NewtonBody* CreateRigidBody (NewtonWorld* world, NewtonEntity* ent, NewtonCollision* collision, dFloat mass)
{
glm::vec3 minBox;
glm::vec3 maxBox;
glm::vec3 origin;
glm::vec3 inertia;
NewtonBody* body;
glm::mat4 matrix = createMat4(ent->curRotation,ent->curPosition);
// Now with the collision Shape we can crate a rigid body
body = NewtonCreateBody (world, collision, &matrix[0][0]);
// bodies can have a destructor.
// this is a function callback that can be used to destroy any local data stored
// and that need to be destroyed before the body is destroyed.
NewtonBodySetDestructorCallback (body, DestroyBodyCallback);
// save the entity as the user data for this body
NewtonBodySetUserData (body, ent);
ent->body=body;
// we need to set the proper center of mass and inertia matrix for this body
// the inertia matrix calculated by this function does not include the mass.
// therefore it needs to be multiplied by the mass of the body before it is used.
NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
// set the body mass matrix
NewtonBodySetMassMatrix (body, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
// set the body origin
NewtonBodySetCentreOfMass (body, &origin[0]);
// set the function callback to apply the external forces and torque to the body
// the most common force is Gravity
NewtonBodySetForceAndTorqueCallback (body, ApplyForceAndTorqueCallback);
// set the function callback to set the transformation state of the graphic entity associated with this body
// each time the body change position and orientation in the physics world
NewtonBodySetTransformCallback (body, SetTransformCallback);
return body;
}
AdvancePlayerEntity (DemoEntityManager* const scene, CustomPlayerControllerManager* const manager, dFloat radius, dFloat height, const dMatrix& location)
:DemoEntity (dGetIdentityMatrix(), NULL)
,m_inputs()
,m_currentTrigger(NULL)
,m_controller(NULL)
,m_currentPlatform(NULL)
{
// add this entity to the scene for rendering
scene->Append(this);
// now make a simple player controller,
dMatrix playerAxis;
playerAxis[0] = dVector (0.0f, 1.0f, 0.0f, 0.0f); // the y axis is the character up vector
playerAxis[1] = dVector (1.0f, 0.0f, 0.0f, 0.0f); // the x axis is the character front direction
playerAxis[2] = playerAxis[0] * playerAxis[1];
playerAxis[3] = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// make the player controller, this function makes a kinematic body
m_controller = manager->CreatePlayer(80.0f, radius, radius * 0.5f, height, height * 0.33f, playerAxis);
// players by default have the origin at the center of the lower bottom of the collision shape.
// you can change this by calling SetPlayerOrigin, for example if a player has it origin at the center of the AABB you can call
//m_controller->SetPlayerOrigin (height * 0.5f);
// get body from player, and set some parameter
NewtonBody* const body = m_controller->GetBody();
// set the user data
NewtonBodySetUserData(body, this);
// set the transform callback
NewtonBodySetTransformCallback (body, DemoEntity::TransformCallback);
// set the player matrix
NewtonBodySetMatrix(body, &location[0][0]);
// create the visual mesh from the player collision shape
NewtonCollision* const collision = NewtonBodyGetCollision(body);
DemoMesh* const geometry = new DemoMesh("player", collision, "smilli.tga", "smilli.tga", "smilli.tga");
SetMesh(geometry, dGetIdentityMatrix());
geometry->Release();
}
void Car::initPhysics() {
NewtonWorld * nWorld = this->controller->getWorld();
NewtonCollision* collision;
float mass = 900.0f;
vector3df v1 = this->carNode->getBoundingBox().MinEdge;
vector3df v2 = this->carNode->getBoundingBox().MaxEdge;
dVector minBox(v1.X, v1.Y, v1.Z);
dVector maxBox(v2.X, v2.Y, v2.Z);
dVector size(maxBox - minBox);
dVector origin((maxBox + minBox).Scale(0.5f));
size.m_w = 1.0f;
origin.m_w = 1.0f;
dMatrix offset(GetIdentityMatrix());
offset.m_posit = origin;
collision = NewtonCreateBox(nWorld, size.m_x, size.m_y, size.m_z, 0, &offset[0][0]);
dVector inertia;
matrix4 m = this->carNode->getRelativeTransformation();
NewtonConvexHullModifierSetMatrix(collision, m.pointer());
NewtonBody * body = NewtonCreateBody(nWorld, collision, m.pointer());
NewtonBodySetUserData(body, this);
NewtonConvexCollisionCalculateInertialMatrix(collision, &inertia[0], &origin[0]);
NewtonBodySetMassMatrix(body, mass, mass * inertia.m_x, mass * inertia.m_y, mass * inertia.m_z);
NewtonBodySetCentreOfMass(body, &origin[0]);
NewtonBodySetForceAndTorqueCallback(body, applyCarMoveForce);
NewtonBodySetTransformCallback(body, applyCarTransform);
int matId = NewtonMaterialGetDefaultGroupID(nWorld);
NewtonMaterialSetCollisionCallback(nWorld, matId, matId, this, 0, applyCarCollisionForce);
NewtonReleaseCollision(nWorld, collision);
this->setCarBodyAndGravity(body, dVector(0,-10,0,0));
this->setLocalCoordinates(this->createChassisMatrix());
}
void Newtonnode::initCube(NewtonWorld *pWorld,const float xlength,const float ylength,const float zlength)
{
if (pWorld==0) {
ion::base::log("Newtonnode::initCube()",ion::base::Error) << "No NewtonWorld pointer given\n";
return;
}
if ((m_pNewtonCollision!=0) && (m_pNewtonworld!=0))
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonCollision);
m_pNewtonworld=pWorld;
m_pNewtonCollision=NewtonCreateBox(m_pNewtonworld,xlength,ylength,zlength,0);
m_pBody=NewtonCreateBody(m_pNewtonworld,m_pNewtonCollision);
NewtonBodySetUserData(m_pBody,this);
NewtonBodySetMassMatrix(m_pBody, 1.0f, 1.0f, 1.0f, 1.0f);
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonCollision);
NewtonBodySetTransformCallback (m_pBody, physicsSetTransform);
NewtonBodySetForceAndTorqueCallback (m_pBody, physicsApplyForceAndTorque);
}
void NzPhysObject::SetMass(float mass)
{
if (m_mass > 0.f)
{
float Ix, Iy, Iz;
NewtonBodyGetMassMatrix(m_body, &m_mass, &Ix, &Iy, &Iz);
float scale = mass/m_mass;
NewtonBodySetMassMatrix(m_body, mass, Ix*scale, Iy*scale, Iz*scale);
}
else if (mass > 0.f)
{
NzVector3f inertia, origin;
m_geom->ComputeInertialMatrix(&inertia, &origin);
NewtonBodySetCentreOfMass(m_body, &origin.x);
NewtonBodySetMassMatrix(m_body, mass, inertia.x*mass, inertia.y*mass, inertia.z*mass);
NewtonBodySetForceAndTorqueCallback(m_body, &ForceAndTorqueCallback);
NewtonBodySetTransformCallback(m_body, &TransformCallback);
}
m_mass = mass;
}
dCustomPlayerController* CreatePlayer(const dMatrix& location, dFloat height, dFloat radius, dFloat mass)
{
// get the scene
DemoEntityManager* const scene = (DemoEntityManager*)NewtonWorldGetUserData(GetWorld());
// set the play coordinate system
dMatrix localAxis(dGetIdentityMatrix());
//up is first vector
localAxis[0] = dVector(0.0, 1.0f, 0.0f, 0.0f);
// up is the second vector
localAxis[1] = dVector(1.0, 0.0f, 0.0f, 0.0f);
// size if the cross product
localAxis[2] = localAxis[0].CrossProduct(localAxis[1]);
// make a play controller with default values.
dCustomPlayerController* const controller = CreateController(location, localAxis, mass, radius, height, 0.4f);
// get body from player, and set some parameter
NewtonBody* const body = controller->GetBody();
DemoEntity* const playerEntity = DemoEntity::LoadNGD_mesh("whiteman.ngd", scene->GetNewton(), scene->GetShaderCache());
scene->Append(playerEntity);
// set the user data
NewtonBodySetUserData(body, playerEntity);
// set the transform callback
NewtonBodySetTransformCallback(body, DemoEntity::TransformCallback);
// save player model with the controller
controller->SetUserData(playerEntity);
// set higher that 1.0f friction
controller->SetFriction(2.0f);
//controller->SetFriction(1.0f);
return controller;
}
static void AddSingleCompound(DemoEntityManager* const scene)
{
NewtonWorld* const world = scene->GetNewton();
NewtonCollision* compoundCollision = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(compoundCollision);
NewtonCollision* boxCollision = NewtonCreateBox(world, 50, 50, 50, 0, NULL);
NewtonCompoundCollisionAddSubCollision(compoundCollision, boxCollision);
NewtonDestroyCollision(boxCollision);
dMatrix matrix(dGetIdentityMatrix());
matrix.m_posit.m_y = 10.0f;
NewtonCompoundCollisionEndAddRemove(compoundCollision);
NewtonBody* compoundBody = NewtonCreateDynamicBody(world, compoundCollision, &matrix[0][0]);
NewtonDestroyCollision(compoundCollision);
// scale after creating body slows everything down. Without the scale it runs fine even though the body is huge
NewtonCollisionSetScale(NewtonBodyGetCollision(compoundBody), 0.05f, 0.05f, 0.05f);
// adding some visualization
NewtonBodySetMassProperties (compoundBody, 1.0f, NewtonBodyGetCollision(compoundBody));
NewtonBodySetTransformCallback(compoundBody, DemoEntity::TransformCallback);
NewtonBodySetForceAndTorqueCallback(compoundBody, PhysicsApplyGravityForce);
DemoMesh* mesh = new DemoMesh("geometry", NewtonBodyGetCollision(compoundBody), "smilli.tga", "smilli.tga", "smilli.tga");
DemoEntity* const entity = new DemoEntity(matrix, NULL);
entity->SetMesh(mesh, dGetIdentityMatrix());
mesh->Release();
NewtonBodySetUserData(compoundBody, entity);
scene->Append(entity);
NewtonBodySetSimulationState(compoundBody, 0);
NewtonBodySetSimulationState(compoundBody, 1);
}
//-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~-~
bool
PhysicsActor::attachBody(pCollisionShape_type _collision)
{
// valid Newton collision primitives include the following:
// Null, Box, Sphere (ovoid), Cone, Capsule, Cylinder, ChamferCylinder,
// ConvexHull (not impl yet), CompoundCollision (not impl),
// TreeCollision (not impl yet), UserMesh (heightfield)
m_pActor = NewtonCreateBody(dynamic_cast<PhysicsZone*>(m_pZone.get())->getZonePtr(), dynamic_cast<CollisionShape*>(_collision.get())->getShapePtr());
NewtonReleaseCollision(dynamic_cast<PhysicsZone*>(m_pZone.get())->getZonePtr(), dynamic_cast<CollisionShape*>(_collision.get())->getShapePtr());
// set the transform call back function
NewtonBodySetTransformCallback(m_pActor, TransformCallback);
NewtonBodySetForceAndTorqueCallback(m_pActor, ApplyForceAndTorqueCallback);
NewtonBodySetAutoactiveCallback(m_pActor, ActivationStateCallback);
//NewtonBodySetFreezeTreshold(m_pActor,
NewtonBodySetUserData(m_pActor, this);
return true;
}
static void OnEmitFracturedCompound (NewtonBody* const fracturedCompound)
{
NewtonWorld* const world = NewtonBodyGetWorld(fracturedCompound);
DemoEntityManager* const scene = (DemoEntityManager*)NewtonWorldGetUserData(world);
// set the force an torque call back
NewtonBodySetForceAndTorqueCallback (fracturedCompound, PhysicsApplyGravityForce);
// set the transform callback
NewtonBodySetTransformCallback (fracturedCompound, DemoEntity::TransformCallback);
// create the visual entity and mesh, and set the use data
dMatrix matrix;
NewtonBodyGetMatrix (fracturedCompound, &matrix[0][0]);
DemoEntity* const visualChunkEntity = new DemoEntity(matrix, NULL);
scene->Append(visualChunkEntity);
NewtonBodySetUserData (fracturedCompound, visualChunkEntity);
// create the mesh geometry and attach it to the entity
DemoMesh* const visualChunkMesh = new DemoMesh ("fracturedChuckMesh");
visualChunkEntity->SetMesh (visualChunkMesh, dGetIdentityMatrix());
visualChunkMesh->Release();
// get the fractured compound mesh from the body
NewtonCollision* const fracturedCompoundCollision = NewtonBodyGetCollision(fracturedCompound);
dAssert (NewtonCollisionGetType(fracturedCompoundCollision) == SERIALIZE_ID_FRACTURED_COMPOUND);
// add the vertex data
NewtonFracturedCompoundMeshPart* const mainMesh = NewtonFracturedCompoundGetMainMesh (fracturedCompoundCollision);
AddMeshVertexwData (visualChunkMesh, mainMesh, fracturedCompoundCollision);
// add the mesh indices
OnReconstructMainMeshCallBack (fracturedCompound, mainMesh, fracturedCompoundCollision);
}
static void AddStructuredFractured (DemoEntityManager* const scene, const dVector& origin, int materialID, const char* const assetName)
{
// create the shape and visual mesh as a common data to be re used
NewtonWorld* const world = scene->GetNewton();
#if 0
// load the mesh asset
DemoEntity entity(GetIdentityMatrix(), NULL);
entity.LoadNGD_mesh (assetName, world);
DemoMesh____* const mesh = entity.GetMesh();
dAssert (mesh);
// convert the mesh to a newtonMesh
NewtonMesh* const solidMesh = mesh->CreateNewtonMesh (world, entity.GetMeshMatrix() * entity.GetCurrentMatrix());
#else
int externalMaterial = LoadTexture("wood_0.tga");
NewtonCollision* const collision = CreateConvexCollision (world, dGetIdentityMatrix(), dVector (3.0f, 3.0f, 3.0f, 0.0), _BOX_PRIMITIVE, 0);
NewtonMesh* const solidMesh = NewtonMeshCreateFromCollision(collision);
NewtonDestroyCollision(collision);
//NewtonMeshTriangulate(solidMesh);
NewtonMeshApplyBoxMapping (solidMesh, externalMaterial, externalMaterial, externalMaterial);
#endif
// create a random point cloud
dVector points[MAX_POINT_CLOUD_SIZE];
int pointCount = MakeRandomPoisonPointCloud (solidMesh, points);
// int pointCount = MakeRandomGuassianPointCloud (solidMesh, points, MAX_POINT_CLOUD_SIZE);
// create and interiors material for texturing the fractured pieces
//int internalMaterial = LoadTexture("KAMEN-stup.tga");
int internalMaterial = LoadTexture("concreteBrick.tga");
// crate a texture matrix for uv mapping of fractured pieces
dMatrix textureMatrix (dGetIdentityMatrix());
textureMatrix[0][0] = 1.0f / 2.0f;
textureMatrix[1][1] = 1.0f / 2.0f;
/// create the fractured collision and mesh
int debreePhysMaterial = NewtonMaterialGetDefaultGroupID(world);
NewtonCollision* structuredFracturedCollision = NewtonCreateFracturedCompoundCollision (world, solidMesh, 0, debreePhysMaterial, pointCount, &points[0][0], sizeof (dVector), internalMaterial, &textureMatrix[0][0],
OnReconstructMainMeshCallBack, OnEmitFracturedCompound, OnEmitFracturedChunk);
// uncomment this to test serialization
#if 0
FILE* file = fopen ("serialize.bin", "wb");
NewtonCollisionSerialize (world, structuredFracturedCollision, DemoEntityManager::SerializeFile, file);
NewtonDestroyCollision (structuredFracturedCollision);
fclose (file);
file = fopen ("serialize.bin", "rb");
structuredFracturedCollision = NewtonCreateCollisionFromSerialization (world, DemoEntityManager::DeserializeFile, file);
NewtonFracturedCompoundSetCallbacks (structuredFracturedCollision, OnReconstructMainMeshCallBack, OnEmitFracturedCompound, OnEmitFracturedChunk);
fclose (file);
#endif
#if 0
// test the interface
dTree<void*, void*> detachableNodes;
NewtonCompoundCollisionBeginAddRemove(structuredFracturedCollision);
// remove all chunk that can be detached for the first layer
for (void* node = NewtonCompoundCollisionGetFirstNode(structuredFracturedCollision); node; node = NewtonCompoundCollisionGetNextNode(structuredFracturedCollision, node)) {
if (NewtonFracturedCompoundIsNodeFreeToDetach (structuredFracturedCollision, node)) {
detachableNodes.Insert(node, node);
}
// remove any node that can be deched fro the secund layer, this codul; be reusive
void* neighbors[32];
int count = NewtonFracturedCompoundNeighborNodeList (structuredFracturedCollision, node, neighbors, sizeof (neighbors) / sizeof (neighbors[0]));
for (int i = 0; i < count; i ++ ) {
if (NewtonFracturedCompoundIsNodeFreeToDetach (structuredFracturedCollision, neighbors[i])) {
detachableNodes.Insert(node, node);
}
}
}
// now delete the actual nodes
dTree<void*, void*>::Iterator iter (detachableNodes) ;
for (iter.Begin(); iter; iter ++) {
void* const node = iter.GetNode()->GetInfo();
NewtonCompoundCollisionRemoveSubCollision (structuredFracturedCollision, node);
}
NewtonCompoundCollisionEndAddRemove(structuredFracturedCollision);
#endif
#if 1
dVector plane (0.0f, 1.0f, 0.0f, 0.0f);
NewtonCollision* const crack = NewtonFracturedCompoundPlaneClip (structuredFracturedCollision, &plane[0]);
if (crack) {
NewtonDestroyCollision (structuredFracturedCollision);
}
#endif
dVector com(0.0f);
dVector inertia(0.0f);
NewtonConvexCollisionCalculateInertialMatrix (structuredFracturedCollision, &inertia[0], &com[0]);
//dFloat mass = 10.0f;
//int materialId = 0;
//create the rigid body
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit = origin;
matrix.m_posit.m_y = 20.0;
matrix.m_posit.m_w = 1.0f;
NewtonBody* const rigidBody = NewtonCreateDynamicBody (world, structuredFracturedCollision, &matrix[0][0]);
// set the mass and center of mass
dFloat density = 1.0f;
dFloat mass = density * NewtonConvexCollisionCalculateVolume (structuredFracturedCollision);
NewtonBodySetMassProperties (rigidBody, mass, structuredFracturedCollision);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
// create the entity and visual mesh and attach to the body as user data
CreateVisualEntity (scene, rigidBody);
// assign the wood id
// NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set a destructor for this rigid body
// NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// release the interior texture
// ReleaseTexture (internalMaterial);
// delete the solid mesh since it no longed needed
NewtonMeshDestroy (solidMesh);
// destroy the fracture collision
NewtonDestroyCollision (structuredFracturedCollision);
}
void AddRollingBeats (NewtonWorld* nWorld)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
NewtonBody* bar;
NewtonCollision* collision;
dMatrix location (GetIdentityMatrix());
location.m_posit.m_x = 5.0f;
location.m_posit.m_y = 2.0f;
location.m_posit.m_z = -2.0f;
dVector size (10.0f, 0.25f, 0.25f);
bar = NULL;
// /////////////////////////////////////////////////////////////////////////////////////
//
// create a bar and attach it to the world with a hinge with limits
//
// ////////////////////////////////////////////////////////////////////////////////////
{
CustomHinge* joint;
RenderPrimitive* visualObject;
// create the a graphic character (use a visualObject as our body
visualObject = new CylinderPrimitive (location, size.m_y, size.m_x);
// create a collision primitive to be shared by all links
collision = NewtonCreateCylinder (nWorld, size.m_y, size.m_x, NULL);
// craete the bar body
bar = NewtonCreateBody(nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// attach graphic object to the rigid body
NewtonBodySetUserData(bar, visualObject);
// set a destructor function
NewtonBodySetDestructorCallback (bar, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (bar, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (bar,PhysicsApplyGravityForce);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (size.m_y * size.m_y + size.m_z * size.m_z) / 12.0f;
Iyy = 0.7f * mass * (size.m_x * size.m_x + size.m_z * size.m_z) / 12.0f;
Izz = 0.7f * mass * (size.m_x * size.m_x + size.m_y * size.m_y) / 12.0f;
// set the mass matrix
NewtonBodySetMassMatrix (bar, mass, Ixx, Iyy, Izz);
// set the matrix for both the rigid nody and the graphic body
NewtonBodySetMatrix (bar, &location[0][0]);
PhysicsSetTransform (bar, &location[0][0]);
dVector pin (0.0f, 1.0f, 0.0f);
dVector pivot (location.m_posit);
pivot.m_x -= size.m_x * 0.5f;
// connect these two bodies by a ball and sockect joint
//joint = NewtonConstraintCreateHinge (nWorld, &pivot.m_x, &pin.m_x, link0, link1);
joint = new CustomHinge (pivot, pin, bar, NULL);
// no limits
//joint->EnableLimits (true);
//joint->SetAngleLimis (-30.0f * 3.1416f/180.0f, 30.0f * 3.1416f/180.0f);
}
{
// ////////////////////////////////////////////////////////////////////////////////////
//
// add a sliding visualObject with limits
//
NewtonBody* beat;
CustomSlider* joint;
RenderPrimitive* visualObject;
dMatrix beatLocation (location);
dVector beatSize (0.5f, 2.0f, 2.0f);
beatLocation.m_posit.m_x += size.m_x * 0.25f;
// create the a graphic character (use a visualObject as our body
visualObject = new BoxPrimitive (beatLocation, beatSize);
// create a collision primitive to be shared by all links
collision = NewtonCreateBox (nWorld, beatSize.m_x, beatSize.m_y, beatSize.m_z, NULL);
beat = NewtonCreateBody(nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// attach graphic object to the rigid body
NewtonBodySetUserData(beat, visualObject);
// set a destyuctor function
NewtonBodySetDestructorCallback (beat, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (beat, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (beat,PhysicsApplyGravityForce);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (beatSize.m_y * beatSize.m_y + beatSize.m_z * beatSize.m_z) / 12.0f;
Iyy = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_z * beatSize.m_z) / 12.0f;
Izz = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_y * beatSize.m_y) / 12.0f;
// set the mass matrix
NewtonBodySetMassMatrix (beat, mass, Ixx, Iyy, Izz);
// set the matrix for both the rigid nody and the graphic body
NewtonBodySetMatrix (beat, &beatLocation[0][0]);
PhysicsSetTransform (beat, &beatLocation[0][0]);
// set the pivot relative for the first bar
dVector pivot (beatLocation.m_posit);
dVector pin (beatLocation.m_front);
joint = new CustomSlider (pivot, pin, beat, bar);
// claculate the minimum and maximum limit for this joints
dFloat minLimits = ((location.m_posit.m_x - beatLocation.m_posit.m_x) - size.m_x * 0.5f);
dFloat maxLimits = ((location.m_posit.m_x - beatLocation.m_posit.m_x) + size.m_x * 0.5f);
joint->EnableLimits(true);
joint->SetLimis (minLimits, maxLimits);
}
{
// ////////////////////////////////////////////////////////////////////////////////////
//
// add a corkscrew visualObject with limits
//
// ////////////////////////////////////////////////////////////////////////////////////
NewtonBody* beat;
CustomCorkScrew* joint;
RenderPrimitive* visualObject;
dMatrix beatLocation (location);
dVector beatSize (0.5f, 1.25f, 1.25f);
beatLocation.m_posit.m_x -= size.m_x * 0.25f;
// create the a graphic character (use a visualObject as our body
//visualObject = new BoxPrimitive (beatLocation, beatSize);
visualObject = new ChamferCylinderPrimitive (beatLocation, beatSize.m_y, beatSize.m_x);
// create a collision primitive to be shared by all links
collision = NewtonCreateChamferCylinder (nWorld, beatSize.m_y, beatSize.m_x, NULL);
beat = NewtonCreateBody(nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// attach graphic object to the rigid body
NewtonBodySetUserData(beat, visualObject);
// set a destyuctor function
NewtonBodySetDestructorCallback (beat, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (beat, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (beat,PhysicsApplyGravityForce);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (beatSize.m_y * beatSize.m_y + beatSize.m_z * beatSize.m_z) / 12.0f;
Iyy = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_z * beatSize.m_z) / 12.0f;
Izz = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_y * beatSize.m_y) / 12.0f;
// set the mass matrix
NewtonBodySetMassMatrix (beat, mass, Ixx, Iyy, Izz);
// set the matrix for both the rigid nody and the graphic body
NewtonBodySetMatrix (beat, &beatLocation[0][0]);
PhysicsSetTransform (beat, &beatLocation[0][0]);
// set the pivot relative for the first bar
dVector pivot (beatLocation.m_posit);
dVector pin (beatLocation.m_front);
joint = new CustomCorkScrew (pivot, pin, beat, bar);
// claculate the minimum and maximum limit for this joints
dFloat minLimits = ((location.m_posit.m_x - beatLocation.m_posit.m_x) - size.m_x * 0.5f);
dFloat maxLimits = ((location.m_posit.m_x - beatLocation.m_posit.m_x) + size.m_x * 0.5f);
joint->EnableLimits(true);
joint->SetLimis (minLimits, maxLimits);
}
{
// ////////////////////////////////////////////////////////////////////////////////////
//
// add a universal joint visualObject with limits
//
// ////////////////////////////////////////////////////////////////////////////////////
NewtonBody* beat;
CustomUniversal* joint;
RenderPrimitive* visualObject;
dMatrix beatLocation (location);
dVector beatSize (0.5f, 1.25f, 1.25f);
beatLocation.m_posit.m_x -= size.m_x * 0.5f;
// create the a graphic character (use a visualObject as our body
//visualObject = new BoxPrimitive (beatLocation, beatSize);
visualObject = new ChamferCylinderPrimitive (beatLocation, beatSize.m_y, beatSize.m_x);
// create a collision primitive to be shared by all links
collision = NewtonCreateChamferCylinder (nWorld, beatSize.m_y, beatSize.m_x, NULL);
beat = NewtonCreateBody(nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// attach graphic object to the rigid body
NewtonBodySetUserData(beat, visualObject);
// set a destyuctor function
NewtonBodySetDestructorCallback (beat, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (beat, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (beat,PhysicsApplyGravityForce);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (beatSize.m_y * beatSize.m_y + beatSize.m_z * beatSize.m_z) / 12.0f;
Iyy = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_z * beatSize.m_z) / 12.0f;
Izz = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_y * beatSize.m_y) / 12.0f;
// set the mass matrix
NewtonBodySetMassMatrix (beat, mass, Ixx, Iyy, Izz);
// set the matrix for both the rigid nody and the graphic body
NewtonBodySetMatrix (beat, &beatLocation[0][0]);
PhysicsSetTransform (beat, &beatLocation[0][0]);
// set the pivot relative for the first bar
dVector pivot (beatLocation.m_posit);
dVector pin0 (beatLocation.m_front);
dVector pin1 (beatLocation.m_up);
// tell this joint to destroiy its local private data when destroyed
joint = new CustomUniversal (pivot, pin0, pin1, beat, bar);
}
{
// ////////////////////////////////////////////////////////////////////////////////////
//
// add a universal joint visualObject with limits
//
// ////////////////////////////////////////////////////////////////////////////////////
NewtonBody* beat;
CustomUniversal* joint;
RenderPrimitive* visualObject;
dMatrix beatLocation (location);
dVector beatSize (0.5f, 1.25f, 1.25f);
beatLocation.m_posit.m_x = size.m_x;
// create the a graphic character (use a visualObject as our body
//visualObject = new BoxPrimitive (beatLocation, beatSize);
visualObject = new ChamferCylinderPrimitive (beatLocation, beatSize.m_y, beatSize.m_x);
// create a collision primitive to be shared by all links
collision = NewtonCreateChamferCylinder (nWorld, beatSize.m_y, beatSize.m_x, NULL);
beat = NewtonCreateBody(nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// attach graphic object to the rigid body
NewtonBodySetUserData(beat, visualObject);
// set a destyuctor function
NewtonBodySetDestructorCallback (beat, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (beat, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (beat,PhysicsApplyGravityForce);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (beatSize.m_y * beatSize.m_y + beatSize.m_z * beatSize.m_z) / 12.0f;
Iyy = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_z * beatSize.m_z) / 12.0f;
Izz = 0.7f * mass * (beatSize.m_x * beatSize.m_x + beatSize.m_y * beatSize.m_y) / 12.0f;
// set the mass matrix
NewtonBodySetMassMatrix (beat, mass, Ixx, Iyy, Izz);
// set the matrix for both the rigid nody and the graphic body
NewtonBodySetMatrix (beat, &beatLocation[0][0]);
PhysicsSetTransform (beat, &beatLocation[0][0]);
// set the pivot relative for the first bar
dVector pivot (beatLocation.m_posit);
dVector pin0 (beatLocation.m_front.Scale(-1.0f));
dVector pin1 (beatLocation.m_up);
// tell this joint to destroiy its local private data when destroyed
joint = new CustomUniversal (pivot, pin0, pin1, beat, bar);
}
}
void AddDoubleSwingDoors (NewtonWorld* nWorld)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
NewtonBody* link0;
NewtonBody* link1;
CustomHinge* joint;
BoxPrimitive* visualObject;
NewtonCollision* collision;
dVector size (2.0f, 5.0f, 0.5f);
// calculate a acurate momenet of inertia
mass = 5.0f;
Ixx = 0.7f * mass * (size.m_y * size.m_y + size.m_z * size.m_z) / 12.0f;
Iyy = 0.7f * mass * (size.m_x * size.m_x + size.m_z * size.m_z) / 12.0f;
Izz = 0.7f * mass * (size.m_x * size.m_x + size.m_y * size.m_y) / 12.0f;
// create 100 tack of 10 boxes each
dMatrix location (GetIdentityMatrix());
location.m_posit.m_x = -2.0f;
location.m_posit.m_y = 3.0f;
location.m_posit.m_z = -2.0f;
// create a collision primitive to be shared by all links
collision = NewtonCreateBox (nWorld, size.m_x, size.m_y, size.m_z, NULL);
// make first wing
{
// create the a graphic character (use a visualObject as our body
visualObject = new BoxPrimitive (location, size);
//create the rigid body
link1 = NewtonCreateBody (nWorld, collision);
// Set Material Id for this object
NewtonBodySetMaterialGroupID (link1, woodID);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (link1, visualObject);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (link1, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (link1, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (link1,PhysicsApplyGravityForce);
// set the mass matrix
NewtonBodySetMassMatrix (link1, mass, Ixx, Iyy, Izz);
// set the matrix for tboth the rigid nody and the graphic body
NewtonBodySetMatrix (link1, &location[0][0]);
PhysicsSetTransform (link1, &location[0][0]);
dVector pivot (location.m_posit);
dVector pin (location.m_up);
pivot.m_x += size.m_x * 0.5f;
// connect these two bodies by a ball and sockect joint
joint = new CustomHinge (pivot, pin, link1, NULL);
joint->EnableLimits (true);
joint->SetLimis (-30.0f * 3.1416f/180.0f, 30.0f * 3.1416f/180.0f);
}
// make second wing
{
location.m_posit.m_x -= size.m_x;
// create the a graphic character (use a visualObject as our body
visualObject = new BoxPrimitive (location, size);
//create the rigid body
link0 = NewtonCreateBody (nWorld, collision);
// Set Material Id for this object
NewtonBodySetMaterialGroupID (link0, woodID);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (link0, visualObject);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (link0, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (link0, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (link0,PhysicsApplyGravityForce);
// set the mass matrix
NewtonBodySetMassMatrix (link0, mass, Ixx, Iyy, Izz);
// set the matrix for tboth the rigid nody and the graphic body
NewtonBodySetMatrix (link0, &location[0][0]);
PhysicsSetTransform (link0, &location[0][0]);
dVector pivot (location.m_posit);
dVector pin (location.m_up);
pivot.m_x += size.m_x * 0.5f;
// connect these two bodies by a ball and sockect joint
//joint = NewtonConstraintCreateHinge (nWorld, &pivot.m_x, &pin.m_x, link0, link1);
joint = new CustomHinge (pivot, pin, link0, link1);
joint->EnableLimits (true);
joint->SetLimis (-30.0f * 3.1416f/180.0f, 30.0f * 3.1416f/180.0f);
}
// release the collision geometry when not need it
NewtonReleaseCollision (nWorld, collision);
}
// create a rope of boxes
void AddRope (NewtonWorld* nWorld)
{
int i;
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
NewtonBody* link0;
NewtonBody* link1;
NewtonCustomJoint* joint;
NewtonCollision* collision;
RenderPrimitive* visualObject;
dVector size (2.0f, 0.25f, 0.25f);
// calculate a acurate momenet of inertia
mass = 2.0f;
Ixx = 0.7f * mass * (size.m_y * size.m_y + size.m_z * size.m_z) / 12.0f;
Iyy = 0.7f * mass * (size.m_x * size.m_x + size.m_z * size.m_z) / 12.0f;
Izz = 0.7f * mass * (size.m_x * size.m_x + size.m_y * size.m_y) / 12.0f;
// create 100 tack of 10 boxes each
//dMatrix location (GetIdentityMatrix());
dMatrix location (dgRollMatrix(3.1426f * 0.5f));
location.m_posit.m_y = 11.5f;
location.m_posit.m_z = -5.0f;
// create a collision primitive to be shared by all links
collision = NewtonCreateCapsule (nWorld, size.m_y, size.m_x, NULL);
link0 = NULL;
// create a lon vertical rope with limits
for (i = 0; i < 7; i ++) {
// create the a graphic character (use a visualObject as our body
visualObject = new CapsulePrimitive (location, size.m_y, size.m_x);
//create the rigid body
link1 = NewtonCreateBody (nWorld, collision);
// add some damping to each link
NewtonBodySetLinearDamping (link1, 0.2f);
dVector angularDamp (0.2f, 0.2f, 0.2f);
NewtonBodySetAngularDamping (link1, &angularDamp.m_x);
// Set Material Id for this object
NewtonBodySetMaterialGroupID (link1, woodID);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (link1, visualObject);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (link1, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (link1, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (link1,PhysicsApplyGravityForce);
// set the mass matrix
NewtonBodySetMassMatrix (link1, mass, Ixx, Iyy, Izz);
// set the matrix for tboth the rigid nody and the graphic body
NewtonBodySetMatrix (link1, &location[0][0]);
PhysicsSetTransform (link1, &location[0][0]);
dVector pivot (location.m_posit);
pivot.m_y += (size.m_x - size.m_y) * 0.5f;
dFloat coneAngle = 2.0 * 3.1416f / 180.0f;
dFloat twistAngle = 2.0 * 3.1416f / 180.0f;
dVector pin (location.m_front.Scale (-1.0f));
joint = new CustomConeLimitedBallAndSocket(twistAngle, coneAngle, pin, pivot, link1, link0);
link0 = link1;
location.m_posit.m_y -= (size.m_x - size.m_y);
}
// vrete a short horizontal rope with limits
location = GetIdentityMatrix();
location.m_posit.m_y = 2.5f;
location.m_posit.m_z = -7.0f;
link0 = NULL;
for (i = 0; i < 3; i ++) {
// create the a graphic character (use a visualObject as our body
visualObject = new CapsulePrimitive (location, size.m_y, size.m_x);
//create the rigid body
link1 = NewtonCreateBody (nWorld, collision);
// add some damping to each link
NewtonBodySetLinearDamping (link1, 0.2f);
dVector angularDamp (0.2f, 0.2f, 0.2f);
NewtonBodySetAngularDamping (link1, &angularDamp.m_x);
// Set Material Id for this object
NewtonBodySetMaterialGroupID (link1, woodID);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (link1, visualObject);
// make sure it is active
NewtonWorldUnfreezeBody (nWorld, link1);
//NewtonBodySetAutoFreeze (link1, 0);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (link1, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (link1, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (link1,PhysicsApplyGravityForce);
// set the mass matrix
NewtonBodySetMassMatrix (link1, mass, Ixx, Iyy, Izz);
// set the matrix for tboth the rigid nody and the graphic body
NewtonBodySetMatrix (link1, &location[0][0]);
PhysicsSetTransform (link1, &location[0][0]);
dVector pivot (location.m_posit);
pivot.m_x += (size.m_x - size.m_y) * 0.5f;
dFloat coneAngle = 10.0 * 3.1416f / 180.0f;
dFloat twistAngle = 10.0 * 3.1416f / 180.0f;
dVector pin (location.m_front.Scale (-1.0f));
joint = new CustomConeLimitedBallAndSocket(twistAngle, coneAngle, pin, pivot, link1, link0);
link0 = link1;
location.m_posit.m_x -= (size.m_x - size.m_y);
}
// release the collision geometry when not need it
NewtonReleaseCollision (nWorld, collision);
}
// create physics scene
void InitScene()
{
BoxPrimitive* box;
BoxPrimitive* floor;
NewtonBody* boxBody;
NewtonBody* floorBody;
NewtonCollision* collision;
// create the newton world
nWorld = NewtonCreate (PhysicsAlloc, PhysicsFree);
// set the linear solver model for faster speed
NewtonSetSolverModel (nWorld, 8);
// set the adpative friction model for faster speed
NewtonSetFrictionModel (nWorld, 1);
// Set the termination function
atexit(CleanUp);
// create the the floor graphic objects
dVector size (100.0f, 2.0f, 100.0f);
dMatrix location (GetIdentityMatrix());
location.m_posit.m_y = -5.0f;
// create a box for floor
floor = new BoxPrimitive (location, size, g_floorTexture);
// create the the floor collision, and body with default values
collision = NewtonCreateBox (nWorld, size.m_x, size.m_y, size.m_z, NULL);
floorBody = NewtonCreateBody (nWorld, collision);
NewtonReleaseCollision (nWorld, collision);
// set the transformation for this rigid body
NewtonBodySetMatrix (floorBody, &location[0][0]);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (floorBody, floor);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (floorBody, PhysicsBodyDestructor);
// set the initial size
size = dVector(0.5f, 0.5f, 0.5f);
// create the collision
collision = NewtonCreateBox (nWorld, size.m_x, size.m_y, size.m_z, NULL);
// create 100 stacks of 10 boxes each
location.m_posit.m_x = -10.0f;
for (int k = 0; k < 10; k ++) {
location.m_posit.m_z = 0.0f;
for (int j = 0; j < 10; j ++) {
location.m_posit.m_y = 2.0f;
for (int i = 0; i < 10; i ++) {
// create a graphic box
box = new BoxPrimitive (location, size);
//create the rigid body
boxBody = NewtonCreateBody (nWorld, collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (boxBody, box);
// set a destrutor for this rigid body
NewtonBodySetDestructorCallback (boxBody, PhysicsBodyDestructor);
// set the tranform call back function
NewtonBodySetTransformCallback (boxBody, PhysicsSetTransform);
// set the force and torque call back funtion
NewtonBodySetForceAndTorqueCallback (boxBody, PhysicsApplyForceAndTorque);
// set the mass matrix
//NewtonBodySetMassMatrix (boxBody, 1.0f, 1.0f / 6.0f, 1.0f / 6.0f, 1.0f / 6.0f);
NewtonBodySetMassMatrix (boxBody, 1.0f, 1.0f, 1.0f, 1.0f);
// set the matrix for tboth the rigid nody and the graphic body
NewtonBodySetMatrix (boxBody, &location[0][0]);
PhysicsSetTransform (boxBody, &location[0][0]);
location.m_posit.m_y += size.m_y * 2.0f;
}
location.m_posit.m_z -= size.m_z * 4.0f;
}
location.m_posit.m_x += size.m_x * 4.0f;
}
// release the collsion geometry when not need it
NewtonReleaseCollision (nWorld, collision);
}
BasicCarEntity (DemoEntityManager* const scene, CustomVehicleControllerManager* const manager, const dMatrix& location, const BasciCarParameters& parameters)
:DemoEntity (dGetIdentityMatrix(), NULL)
,m_tireaLigmentMatrix (dYawMatrix(3.141592f * 90.0f / 180.0f))
,m_controller(NULL)
,m_helpKey (true)
,m_gearUpKey (false)
,m_gearDownKey (false)
,m_reverseGear (false)
,m_engineKeySwitch(false)
,m_automaticTransmission(true)
,m_engineKeySwitchCounter(0)
,m_engineOldKeyState(false)
,m_engineRPMOn(false)
{
// add this entity to the scene for rendering
scene->Append(this);
// place entity in the world
ResetMatrix (*scene, location);
NewtonWorld* const world = scene->GetNewton();
// create the vehicle collision shape
NewtonCollision* const chassisCollision = CreateChassisCollision (world);
// caret the visual mesh form the collision shape
DemoMesh* const visualMesh = new DemoMesh ("vehicle chassis", chassisCollision, "metal_30.tga", "metal_30.tga", "metal_30.tga");
SetMesh (visualMesh, dGetIdentityMatrix());
visualMesh->Release();
// create the coordinate system
dMatrix chassisMatrix;
chassisMatrix.m_front = dVector (1.0f, 0.0f, 0.0f, 0.0f); // this is the vehicle direction of travel
chassisMatrix.m_up = dVector (0.0f, 1.0f, 0.0f, 0.0f); // this is the downward vehicle direction
chassisMatrix.m_right = chassisMatrix.m_front * chassisMatrix.m_up; // this is in the side vehicle direction (the plane of the wheels)
chassisMatrix.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// create a default vehicle controller
m_controller = manager->CreateVehicle (chassisCollision, chassisMatrix, parameters.MASS, dVector (0.0f, DEMO_GRAVITY, 0.0f, 0.0f));
// get body the vehicle rigid body and set the Newton rigid body physics properties
NewtonBody* const body = m_controller->GetBody();
// set the user data
NewtonBodySetUserData(body, this);
// set the transform callback
NewtonBodySetTransformCallback (body, DemoEntity::TransformCallback);
// set the standard force and torque call back
NewtonBodySetForceAndTorqueCallback(body, PhysicsApplyGravityForce);
// set the player matrix
NewtonBodySetMatrix(body, &location[0][0]);
// destroy the collision helper shape
NewtonDestroyCollision(chassisCollision);
// map the gear to a look up table: gear 0 is reverse, gea 1 is neutral, gear 1 is first, gear 2 is second and so on
for (int i = 0; i < int ((sizeof (m_gearMap) / sizeof (m_gearMap[0]))); i ++) {
m_gearMap[i] = i;
}
m_gearMap[0] = 1;
m_gearMap[1] = 0;
}
void SimulationPostListener(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
// see if the net force on the body comes fr a high impact collision
dFloat breakImpact = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact(joint); contact; contact = NewtonContactJointGetNextContact(joint, contact)) {
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial(contact);
dFloat impulseImpact = NewtonMaterialGetContactMaxNormalImpact(material);
if (impulseImpact > breakImpact) {
breakImpact = impulseImpact;
}
}
}
// if the force is bigger than N time Gravities, It is considered a collision force
breakImpact *= m_myMassInverse;
// breakImpact = 1000.0f;
if (breakImpact > BREAK_IMPACT_IN_METERS_PER_SECONDS) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dMatrix bodyMatrix;
dVector com(0.0f);
dVector veloc(0.0f);
dVector omega(0.0f);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
NewtonBodyGetMass(m_myBody, &mass, &Ixx, &Iyy, &Izz);
com = bodyMatrix.TransformVector(com);
dMatrix matrix(GetCurrentMatrix());
dQuaternion rotation(matrix);
// we need to lock the world before creation a bunch of bodies
scene->Lock(m_lock);
for (FractureEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
FractureAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity(dMatrix(rotation, matrix.m_posit), NULL);
entity->SetMesh(atom.m_mesh, dGetIdentityMatrix());
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateDynamicBody(world, atom.m_collision, &matrix[0][0]);
// calculate debris initial velocity
dVector center(matrix.TransformVector(atom.m_centerOfMass));
dVector v(veloc + omega.CrossProduct(center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debris mass properties, mass, center of mass, and inertia
NewtonBodySetMassProperties(rigidBody, debriMass, atom.m_collision);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData(rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID(rigidBody, materialId);
// set continuous collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback(rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback(rigidBody, DemoEntity::TransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback(rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(m_myBody);
scene->RemoveEntity(mynode);
// unlock the work after done with the effect
scene->Unlock(m_lock);
}
}
Car::Car(const ion::base::String& identifier,NewtonWorld *pWorld,const ion::video::Mesh& srcmesh,const float mass,
const float Ixx,const float Iyy,const float Izz):Node(identifier),m_pNewtonChassisCollision(0),m_pBody(0),
m_pNewtonworld(pWorld),m_pNewtonJoint(0)
{
if (pWorld==0) {
ion::base::log("Car::Car()",ion::base::Error) << "No NewtonWorld pointer given\n";
return;
}
if (!srcmesh.isValid()) {
ion::base::log("Car::Car()",ion::base::Error) << "Source mesh is invalid\n";
return;
}
if (!srcmesh.vertexstream().isMapped()) {
ion::base::log("Car::Car()",ion::base::Error) << "source mesh \"" << srcmesh.objIdentifier() << " is not mapped!\n";
return;
}
if ((m_pNewtonChassisCollision!=0) && (m_pNewtonworld!=0))
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonChassisCollision);
float *pPoints;
{
pPoints=new float[3*srcmesh.vertexstream().capacity()];
for (ion_uint32 v=0;v<srcmesh.vertexstream().capacity();++v) {
const ion::math::Vector3f &rV=srcmesh.vertexstream().position(v);
pPoints[v*3+0]=rV.x();
pPoints[v*3+1]=rV.y();
pPoints[v*3+2]=rV.z();
}
}
ion::math::Matrix4f c;
m_pNewtonworld=pWorld;
m_pNewtonChassisCollision=NewtonCreateConvexHull(m_pNewtonworld,srcmesh.vertexstream().capacity(),pPoints,12,c);
m_pBody=NewtonCreateBody(m_pNewtonworld,m_pNewtonChassisCollision);
NewtonBodySetUserData(m_pBody,this);
ion::math::Vector3f origin,inertia;
// calculate the moment of inertia and the relative center of mass of the solid
NewtonConvexCollisionCalculateInertialMatrix (m_pNewtonChassisCollision, &inertia[0], &origin[0]);
float ixx = mass * inertia[0];
float iyy = mass * inertia[1];
float izz = mass * inertia[2];
// set the mass matrix
NewtonBodySetMassMatrix (m_pBody, mass, ixx, iyy, izz);
origin.y()=-1;
NewtonBodySetCentreOfMass (m_pBody, &origin[0]);
NewtonBodySetMatrix(m_pBody,localTransform().matrix());
NewtonReleaseCollision(m_pNewtonworld,m_pNewtonChassisCollision);
NewtonBodySetTransformCallback (m_pBody, physicsSetTransform);
NewtonBodySetForceAndTorqueCallback (m_pBody, physicsApplyForceAndTorque);
float updir[3]={0,1,0};
m_pNewtonJoint=NewtonConstraintCreateVehicle(m_pNewtonworld,&updir[0],m_pBody);
NewtonVehicleSetTireCallback(m_pNewtonJoint,tireUpdate);
delete [] pPoints;
}
void SimulationLister(DemoEntityManager* const scene, DemoEntityManager::dListNode* const mynode, dFloat timeStep)
{
m_delay --;
if (m_delay > 0) {
return;
}
// see if the net force on the body comes fr a high impact collision
dFloat maxInternalForce = 0.0f;
for (NewtonJoint* joint = NewtonBodyGetFirstContactJoint(m_myBody); joint; joint = NewtonBodyGetNextContactJoint(m_myBody, joint)) {
for (void* contact = NewtonContactJointGetFirstContact (joint); contact; contact = NewtonContactJointGetNextContact (joint, contact)) {
//dVector point;
//dVector normal;
dVector contactForce;
NewtonMaterial* const material = NewtonContactGetMaterial (contact);
//NewtonMaterialGetContactPositionAndNormal (material, &point.m_x, &normal.m_x);
NewtonMaterialGetContactForce(material, m_myBody, &contactForce[0]);
dFloat forceMag = contactForce % contactForce;
if (forceMag > maxInternalForce) {
maxInternalForce = forceMag;
}
}
}
// if the force is bigger than 4 Gravities, It is considered a collision force
dFloat maxForce = BREAK_FORCE_IN_GRAVITIES * m_myweight;
if (maxInternalForce > (maxForce * maxForce)) {
NewtonWorld* const world = NewtonBodyGetWorld(m_myBody);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(m_myBody, &mass, &Ixx, &Iyy, &Izz);
dVector com;
dVector veloc;
dVector omega;
dMatrix bodyMatrix;
NewtonBodyGetVelocity(m_myBody, &veloc[0]);
NewtonBodyGetOmega(m_myBody, &omega[0]);
NewtonBodyGetCentreOfMass(m_myBody, &com[0]);
NewtonBodyGetMatrix(m_myBody, &bodyMatrix[0][0]);
com = bodyMatrix.TransformVector (com);
dMatrix matrix (GetCurrentMatrix());
dQuaternion rotation (matrix);
for (ShatterEffect::dListNode* node = m_effect.GetFirst(); node; node = node->GetNext()) {
ShatterAtom& atom = node->GetInfo();
DemoEntity* const entity = new DemoEntity (NULL);
entity->SetMesh (atom.m_mesh);
entity->SetMatrix(*scene, rotation, matrix.m_posit);
entity->InterpolateMatrix (*scene, 1.0f);
scene->Append(entity);
int materialId = 0;
dFloat debriMass = mass * atom.m_massFraction;
dFloat Ixx = debriMass * atom.m_momentOfInirtia.m_x;
dFloat Iyy = debriMass * atom.m_momentOfInirtia.m_y;
dFloat Izz = debriMass * atom.m_momentOfInirtia.m_z;
//create the rigid body
NewtonBody* const rigidBody = NewtonCreateBody (world, atom.m_collision, &matrix[0][0]);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// calculate the center of mas of the debris
dVector center (matrix.TransformVector(atom.m_centerOfMass));
// calculate debris initial velocity
dVector v (veloc + omega * (center - com));
// set initial velocity
NewtonBodySetVelocity(rigidBody, &v[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
// set the debrie center of mass
NewtonBodySetCentreOfMass (rigidBody, &atom.m_centerOfMass[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, debriMass, Ixx, Iyy, Izz);
// activate
// NewtonBodyCoriolisForcesMode (blockBoxBody, 1);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, entity);
// assign the wood id
NewtonBodySetMaterialGroupID (rigidBody, materialId);
// set continue collision mode
// NewtonBodySetContinuousCollisionMode (rigidBody, continueCollisionMode);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, DemoEntity::SetTransformCallback);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
}
NewtonDestroyBody(world, m_myBody);
scene->RemoveEntity (mynode);
}
};
void CreateScene (NewtonWorld* world, SceneManager* sceneManager)
{
Entity* floor;
NewtonBody* floorBody;
NewtonCollision* shape;
/*
void* materialManager;
SoundManager* sndManager;
PhysicsMaterialInteration matInterations;
sndManager = sceneManager->GetSoundManager();
// Create the material for this scene, and attach it to the Newton World
materialManager = CreateMaterialManager (world, sndManager);
// add the Material table
matInterations.m_restitution = 0.6f;
matInterations.m_staticFriction = 0.6f;
matInterations.m_kineticFriction = 0.3f;
matInterations.m_scrapingSound = NULL;
matInterations.m_impactSound = sndManager->LoadSound ("metalMetal.wav");
AddMaterilInteraction (materialManager, m_metal, m_metal, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxBox.wav");
AddMaterilInteraction (materialManager, m_wood, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metalBox.wav");
AddMaterilInteraction (materialManager, m_metal, m_wood, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass0.wav");
AddMaterilInteraction (materialManager, m_wood, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("boxHit.wav");
AddMaterilInteraction (materialManager, m_wood, m_bricks, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("grass1.wav");
AddMaterilInteraction (materialManager, m_metal, m_grass, &matInterations);
matInterations.m_impactSound = sndManager->LoadSound ("metal.wav");
AddMaterilInteraction (materialManager, m_metal, m_bricks, &matInterations);
*/
// Create a large body to be the floor
floor = sceneManager->CreateEntity();
int materialMap[] = {m_bricks, m_grass, m_wood, m_metal};
#ifdef USE_HEIGHT_FIELD_LEVEL
// add scene collision from a level m*esh
shape = CreateHeightFieldCollision (world, "h2.raw", materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// make a visual mesh for the collision data
CreateHeightFieldMesh (shape, floor);
// set the matrix at the origin
dVector boxP0;
dVector boxP1;
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &boxP0.m_x, &boxP1.m_x);
// place the origin of the visual mesh at the center of the height field
matrix.m_posit = (boxP0 + boxP1).Scale (-0.5f);
matrix.m_posit.m_w = 1.0f;
floor->m_curPosition = matrix.m_posit;
floor->m_prevPosition = matrix.m_posit;
// relocate the body;
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
#else
floor->LoadMesh ("LevelMesh.dat");
// add static floor Physics
shape = CreateMeshCollision (world, floor, materialMap);
floorBody = CreateRigidBody (world, floor, shape, 0.0f);
NewtonDestroyCollision(shape);
// set the Transformation Matrix for this rigid body
dMatrix matrix (floor->m_curRotation, floor->m_curPosition);
NewtonBodySetMatrix (floorBody, &matrix[0][0]);
#endif
// now we will use the properties of this body to set a proper world size.
dVector minBox;
dVector maxBox;
NewtonCollisionCalculateAABB (shape, &matrix[0][0], &minBox[0], &maxBox[0]);
// add some extra padding
minBox.m_x -= 50.0f;
minBox.m_y -= 500.0f;
minBox.m_z -= 50.0f;
maxBox.m_x += 50.0f;
maxBox.m_y += 500.0f;
maxBox.m_z += 50.0f;
// set the new world size
NewtonSetWorldSize (world, &minBox[0], &maxBox[0]);
// Create a Body and attach a player controller joint
{
dFloat y0;
Entity* player;
NewtonBody* playerBody;
NewtonCollision* shape;
// find the a floor to place the player
y0 = FindFloor (world, 0.0f, 0.0f) + 1.0f;
// load the player mesh
player = sceneManager->CreateEntity();
player->LoadMesh ("gymnast.dat");
player->m_curPosition.m_y = y0;
player->m_prevPosition = player->m_curPosition;
// get the bounding Box of the player to get the collision shape dimensions
dVector minBox;
dVector maxBox;
player->GetBBox (minBox, maxBox);
// calculate player high and width
dFloat padding = 1.0f / 64.0f; // this si the default padding, for teh palye joint, we must subtract it from the shape
dFloat playerHigh = (maxBox.m_y - minBox.m_y) - padding;
dFloat playerRadius0 = (maxBox.m_z - minBox.m_z) * 0.5f;
dFloat playerRadius1 = (maxBox.m_x - minBox.m_x) * 0.5f;
dFloat playerRadius = (playerRadius0 > playerRadius1 ? playerRadius0 : playerRadius1) - padding;
// No we make and make a upright capsule for the collision mesh
dMatrix orientation;
orientation.m_front = dVector (0.0f, 1.0f, 0.0f, 0.0f); // this is the player up direction
orientation.m_up = dVector (1.0f, 0.0f, 0.0f, 0.0f); // this is the player front direction
orientation.m_right = orientation.m_front * orientation.m_up; // this is the player sideway direction
orientation.m_posit = dVector (0.0f, 0.0f, 0.0f, 1.0f);
// add a body with a box shape
//shape = CreateNewtonCapsule (world, player, playerHigh, playerRadius, m_wood, orientation);
shape = CreateNewtonCylinder (world, player, playerHigh, playerRadius, m_wood, orientation);
playerBody = CreateRigidBody (world, player, shape, 10.0f);
NewtonDestroyCollision(shape);
// make sure the player does not go to sleep
NewtonBodySetAutoSleep (playerBody, 0);
// now we will attach a player controller to the body
NewtonUserJoint* playerController;
// the player can take step up to 0.7 units;
dFloat maxStairStepFactor = 0.7f / playerHigh;
playerController = CreateCustomPlayerController (&orientation[0][0], playerBody, maxStairStepFactor, padding);
// set the Max Slope the player can climb to PLAYER_MAX_SLOPE degree
CustomPlayerControllerSetMaxSlope (playerController, PLAYER_MAX_SLOPE * 3.1416f / 180.0f);
// now we will append some application data for the application to control the player
PlayerController* userControl = (PlayerController*) malloc (sizeof (PlayerController));
userControl->m_isThirdView = 1;
userControl->m_point = dVector (0.0f, playerHigh, 0.0f,0.0f);
// set the user data for the application to control the player
CustomSetUserData (playerController, userControl);
// set the destruction call back so that the application can destroy local used data
CustomSetDestructorCallback (playerController, PlayerController::Destroy);
// set a call back to control the player
CustomSetSubmitContraintCallback (playerController, PlayerController::ApplyPlayerInput);
// we also need to set override the transform call back so the we can set the Camera
userControl->m_setTransformOriginal = NewtonBodyGetTransformCallback(playerBody);
NewtonBodySetTransformCallback (playerBody, PlayerController::SetTransform);
// we will need some ID to fin this joint in the transform Callback
CustomSetJointID (playerController, PLAYER_JOINT_ID);
}
/*
{
// add some visual entities.
dFloat y0;
y0 = FindFloor (world, 0.0f, 0.4f) + 10.5f;
for (int i = 0; i < 5; i ++) {
Entity* frowny;
NewtonBody* frownyBody;
NewtonCollision* shape;
frowny = sceneManager->CreateEntity();
frowny->LoadMesh ("Frowny.dat");
frowny->m_curPosition.m_z = 0.4f;
frowny->m_curPosition.m_y = y0;
y0 += 2.0f;
frowny->m_prevPosition = frowny->m_curPosition;
// add a body with a Convex hull shape
shape = CreateNewtonConvex (world, frowny, m_wood);
frownyBody = CreateRigidBody (world, frowny, shape, 10.0f);
NewtonDestroyCollision(shape);
}
}
*/
// set the Camera EyePoint close to the scene action
SetCameraEyePoint (dVector (-15.0f, FindFloor (world, -15.0f, 0.0f) + 5.0f, 0.0f));
}
static void CreateDebriPiece (const NewtonBody* sourceBody, NewtonMesh* mesh, dFloat volume)
{
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
dFloat shapeVolume;
NewtonWorld* world;
NewtonBody* rigidBody;
NewtonCollision* collision;
OGLMesh* meshInstance;
SceneManager* system;
RenderPrimitive* primitive;
dVector inertia;
dVector origin;
dVector veloc;
dVector omega;
dMatrix matrix;
world = NewtonBodyGetWorld (sourceBody);
NewtonBodyGetMatrix (sourceBody, &matrix[0][0]);
NewtonBodyGetMassMatrix (sourceBody, &mass, &Ixx, &Iyy, &Izz);
// make a visual object
meshInstance = new OGLMesh();
meshInstance->BuildFromMesh (mesh);
// create a visual geometry
primitive = new RenderPrimitive (matrix, meshInstance);
meshInstance->Release();
// save the graphics system
system = (SceneManager*) NewtonWorldGetUserData(world);
system->AddModel (primitive);
collision = NewtonCreateConvexHullFromMesh (world, mesh, 0.1f, DEBRI_ID);
// calculate the moment of inertia and the relative center of mass of the solid
shapeVolume = NewtonConvexCollisionCalculateVolume (collision);
NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
mass = mass * shapeVolume / volume;
Ixx = mass * inertia[0];
Iyy = mass * inertia[1];
Izz = mass * inertia[2];
//create the rigid body
rigidBody = NewtonCreateBody (world, collision);
// set the correct center of gravity for this body
NewtonBodySetCentreOfMass (rigidBody, &origin[0]);
// set the mass matrix
NewtonBodySetMassMatrix (rigidBody, mass, Ixx, Iyy, Izz);
// save the pointer to the graphic object with the body.
NewtonBodySetUserData (rigidBody, primitive);
// assign the wood id
// NewtonBodySetMaterialGroupID (rigidBody, NewtonBodyGetMaterialGroupID(source));
// set continue collision mode
NewtonBodySetContinuousCollisionMode (rigidBody, 1);
// set a destructor for this rigid body
NewtonBodySetDestructorCallback (rigidBody, PhysicsBodyDestructor);
// set the transform call back function
NewtonBodySetTransformCallback (rigidBody, PhysicsSetTransform);
// set the force and torque call back function
NewtonBodySetForceAndTorqueCallback (rigidBody, PhysicsApplyGravityForce);
// set the matrix for both the rigid body and the graphic body
NewtonBodySetMatrix (rigidBody, &matrix[0][0]);
PhysicsSetTransform (rigidBody, &matrix[0][0], 0);
NewtonBodyGetVelocity(sourceBody, &veloc[0]);
NewtonBodyGetOmega(sourceBody, &omega[0]);
veloc += omega * matrix.RotateVector(origin);
// for now so that I can see the body
veloc = dVector (0, 0, 0, 0);
// omega = dVector (0, 0, 0, 0);
NewtonBodySetVelocity(rigidBody, &veloc[0]);
NewtonBodySetOmega(rigidBody, &omega[0]);
NewtonReleaseCollision(world, collision);
}
