void StructuredConvexFracturing (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
//CreateLevelMesh (scene, "ruinsFloor.ngd", true);
CreateLevelMesh (scene, "flatPlane.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
AddPrimitiveArray (scene, 0.0f, dVector (0.0f, 0.0f, 0.0f, 0.0f), dVector (100.0f, 1.0f, 100.0f, 0.0f), 1, 1, 0, _BOX_PRIMITIVE, 0, dGetIdentityMatrix());
AddStructuredFractured (scene, dVector (0.0f, 0.0f, 0.0f, 0.0f), 0, "colum.ngd");
// create a shattered mesh array
//CreateSimpleVoronoiFracture (scene);
//int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.75f, 0.75f, 0.75f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// place camera into position
dQuaternion rot (dVector (0.0f, 1.0f, 0.0f, 0.0f), -30.0f * 3.141592f / 180.0f);
dVector origin (-45.0f, 20.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void SixAxisManipulators(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh(scene, "flatPlane.ngd", true);
dSixAxisManager* const robotManager = new dSixAxisManager(scene);
dMatrix origin(dYawMatrix(0.0f * dDegreeToRad));
dMatrix origin1(dYawMatrix(180.0f * dDegreeToRad));
origin.m_posit.m_z = -1.0f;
origin1.m_posit.m_z = 1.0f;
int count = 10;
count = 1;
origin = dGetIdentityMatrix();
origin.m_posit.m_x = 2.0f;
for (int i = 0; i < count; i++) {
robotManager->MakeKukaRobot(scene, origin);
//robotManager->MakeKukaRobot (scene, origin1);
origin.m_posit.m_x += 1.0f;
origin1.m_posit.m_x += 1.0f;
}
// origin.m_posit = dVector (-3.0f, 0.5f, 0.0f, 1.0f);
origin.m_posit = dVector(-2.0f, 0.5f, 0.0f, 1.0f);
scene->SetCameraMatrix(dGetIdentityMatrix(), origin.m_posit);
}
void DynamicRagdoll(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh(scene, "flatPlane.ngd", true);
dDynamicRagdollManager* const manager = new dDynamicRagdollManager(scene);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID(world);
NewtonMaterialSetDefaultFriction(world, defaultMaterialID, defaultMaterialID, 1.0f, 1.0f);
NewtonMaterialSetDefaultElasticity(world, defaultMaterialID, defaultMaterialID, 0.0f);
dMatrix origin (dYawMatrix(0.0f * dDegreeToRad));
origin.m_posit.m_y = 2.0f;
manager->CreateRagdollExperiment_0(origin);
/*
// int count = 10;
// count = 1;
//origin = dGetIdentityMatrix();
origin.m_posit.m_x = 2.0f;
// origin.m_posit.m_y = 2.1f;
origin.m_posit.m_y = 3.0f;
for (int i = 0; i < count; i++) {
manager->CreateRagDoll(scene, origin);
//manager->CreateRagDoll (scene, origin1);
origin.m_posit.m_x += 1.0f;
}
*/
origin.m_posit.m_x = -3.0f;
origin.m_posit.m_y = 1.0f;
origin.m_posit.m_z = 0.0f;
scene->SetCameraMatrix(dGetIdentityMatrix(), origin.m_posit);
}
void UsingNewtonMeshTool (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh (scene, "flatPlane.ngd", true);
// CreateLevelMesh (scene, "playground.ngd", true);
// CreateLevelMesh (scene, "sponza.ngd", true);
// create a shattered mesh array
// TestConvexApproximation (scene);
// int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
// using my own interpretation
NewtonSetContactMergeTolerance (scene->GetNewton(), 1.0e-3f);
//CreateSimpleNewtonMeshBox (scene, dVector (0.0f, 0.0f, 0.0f), dVector (0.7f, 0.25f, 0.7f, 0.0f), 0.0f);
//CreateSimpleNewtonMeshBox (scene, dVector (0.0f, 0.015f, 0.0f), dVector (0.0125f, 0.0063f, 0.0063f, 0.0f), 1.0f);
//CreateSimpleNewtonMeshBox (scene, dVector (0.0f, 0.0f, 0.0f), dVector (2.0f, 0.5f, 1.0f, 0.0f), 0.0f);
CreateSimpleNewtonMeshBox (scene, dVector (0.0f, 2.0f, 0.0f), dVector (1.0f, 0.5f, 2.0f, 0.0f), 1.0f);
// place camera into position
dQuaternion rot;
// dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
dVector origin (-10.0f, 5.0f, 0.0f, 0.0f);
// dVector origin (-1.0f, 0.25f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
// NewtonSerializeToFile(scene->GetNewton(), "xxxx.bin");
}
void BasicCar (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// CreateHeightFieldTerrain (scene, 10, 8.0f, 5.0f, 0.2f, 200.0f, -50.0f);
dMatrix location (dGetIdentityMatrix());
location.m_posit = dVector (0.0f, 10.0f, 0.0f, 1.0f);
location.m_posit = FindFloor (scene->GetNewton(), location.m_posit, 100.0f);
location.m_posit.m_y += 2.0f;
NewtonWorld* const world = scene->GetNewton();
// create a vehicle controller manager
BasicCarControllerManager* const manager = new BasicCarControllerManager (world);
// load
basicCarParameters.m_differentialType = BasciCarParameters::m_RWD;
BasicCarEntity* const heavyVehicle = new BasicCarEntity (scene, manager, location, basicCarParameters);
heavyVehicle->BuidlBasicCar (basicCarParameters);
// set this vehicle as the player
manager->SetAsPlayer(heavyVehicle);
dMatrix camMatrix (manager->m_player->GetNextMatrix());
scene->SetCameraMouseLock (true);
scene->SetCameraMatrix(camMatrix, camMatrix.m_posit);
//
// dVector location (origin);
// location.m_x += 20.0f;
// location.m_z += 20.0f;
// location.m_posit.m_z += 4.0f;
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector size (3.0f, 0.125f, 3.0f, 0.0f);
//AddPrimitiveArray(scene, 100.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
size = dVector(1.0f, 0.5f, 1.0f, 0.0f);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location.m_posit, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// NewtonSerializeToFile (scene->GetNewton(), "C:/Users/Julio/Desktop/newton-dynamics/applications/media/xxxxx.bin");
}
// create physics scene
void ClosestDistance (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// CreateLevelMesh (scene, "playground.ngd", 0);
int materialID = NewtonMaterialGetDefaultGroupID (world);
// disable collision
// NewtonMaterialSetDefaultCollidable (world, materialID, materialID, 0);
// PrimitiveType castinShapeType = _SPHERE_PRIMITIVE;
// PrimitiveType castinShapeType = _BOX_PRIMITIVE;
// PrimitiveType castinShapeType = _CAPSULE_PRIMITIVE;
// PrimitiveType castinShapeType = _CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _CONE_PRIMITIVE;
// PrimitiveType castinShapeType = _TAPERED_CAPSULE_PRIMITIVE;
// PrimitiveType castinShapeType = _TAPERED_CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _CHAMFER_CYLINDER_PRIMITIVE;
// PrimitiveType castinShapeType = _RANDOM_CONVEX_HULL_PRIMITIVE;
// PrimitiveType castinShapeType = _REGULAR_CONVEX_HULL_PRIMITIVE;
PrimitiveType castinShapeType = _COMPOUND_CONVEX_CRUZ_PRIMITIVE;
// ClosestDistanceEntityManager* const parallelManager = new ClosestDistanceEntityManager (scene);
dClosestDistanceManager* const castManager = new dClosestDistanceManager (scene);
int count = 5;
// castManager->AddPrimitives (count, dVector ( 0, 0, 0), _SPHERE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 2, 0, 2), _BOX_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 4, 0, 4), _CAPSULE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 8, 0, 8), _CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector ( 10, 0, 10), _CHAMFER_CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 4, 0, -4), _CONE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 6, 0, -6), _TAPERED_CAPSULE_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (- 8, 0, -8), _TAPERED_CYLINDER_PRIMITIVE, materialID, castinShapeType);
// castManager->AddPrimitives (count, dVector (-10, 0, -10), _REGULAR_CONVEX_HULL_PRIMITIVE, materialID, castinShapeType);
castManager->AddPrimitives (count, dVector (-12, 0, -12), _COMPOUND_CONVEX_CRUZ_PRIMITIVE, materialID, castinShapeType);
// place camera into position
//dMatrix camMatrix (dYawMatrix(90.0f * 3.1416f /180.0f));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
//float xxx[] = {2.3257, -3.6253, -2.7155, 2.7075, -3.6253, -2.7155, 2.7075, -3.6253, -2.3337, 2.3257, -3.6253, -2.3337};
//NewtonCollision* aaa = NewtonCreateConvexHull(scene->GetNewton(), sizeof (xxx) /(3 * sizeof (float)), xxx, 3 * sizeof (float), 0, 0, 0);
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
// place camera into position
// dQuaternion rot;
// dVector posit (0.0f, 1.0f, 0.0f, 0.0f);
// scene->SetCameraMatrix(rot, posit);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 1.0f, 0.0f);
// int count = 1;
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _TAPERED_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
void BasicBoxStacks (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
CreateLevelMesh (scene, "flatPlane.ngd", 1);
// load the scene from a ngd file format
#if 0
char fileName[2048];
//GetWorkingFileName ("boxStacks_1.ngd", fileName);
//GetWorkingFileName ("boxStacks_3.ngd", fileName);
//GetWorkingFileName ("boxStacks.ngd", fileName);
//GetWorkingFileName ("pyramid20x20.ngd", fileName);
GetWorkingFileName ("pyramid40x40.ngd", fileName);
scene->LoadScene (fileName);
#else
int high = 30;
PrimitiveType selection[] = {_BOX_PRIMITIVE, _CYLINDER_PRIMITIVE, _TAPERED_CYLINDER_PRIMITIVE, _REGULAR_CONVEX_HULL_PRIMITIVE};
for (int i = 0; i < 1; i ++) {
int index = i % (sizeof (selection) / sizeof (selection[0]));
//index = 0;
dMatrix shapeMatrix (dRollMatrix(0.5f * 3.14159f));
if (selection[index] == _BOX_PRIMITIVE) {
shapeMatrix = dGetIdentityMatrix();
}
// BuildPyramid (scene, 10.0f, dVector(-10.0f + i * 4.0f, 0.0f, 0.0f, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high, selection[index], shapeMatrix);
BuildPyramid (scene, 10.0f, dVector( 0.0f + i * 4.0f, 0.0f, 0.0f, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high, _BOX_PRIMITIVE);
// BuildPyramid (scene, 10.0f, dVector( 10.0f + i * 4.0f, 0.0f, 0.0f, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high, _CYLINDER_PRIMITIVE, dRollMatrix(0.5f * 3.14159f));
// BuildPyramid (scene, 10.0f, dVector( 20.0f + i * 4.0f, 0.0f, 0.0f, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high, _TAPERED_CYLINDER_PRIMITIVE, dRollMatrix(0.5f * 3.14159f));
// BuildPyramid (scene, 10.0f, dVector( 30.0f + i * 4.0f, 0.0f, 0.0f, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high, _REGULAR_CONVEX_HULL_PRIMITIVE, dRollMatrix(0.5f * 3.14159f));
}
high = 20;
for (int i = 0; i < 1; i ++) {
for (int j = 0; j < 1; j ++) {
// BuildJenga (scene, 5.0f, dVector(-15.0f + j * 8, 0.0f, 10.0f + i * 8, 0.0f), dVector (0.5f, 0.25f, 1.62f/2.0f, 0.0), high);
}
}
#endif
// place camera into position
dQuaternion rot;
dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
//origin.m_x = -10.0f;
origin.m_x = -20.0f;
origin.m_y = 8.0f;
scene->SetCameraMatrix(rot, origin);
// ExportScene (scene->GetNewton(), "../../../media/test1.ngd");
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// suspend simulation before making changes to the physics world
scene->StopsExecution ();
// load the skybox
scene->Append(new SkyBox());
// load the scene from and alchemedia file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", fileName);
// place camera into position
// dQuaternion rot;
// dVector posit (0.0f, 1.0f, 0.0f, 0.0f);
// scene->SetCameraMatrix(rot, posit);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
//dQuaternion rot;
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
// dVector origin (-10.0f, 1.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
int count = 8;
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
//for (int i = 0; i < 20; i ++)
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
// resume the simulation
scene->ContinueExecution();
}
void BasicPlayerController (DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
//CreateLevelMesh (scene, "flatPlane.ngd", true);
//CreateLevelMesh (scene, "playground.ngd", true);
CreateLevelMesh (scene, "castle.ngd", true);
//CreateLevelMesh (scene, "sponza.ngd", true);
//CreateLevelMesh (scene, "sibenik.ngd", true);
NewtonWorld* const world = scene->GetNewton();
// add an input Manage to manage the inputs and user interaction
BasicPlayerInputManager* const inputManager = new BasicPlayerInputManager (scene);
// create a character controller manager
BasicPlayerControllerManager* const playerManager = new BasicPlayerControllerManager (world);
// add main player
dMatrix location (dGetIdentityMatrix());
location.m_posit.m_x = -4.0f;
location.m_posit.m_y = 5.0f;
location.m_posit.m_z = 0.0f;
location.m_posit.m_x = 98.710999f;
location.m_posit.m_y =-0.96156919f;
location.m_posit.m_z = 27.254711f;
location.m_posit = FindFloor (scene->GetNewton(), location.m_posit, 10.0f);
BasicPlayerEntity* const player = new BasicPlayerEntity (scene, playerManager, 0.5f, 1.9f, location);
// set as the player with the camera
inputManager->AddPlayer(player);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
location.m_posit.m_x += 5.0f;
dVector size (2.0f, 2.0f, 2.0f, 0.0f);
int count = 1;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
AddPrimitiveArray(scene, 100.0f, location.m_posit, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix, 10.0f);
dVector origin (-10.0f, 2.0f, 0.0f, 0.0f);
dQuaternion rot;
scene->SetCameraMatrix(rot, origin);
}
void AnimatedPlayerController(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
//CreateLevelMesh(scene, "flatPlane.ngd", true);
CreateLevelMesh (scene, "playerarena.ngd", true);
//CreateHeightFieldTerrain(scene, 10, 2.0f, 1.5f, 0.3f, 200.0f, -50.0f);
NewtonWorld* const world = scene->GetNewton();
// create a character controller manager
AnimatedPlayerControllerManager* const playerManager = new AnimatedPlayerControllerManager(world);
// add main player
dMatrix location(dGetIdentityMatrix());
location.m_posit.m_x = 30.0f;
location.m_posit.m_y = 5.0f;
location.m_posit.m_z = -24.0f;
location.m_posit.m_y = 15.0f;
location.m_posit = FindFloor(scene->GetNewton(), location.m_posit, 20.0f);
location.m_posit.m_y += 1.0f;
dCustomPlayerController* const player = playerManager->CreatePlayer(location, 1.8f, 0.3f, 100.0f);
playerManager->SetAsPlayer(player);
// int defaultMaterialID = NewtonMaterialGetDefaultGroupID(scene->GetNewton());
location.m_posit.m_x += 5.0f;
//int count = 1;
//dMatrix shapeOffsetMatrix(dGetIdentityMatrix());
//AddPrimitiveArray(scene, 100.0f, location.m_posit, dVector (2.0f, 2.0f, 2.0f, 0.0f), count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix, 10.0f);
// add some objects to interact with
AddMerryGoRound(scene, dVector(40.0f, 0.0f, -15.0f, 0.0f));
location.m_posit.m_x += 5.0f;
// AddPrimitiveArray(scene, 100.0f, location.m_posit, dVector(2.0f, 0.5f, 2.0f, 0.0f), count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix, 10.0f);
dVector origin(-10.0f, 2.0f, 0.0f, 0.0f);
dQuaternion rot;
scene->SetCameraMatrix(rot, origin);
}
void SimpleConvexShatter (DemoEntityManager* const scene)
{
// suspend simulation before making changes to the physics world
scene->StopsExecution ();
// load the skybox
scene->Append(new SkyBox());
xxxxx(scene->GetNewton());
// load the scene from and alchemedia file format
CreateLevelMesh (scene, "flatPlane.ngd", false);
// CreateLevelMesh (scene, "sponza.ngd", false);
// CreateLevelMesh (scene, "sponza.ngd", true);
// create a shattered mesh array
//CreateSimpleVoronoiShatter (scene);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 0.5f, 0.0f);
int count = 5;
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _BOX_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _SPHERE_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CYLINDER_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CONE_PRIMITIVE, defaultMaterialID);
AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _CAPSULE_PRIMITIVE, defaultMaterialID);
//for (int i = 0; i < 1; i ++)
//AddShatterPrimitive(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID);
// place camera into position
dQuaternion rot;
// dVector origin (-40.0f, 10.0f, 0.0f, 0.0f);
dVector origin (-15.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
// resume the simulation
scene->ContinueExecution();
}
void Hexapod(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
CreateLevelMesh (scene, "flatPlane.ngd", true);
//CreateHeightFieldTerrain(scene, HEIGHTFIELD_DEFAULT_SIZE, HEIGHTFIELD_DEFAULT_CELLSIZE, 1.5f, 0.3f, 200.0f, -50.0f);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID(world);
dHexapodManager* const robotManager = new dHexapodManager(scene);
NewtonMaterialSetDefaultFriction(world, defaultMaterialID, defaultMaterialID, 1.0f, 1.0f);
NewtonMaterialSetDefaultElasticity(world, defaultMaterialID, defaultMaterialID, 0.1f);
dMatrix location (dGetIdentityMatrix());
location.m_posit = dVector(FindFloor(world, dVector(-0.0f, 50.0f, 0.0f, 1.0f), 2.0f * 50.0f));
location.m_posit.m_y += 1.0f;
int count = 5;
//count = 1;
dMatrix location1(location);
dFloat x0 = location.m_posit.m_x;
for (int j = 0; j < 1; j++) {
location.m_posit.m_z += 2.0f;
location.m_posit.m_x = x0;
for (int i = 0; i < count; i++) {
location.m_posit.m_x += 2.0f;
//location1.m_posit.m_x += 2.0f;
robotManager->MakeHexapod(scene, location);
//robotManager->MakeHexapod (scene, location1);
}
}
location.m_posit = dVector(FindFloor(scene->GetNewton(), dVector(-0.0f, 50.0f, 0.0f, 1.0f), 2.0f * 50.0f));
dVector origin(FindFloor(world, dVector(-4.0f, 50.0f, 0.0f, 1.0f), 2.0f * 50.0f));
origin.m_y += 2.5f;
// dVector size(3.0f, 0.125f, 3.0f, 0.0f);
// dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// AddPrimitiveArray(scene, 50.0f, location.m_posit, size, count, count, 6.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
dQuaternion rot;
scene->SetCameraMatrix(rot, origin);
}
static void SimpleMeshLevel (DemoEntityManager* const scene, bool optimization)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
// CreateLevelMesh (scene, "flatPlane.ngd", optimization);
CreateLevelMesh (scene, "sponza.ngd", optimization);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", optimization);
dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dQuaternion rot (camMatrix);
dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.25f, 0.25f, 0.5f, 0.0f);
int count = 6;
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
for (int i = 0; i < 3; i ++) {
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 3.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
count = 8;
for (int i = 0; i < 50; i ++){
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.7f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
//AddPrimitiveArray(scene, 10.0f, location, size, count, count, 1.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
}
void AnimatedPlayerController(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
dTrace(("sorry demo %s temporarilly disabled\n", __FUNCTION__));
return;
#if 0
CreateLevelMesh(scene, "flatPlane.ngd", true);
dMatrix origin (dGetIdentityMatrix());
origin.m_posit.m_y = -0.0f;
dMatrix origin1 (origin);
InverseKinematicAnimationManager* const animationManager = new InverseKinematicAnimationManager(scene);
dPointer<DemoEntity> humanModel (DemoEntity::LoadNGD_mesh("whiteman.ngd", scene->GetNewton(), scene->GetShaderCache()));
//dAnimIKController* const human = animationManager->CreateHuman("whiteman.ngd", origin1);
dAnimIKController* const human = animationManager->CreateHuman(&(*humanModel), origin1);
//dAnimIKController* const human = animationManager->CreateHuman("skintest.ngd", origin1);
DemoEntity* const referenceModel = DemoEntity::LoadNGD_mesh("viper.ngd", scene->GetNewton(), scene->GetShaderCache());
origin1.m_posit.m_z = 2.0f;
referenceModel->ResetMatrix(*scene, referenceModel->GetCurrentMatrix() * origin1);
scene->Append(referenceModel);
dMatrix xxxx(origin1);
for (int i = 0; i < 10; i ++) {
xxxx.m_posit.m_x += 2;
dMatrix xxxx1(xxxx);
for (int j = 0; j < 10; j ++) {
xxxx1.m_posit.m_z -= 2;
animationManager->CreateHuman(&(*humanModel), xxxx1);
}
}
origin.m_posit = dVector(-4.0f, 1.0f, 0.0f, 1.0f);
scene->SetCameraMatrix(dGetIdentityMatrix(), origin.m_posit);
#endif
}
void SoftBodies(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh(scene, "flatPlane.ngd", 1);
//CreateLevelMesh (scene, "playground.ngd", 1);
dVector location(0.0f, 6.0f, 0.0f, 0.0f);
SimpleSoftBodyEntity* const entity = new SimpleSoftBodyEntity(scene, location);
//entity->BuildRegularTetrahedra(scene, 0);
//entity->LoadTetrahedraCube (scene, 0);
entity->CreateTetrahedraPrimitive (scene, 0);
dQuaternion rot;
dVector origin(location.m_x - 10.0f, 2.0f, location.m_z, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void ClothPatch(DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh(scene, "flatPlane.ngd", 1);
//CreateLevelMesh (scene, "playground.ngd", 1);
// dVector location (8.0f, 0.0f, -10.0f, 0.0f) ;
dVector location(0.0f, 5.0f, 0.0f, 0.0f);
SimpleSoftBodyEntity* const entity = new SimpleSoftBodyEntity(scene, location);
//entity->BuildClothPatch(scene, 50, 50);
entity->BuildClothPatch(scene, 16, 16);
dQuaternion rot;
dVector origin(location.m_x - 10.0f, 2.0f, location.m_z, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void UsingNewtonMeshTool (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh (scene, "flatPlane.ngd", true);
NewtonSetContactMergeTolerance (scene->GetNewton(), 1.0e-3f);
// make a box using low lever NetwonMesh
CreateSimpleBox_NewtonMesh (scene, dVector (0.0f, 2.0f, -2.0f), dVector (1.0f, 0.5f, 2.0f, 0.0f), 1.0f);
// make a box using the dNetwonMesh Class
CreateSimpledBox_dNetwonMesh (scene, dVector (4.0f, 2.0f, 2.0f), dVector (1.0f, 0.5f, 2.0f, 0.0f), 1.0f);
dQuaternion rot;
dVector origin(-10.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void StandardJoints (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (1.5f, 2.0f, 2.0f, 0.0f);
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddDistance (scene, dVector (-20.0f, 0.0f, -25.0f));
AddLimitedBallAndSocket (scene, dVector (-20.0f, 0.0f, -20.0f));
// AddPoweredRagDoll (scene, dVector (-20.0f, 0.0f, -15.0f));
AddBallAndSockectWithFriction (scene, dVector (-20.0f, 0.0f, -10.0f));
Add6DOF (scene, dVector (-20.0f, 0.0f, -5.0f));
AddHinge (scene, dVector (-20.0f, 0.0f, 0.0f));
AddSlider (scene, dVector (-20.0f, 0.0f, 5.0f));
AddCylindrical (scene, dVector (-20.0f, 0.0f, 10.0f));
AddUniversal (scene, dVector (-20.0f, 0.0f, 15.0f));
//just to show up add some relational joints example
AddGear (scene, dVector (-20.0f, 0.0f, 20.0f));
AddPulley (scene, dVector (-20.0f, 0.0f, 25.0f));
AddGearAndRack (scene, dVector (-20.0f, 0.0f, 30.0f));
AddSlidingContact (scene, dVector (-20.0f, 0.0f, 35.0f));
// AddPathFollow (scene, dVector (20.0f, 0.0f, 0.0f));
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void NonUniformScaledCollision(DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh(scene, "flatPlane.ngd", 1);
// CreateLevelMesh (scene, "sponza.ngd", 1);
// CreateLevelMesh (scene, "cattle.ngd", fileName);
// CreateLevelMesh (scene, "playground.ngd", 1);
dMatrix camMatrix(dRollMatrix(-20.0f * 3.1416f / 180.0f) * dYawMatrix(-45.0f * 3.1416f / 180.0f));
dQuaternion rot(camMatrix);
// dVector origin (-30.0f, 40.0f, -15.0f, 0.0f);
dVector origin(-10.0f, 5.0f, -15.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID(world);
dVector location(0.0f, 0.0f, 0.0f, 0.0f);
dVector size0(0.5f, 0.5f, 1.0f, 0.0f);
dVector size1(0.5f, 0.5f, 0.5f, 0.0f);
int count = 5;
dMatrix shapeOffsetMatrix(dRollMatrix(3.141592f / 2.0f));
shapeOffsetMatrix.m_posit.m_y = 0.0f;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 4.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void Restitution (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
NewtonWorld* const world = scene->GetNewton();
dMatrix offsetMatrix (dGetIdentityMatrix());
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
NewtonMaterialSetCollisionCallback (world, defaultMaterialID, defaultMaterialID, NULL, UserContactRestitution);
CreateLevelMesh (scene, "flatPlane.ngd", 0);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (0.5f, 0.5f, 1.0f, 0.0f);
// create some spheres
dVector sphSize (1.0f, 1.0f, 1.0f, 0.0f);
NewtonCollision* const sphereCollision = CreateConvexCollision (world, offsetMatrix, sphSize, _SPHERE_PRIMITIVE, 0);
DemoMesh* const sphereMesh = new DemoMesh("sphere", sphereCollision, "smilli.tga", "smilli.tga", "smilli.tga");
// create some boxes too
dVector boxSize (1.0f, 0.5f, 2.0f, 0.0f);
NewtonCollision* const boxCollision = CreateConvexCollision (world, offsetMatrix, boxSize, _BOX_PRIMITIVE, 0);
DemoMesh* const boxMesh = new DemoMesh("box", boxCollision, "smilli.tga", "smilli.tga", "smilli.tga");
int zCount = 10;
dFloat spacing = 4.0f;
dMatrix matrix (dGetIdentityMatrix());
dVector origin (matrix.m_posit);
origin.m_x -= 0.0f;
// create a simple scene
for (int i = 0; i < zCount; i ++) {
dFloat z;
dFloat x;
dFloat mass;
dVector size (1.0f, 0.5f, 2.0f, 0.0f);
x = origin.m_x;
z = origin.m_z + (i - zCount / 2) * spacing;
mass = 1.0f;
matrix.m_posit = FindFloor (world, dVector (x, 100.0f, z), 200.0f);
matrix.m_posit.m_w = 1.0f;
float restitution;
NewtonBody* body;
NewtonCollision* collision;
matrix.m_posit.m_y += 4.0f;
body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
//body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID, shapeOffsetMatrix);
body = CreateSimpleSolid (scene, boxMesh, mass, matrix, boxCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
body = CreateSimpleSolid (scene, sphereMesh, mass, matrix, sphereCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
matrix.m_posit.m_y += 4.0f;
dVector boxSize (1.0f, 0.5f, 2.0f, 0.0f);
body = CreateSimpleSolid (scene, boxMesh, mass, matrix, boxCollision, defaultMaterialID);
NewtonBodySetLinearDamping (body, 0.0f);
collision = NewtonBodyGetCollision(body);
restitution = i * 0.1f + 0.083f;
NewtonCollisionSetUserData (collision, *((void**)&restitution));
}
boxMesh->Release();
sphereMesh->Release();
NewtonDestroyCollision(boxCollision);
NewtonDestroyCollision(sphereCollision);
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
origin = dVector (-25.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}
void ScaledMeshCollision (DemoEntityManager* const scene)
{
// load the skybox
scene->CreateSkyBox();
// load the scene from a ngd file format
CreateLevelMesh (scene, "flatPlane.ngd", 1);
//CreateLevelMesh (scene, "flatPlaneDoubleFace.ngd", 1);
//CreateLevelMesh (scene, "sponza.ngd", 0);
//CreateLevelMesh (scene, "cattle.ngd", fileName);
//CreateLevelMesh (scene, "playground.ngd", 0);
//dMatrix camMatrix (dRollMatrix(-20.0f * 3.1416f /180.0f) * dYawMatrix(-45.0f * 3.1416f /180.0f));
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-15.0f, 5.0f, 0.0f, 0.0f);
//origin = origin.Scale (0.25f);
scene->SetCameraMatrix(rot, origin);
NewtonWorld* const world = scene->GetNewton();
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (world);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dMatrix matrix (dGetIdentityMatrix());
matrix.m_posit = location;
matrix.m_posit.m_x = 0.0f;
matrix.m_posit.m_y = 0.0f;
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_w = 1.0f;
DemoEntity teaPot (dGetIdentityMatrix(), NULL);
teaPot.LoadNGD_mesh("teapot.ngd", world);
//teaPot.LoadNGD_mesh("box.ngd", world);
NewtonCollision* const staticCollision = CreateCollisionTree (world, &teaPot, 0, true);
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (1.0f, 1.0f, 1.0f, 0.0f));
// CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 2.0f, 0.0f));
matrix.m_posit.m_z = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (3.0f, 3.0f, 1.5f, 0.0f));
matrix.m_posit.m_z = 0.0f;
matrix.m_posit.m_x = -5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (0.5f, 0.5f, 0.5f, 0.0f));
matrix.m_posit.m_x = 5.0f;
CreateScaleStaticMesh (&teaPot, staticCollision, scene, matrix, dVector (2.0f, 2.0f, 2.0f, 0.0f));
// do not forget to destroy the collision mesh helper
NewtonDestroyCollision(staticCollision);
dVector size0 (1.0f, 1.0f, 1.0f, 0.0f);
dVector size1 (0.5f, 1.0f, 1.0f, 0.0f);
dMatrix shapeOffsetMatrix (dRollMatrix(3.141592f/2.0f));
int count = 3;
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size1, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddNonUniformScaledPrimitives(scene, 10.0f, location, size0, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
origin.m_x -= 4.0f;
origin.m_y += 1.0f;
scene->SetCameraMatrix(rot, origin);
}
void AlchimedesBuoyancy(DemoEntityManager* const scene)
{
// load the sky box
scene->CreateSkyBox();
// load the mesh
CreateLevelMesh (scene, "swimmingPool.ngd", true);
// add a trigger Manager to the world
MyTriggerManager* const triggerManager = new MyTriggerManager(scene->GetNewton());
dMatrix triggerLocation (dGetIdentityMatrix());
triggerLocation.m_posit.m_x = 17.0f;
triggerLocation.m_posit.m_y = -3.5f;
NewtonCollision* const poolBox = NewtonCreateBox (scene->GetNewton(), 30.0f, 6.0f, 20.0f, 0, NULL);
triggerManager->CreateBuoyancyTrigger (triggerLocation, poolBox);
NewtonDestroyCollision (poolBox);
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-20.0f, 10.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
int defaultMaterialID = NewtonMaterialGetDefaultGroupID (scene->GetNewton());
/*
//test buoyancy on scaled collisions
dVector plane (0.0f, 1.0f, 0.0f, 0.0f);
dMatrix L1 (dPitchMatrix(30.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
NewtonCollision* xxx0 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCompoundCollisionBeginAddRemove(xxx0);
NewtonCollision* xxxx0 = NewtonCreateBox(scene->GetNewton(), 1.0f, 2.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx0, xxxx0);
NewtonCompoundCollisionEndAddRemove(xxx0);
NewtonCollision* xxx1 = NewtonCreateCompoundCollision(scene->GetNewton(), 0);
NewtonCollision* xxxx1 = NewtonCreateBox(scene->GetNewton(), 1.0f, 1.0f, 1.0f, 0, &L1[0][0]);
NewtonCompoundCollisionAddSubCollision(xxx1, xxxx1);
NewtonCompoundCollisionEndAddRemove(xxx1);
NewtonCollisionSetScale(xxx1, 1.0f, 2.0f, 1.0f);
//dMatrix m (dPitchMatrix(45.0f * 3.141692f / 180.0f) * dYawMatrix(40.0f * 3.141692f / 180.0f) * dRollMatrix(70.0f * 3.141692f / 180.0f));
dMatrix m (dPitchMatrix(0.0f * 3.141692f / 180.0f) * dYawMatrix(0.0f * 3.141692f / 180.0f) * dRollMatrix(0.0f * 3.141692f / 180.0f));
dVector gravity (0.0f, 0.0f, -9.8f, 0.0f);
dVector cog0 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass0;
dVector torquePerUnitMass0;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx0, &m[0][0], &cog0[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass0[0], &torquePerUnitMass0[0]);
dVector cog1 (0.0f, 0.0f, 0.0f, 0.0f);
dVector accelPerUnitMass1;
dVector torquePerUnitMass1;
NewtonConvexCollisionCalculateBuoyancyAcceleration (xxx1, &m[0][0], &cog1[0], &gravity[0], &plane[0], 1.0f, 0.1f, &accelPerUnitMass1[0], &torquePerUnitMass1[0]);
*/
int count = 5;
dVector size (1.0f, 0.25f, 0.5f);
dVector location (10.0f, 0.0f, 0.0f, 0.0f);
dMatrix shapeOffsetMatrix (dGetIdentityMatrix());
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _SPHERE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _BOX_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CAPSULE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _CHAMFER_CYLINDER_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _REGULAR_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _COMPOUND_CONVEX_CRUZ_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
/*
for (NewtonBody* bodyPtr = NewtonWorldGetFirstBody(scene->GetNewton()); bodyPtr; bodyPtr = NewtonWorldGetNextBody(scene->GetNewton(), bodyPtr)) {
NewtonCollision* collision = NewtonBodyGetCollision(bodyPtr);
if (NewtonCollisionGetType(collision) == SERIALIZE_ID_COMPOUND) {
NewtonCollisionSetScale (collision, 0.5f, 0.5f, 0.5f);
}
}
*/
// AddPrimitiveArray(scene, 10.0f, location, size, count, count, 5.0f, _RANDOM_CONVEX_HULL_PRIMITIVE, defaultMaterialID, shapeOffsetMatrix);
}
void PrecessingTops (DemoEntityManager* const scene)
{
scene->CreateSkyBox();
// customize the scene after loading
// set a user friction variable in the body for variable friction demos
// later this will be done using LUA script
dMatrix offsetMatrix (dGetIdentityMatrix());
CreateLevelMesh (scene, "flatPlane.ngd", 1);
dVector location (0.0f, 0.0f, 0.0f, 0.0f);
dVector size (3.0f, 2.0f, 0.0f, 0.0f);
// create an array of cones
const int count = 10;
// all shapes use the x axis as the axis of symmetry, to make an upright cone we apply a 90 degree rotation local matrix
dMatrix shapeOffsetMatrix (dRollMatrix(-3.141592f/2.0f));
AddPrimitiveArray(scene, 50.0f, location, size, count, count, 5.0f, _CONE_PRIMITIVE, 0, shapeOffsetMatrix);
// till the cont 30 degrees, and apply a local high angular velocity
dMatrix matrix (dRollMatrix (-25.0f * 3.141592f / 180.0f));
dVector omega (0.0f, 50.0f, 0.0f);
omega = matrix.RotateVector (omega);
dVector damp (0.0f, 0.0f, 0.0f, 0.0f);
int topscount = 0;
NewtonBody* array[count * count];
NewtonWorld* const world = scene->GetNewton();
for (NewtonBody* body = NewtonWorldGetFirstBody(world); body; body = NewtonWorldGetNextBody(world, body)) {
NewtonCollision* const collision = NewtonBodyGetCollision(body);
dVector com;
if (NewtonCollisionGetType (collision) == SERIALIZE_ID_CONE) {
array[topscount] = body;
topscount ++;
}
}
for (int i = 0; i < topscount ; i ++) {
dMatrix bodyMatrix;
NewtonBody* const body = array[i];
NewtonBodyGetMatrix(body, &bodyMatrix[0][0]);
matrix.m_posit = bodyMatrix.m_posit;
matrix.m_posit.m_y += 1.0f;
NewtonBodySetMatrix(body, &matrix[0][0]);
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dFloat mass;
NewtonBodyGetMassMatrix(body, &mass, &Ixx, &Iyy, &Izz);
NewtonBodySetMassMatrix(body, mass, Ixx, Iyy * 8.0f, Izz);
NewtonBodySetOmega (body, &omega[0]);
NewtonBodySetAutoSleep (body, 0);
NewtonBodySetLinearDamping(body, 0.0f);
NewtonBodySetAngularDamping (body, &damp[0]);
}
// place camera into position
dMatrix camMatrix (dGetIdentityMatrix());
dQuaternion rot (camMatrix);
dVector origin (-40.0f, 5.0f, 0.0f, 0.0f);
scene->SetCameraMatrix(rot, origin);
}