PlaformEntityEntity (DemoEntityManager* const scene, DemoEntity* const source, NewtonBody* const triggerPort0, NewtonBody* const triggerPort1) :DemoEntity (source->GetNextMatrix(), NULL) { scene->Append(this); DemoMesh* const mesh = (DemoMesh*)source->GetMesh(); dAssert (mesh->IsType(DemoMesh::GetRttiType())); SetMesh(mesh, source->GetMeshMatrix()); const dFloat mass = 100.0f; dMatrix matrix (source->GetNextMatrix()) ; NewtonWorld* const world = scene->GetNewton(); // note: because the mesh matrix can have scale, for simplicity just apply the local mesh matrix to the vertex cloud dVector pool[128]; const dMatrix& meshMatrix = GetMeshMatrix(); meshMatrix.TransformTriplex(&pool[0].m_x, sizeof (dVector), mesh->m_vertex, 3 * sizeof (dFloat), mesh->m_vertexCount); NewtonCollision* const collision = NewtonCreateConvexHull(world, mesh->m_vertexCount, &pool[0].m_x, sizeof (dVector), 0, 0, NULL); NewtonBody* body = CreateSimpleBody (world, this, 100, matrix, collision, 0); NewtonDestroyCollision(collision); // attach a kinematic joint controller joint to move this body dVector pivot; NewtonBodyGetCentreOfMass (body, &pivot[0]); pivot = matrix.TransformVector(pivot); m_driver = new FerryDriver (body, pivot, triggerPort0, triggerPort1); m_driver->SetMaxLinearFriction (50.0f * dAbs (mass * DEMO_GRAVITY)); m_driver->SetMaxAngularFriction(50.0f * dAbs (mass * DEMO_GRAVITY)); }
//----------------------------------------------------------------------------- // //----------------------------------------------------------------------------- MStatus CVstWeldNode::compute( const MPlug &mPlug, MDataBlock &mDataBlock ) { if ( mPlug == m_oaWeldOutput || mPlug == m_oaTranslate || mPlug == m_oaRotate || mPlug == m_oaTranslateX || mPlug == m_oaTranslateY || mPlug == m_oaTranslateZ || mPlug == m_oaRotateX || mPlug == m_oaRotateY || mPlug == m_oaRotateZ ) { const MObject geoObj = mDataBlock.inputValue( m_iaWorldGeometry ).data(); if ( geoObj.apiType() == MFn::kMeshData ) { MStatus mStatus; MObject meshObj = mDataBlock.inputValue( m_iaWorldGeometry ).asMeshTransformed(); MFnMesh meshFn( meshObj ); MItMeshPolygon pIt( meshObj ); MPointArray facePoints; MArrayDataHandle wiAH = mDataBlock.inputArrayValue( m_iaWeldInput ); MArrayDataHandle woAH = mDataBlock.outputArrayValue( m_oaWeldOutput, &mStatus ); MArrayDataBuilder woADB = woAH.builder( &mStatus ); const int nWeldCount = wiAH.elementCount(); for ( int i = 0; i < nWeldCount; ++i, wiAH.next() ) { MDataHandle wiDH = wiAH.inputValue(); const MMatrix &offsetMatrix = wiDH.child( m_iaOffsetMatrix ).asMatrix(); const MMatrix &inverseParentSpace = wiDH.child( m_iaInverseParentSpace ).asMatrix(); const MEulerRotation::RotationOrder rotationOrder = static_cast< MEulerRotation::RotationOrder >( wiDH.child( m_iaRotateOrder ).asShort() ); MMatrix geoMatrix; switch ( wiDH.child( m_iaType ).asShort() ) { case kMeshFace: { const int nMeshFaceIndex = wiDH.child( m_iaInt ).asInt(); GetMeshMatrix( pIt, nMeshFaceIndex, geoMatrix ); } break; default: merr << "Unknown Weld Type " << wiDH.child( m_iaType ).asShort() << std::endl; break; } const int nWeldIndex = wiAH.elementIndex(); MDataHandle woDH = woADB.addElement( nWeldIndex ); MTransformationMatrix L( inverseParentSpace * offsetMatrix * geoMatrix ); woDH.child( m_oaTranslate ).set( L.getTranslation( MSpace::kWorld ) ); MEulerRotation e = L.rotation().asEulerRotation(); e.reorder( rotationOrder ); woDH.child( m_oaRotate ).set( e.asVector() ); } } else { merr << "Invalid .inputGeometry data of type: " << geoObj.apiTypeStr() << " found while computing " << mPlug.info() << std::endl; return MS::kFailure; } return MS::kSuccess; } return MS::kUnknownParameter; }