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");
}
示例#5
0
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);
}
示例#7
0
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);
}

}
示例#8
0
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);
}
示例#11
0
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();
}
示例#13
0
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);
}

}
示例#15
0
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
}
示例#16
0
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);
}
示例#17
0
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);

}
示例#19
0
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);
}
示例#24
0
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);
}