity* const rollerCosterPath = new DemoEntity(dGetIdentityMatrix(), NULL);
scene->Append(rollerCosterPath);
dBezierSpline spline;
dFloat64 knots[] = {0.0f, 1.0f / 3.0f, 2.0f / 3.0f, 1.0f};
dBigVector o (origin[0], origin[1], origin[2], 0.0f);
dBigVector control[] =
{
dBigVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 1.0f) + o,
dBigVector(150.0f - 100.0f, 10.0f, 150.0f - 250.0f, 1.0f) + o,
dBigVector(200.0f - 100.0f, 70.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(150.0f - 100.0f, 10.0f, 350.0f - 250.0f, 1.0f) + o,
dBigVector( 50.0f - 100.0f, 30.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 1.0f) + o,
};
spline.CreateFromKnotVectorAndControlPoints(3, sizeof (knots) / sizeof (knots[0]), knots, control);
DemoBezierCurve* const mesh = new DemoBezierCurve (spline);
rollerCosterPath->SetMesh(mesh, dGetIdentityMatrix());
mesh->SetVisible(true);
mesh->SetRenderResolution(500);
mesh->Release();
NewtonBody* const box0 = CreateWheel(scene, origin + dVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 0.0f), 1.0f, 0.5f);
dMatrix matrix;
NewtonBodyGetMatrix (box0, &matrix[0][0]);
matrix.m_posit.m_y += 0.5f;
new MyPathFollow (matrix, box0, rollerCosterPath);
}
static void AddPathFollow (DemoEntityManager* const scene, const dVector& origin)
{
// create a Bezier Spline path for AI car to drive
DemoEntity* const rollerCosterPath = new DemoEntity(dGetIdentityMatrix(), NULL);
scene->Append(rollerCosterPath);
dBezierSpline spline;
dFloat64 knots[] = {0.0f, 1.0f / 5.0f, 2.0f / 5.0f, 3.0f / 5.0f, 4.0f / 5.0f, 1.0f};
dBigVector o (origin[0], origin[1], origin[2], 0.0f);
dBigVector control[] =
{
dBigVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 1.0f) + o,
dBigVector(150.0f - 100.0f, 10.0f, 150.0f - 250.0f, 1.0f) + o,
dBigVector(175.0f - 100.0f, 30.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(200.0f - 100.0f, 70.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(215.0f - 100.0f, 20.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(150.0f - 100.0f, 50.0f, 350.0f - 250.0f, 1.0f) + o,
dBigVector( 50.0f - 100.0f, 30.0f, 250.0f - 250.0f, 1.0f) + o,
dBigVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 1.0f) + o,
};
spline.CreateFromKnotVectorAndControlPoints(3, sizeof (knots) / sizeof (knots[0]), knots, control);
DemoBezierCurve* const mesh = new DemoBezierCurve (spline);
rollerCosterPath->SetMesh(mesh, dGetIdentityMatrix());
mesh->SetVisible(true);
mesh->SetRenderResolution(500);
mesh->Release();
const int count = 32;
NewtonBody* bodies[count];
dBigVector point0;
dVector positions[count + 1];
dFloat64 knot = spline.FindClosestKnot(point0, origin + dVector(100.0f - 100.0f, 20.0f, 200.0f - 250.0f, 0.0f), 4);
positions[0] = dVector (point0.m_x, point0.m_y, point0.m_z, 0.0);
dFloat average = 0.0f;
for (int i = 0; i < count; i ++) {
dBigVector point1;
average += positions[i].m_y;
dBigVector tangent(spline.CurveDerivative(knot));
tangent = tangent.Scale (1.0 / sqrt (tangent % tangent));
knot = spline.FindClosestKnot(point1, dBigVector (point0 + tangent.Scale (2.0f)), 4);
point0 = point1;
positions[i + 1] = dVector (point0.m_x, point0.m_y, point0.m_z, 0.0);
}
average /= count;
for (int i = 0; i < count + 1; i ++) {
positions[i].m_y = average;
}
dFloat attachmentOffset = 0.8f;
for (int i = 0; i < count; i ++) {
dMatrix matrix;
dVector location0 (positions[i].m_x, positions[i].m_y, positions[i].m_z, 0.0);
bodies[i] = CreateWheel(scene, location0, 1.0f, 0.5f);
NewtonBodySetLinearDamping(bodies[i], 0.0f);
NewtonBody* const box = bodies[i];
NewtonBodyGetMatrix(box, &matrix[0][0]);
dVector location1 (positions[i + 1].m_x, positions[i + 1].m_y, positions[i + 1].m_z, 0.0);
dVector dir (location1 - location0);
matrix.m_front = dir.Scale (1.0f / dSqrt (dir % dir));
matrix.m_right = matrix.m_front * matrix.m_up;
dMatrix matrix1 (dYawMatrix(0.5f * 3.141692f) * matrix);
NewtonBodySetMatrix(box, &matrix1[0][0]);
matrix.m_posit.m_y += attachmentOffset;
new MyPathFollow(matrix, box, rollerCosterPath);
dVector veloc (dir.Scale (20.0f));
NewtonBodySetVelocity(box, &veloc[0]);
}
for (int i = 1; i < count; i ++) {
NewtonBody* const box0 = bodies[i - 1];
NewtonBody* const box1 = bodies[i];
dMatrix matrix0;
dMatrix matrix1;
NewtonBodyGetMatrix(box0, &matrix0[0][0]);
NewtonBodyGetMatrix(box1, &matrix1[0][0]);
matrix0.m_posit.m_y += attachmentOffset;
matrix1.m_posit.m_y += attachmentOffset;
new CustomDistanceRope (matrix1.m_posit, matrix0.m_posit, box1, box0);
}
void* const aggregate = NewtonCollisionAggregateCreate (scene->GetNewton());
for (int i = 0; i < count; i ++) {
NewtonCollisionAggregateAddBody(aggregate, bodies[i]);
}
NewtonCollisionAggregateSetSelfCollision (aggregate, false);
#ifdef _USE_HARD_JOINTS
NewtonSkeletonContainer* const skeleton = NewtonSkeletonContainerCreate(scene->GetNewton(), bodies[0], NULL);
for (int i = 1; i < count; i++) {
NewtonSkeletonContainerAttachBone(skeleton, bodies[i], bodies[i - 1]);
}
NewtonSkeletonContainerFinalize(skeleton);
#endif
}
