void RigidBodyWorld::UpdatePhysics ()
{
RigidBodyWorldDesc* const desc = (RigidBodyWorldDesc*) RigidBodyWorldDesc::GetDescriptor();
float timestep = 1.0f / desc->m_minFps;
if (timestep > 1.0f / 60.0f) {
timestep = 1.0f / 60.0f;
}
desc->m_updateRigidBodyMatrix = false;
NewtonUpdate(desc->m_newton, timestep);
TimeValue t (GetCOREInterface()->GetTime());
float scale = 1.0f / float (GetMasterScale(UNITS_METERS));
for (NewtonBody* body = NewtonWorldGetFirstBody(desc->m_newton); body; body = NewtonWorldGetNextBody(desc->m_newton, body)) {
dMatrix matrix;
INode* const node = (INode*)NewtonBodyGetUserData(body);
NewtonBodyGetMatrix(body, &matrix[0][0]);
matrix = desc->m_systemMatrix * matrix * desc->m_systemMatrixInv;
matrix.m_posit = matrix.m_posit.Scale (scale);
Matrix3 maxMatrix (GetMatrixFromdMatrix (matrix));
node->SetNodeTM(t, maxMatrix);
}
UpdateViewPorts ();
desc->m_updateRigidBodyMatrix = true;
}
void Import::LoadNode (dScene& scene, INode* maxParent, dScene::dTreeNode* node, const GeometryCache& meshCache, Mtl *mtl, MaxNodeChache& maxNodeCache)
{
dScene::dTreeNode* geometryNode = NULL;
for (void* ptr = scene.GetFirstChild(node); ptr; ptr = scene.GetNextChild(node, ptr) ) {
dScene::dTreeNode* node = scene.GetNodeFromLink(ptr);
dNodeInfo* info = scene.GetInfoFromNode(node);
if (info->IsType(dGeometryNodeInfo::GetRttiType())) {
geometryNode = node;
break;
}
}
INode* maxNode = NULL;
if (geometryNode) {
// maxNode = CreateMaxMeshNode (mtl, &geom[0]->GetInfo(), meshCache);
maxNode = CreateMaxMeshNode (scene, mtl, geometryNode, meshCache);
maxNodeCache.Insert (maxNode, geometryNode);
} else {
maxNode = CreateMaxHelperNode ();
}
_ASSERTE (maxNode);
maxNodeCache.Insert (maxNode, node);
if (maxParent) {
maxParent->AttachChild(maxNode, 1);
}
dSceneNodeInfo* sceneInfo = (dSceneNodeInfo*)scene.GetInfoFromNode(node);
TCHAR name[128];
TCHAR tmp[128];
strcpy (tmp, sceneInfo->GetName());
for (int i = 0; tmp[i]; i ++) {
if (isspace(tmp[i])) {
tmp[i] = '_';
}
}
strcpy (name, tmp);
for (int i = 1; m_ip->GetINodeByName(name); i ++) {
sprintf (name, "%s_%02d", tmp, i);
// node->SetNameID(name);
}
maxNode->SetName(name);
dMatrix transform (sceneInfo->GetTransform());
dMatrix matrix;
for (int i = 0; i < 4; i ++) {
for (int j = 0; j < 4; j ++) {
matrix[i][j] = transform[i][j];
}
}
Matrix3 maxMatrix (GetMatrixFromdMatrix (matrix));
// maxMatrix.SetRow (0, *((Point3*) &matrix[0]));
// maxMatrix.SetRow (1, *((Point3*) &matrix[1]));
// maxMatrix.SetRow (2, *((Point3*) &matrix[2]));
// maxMatrix.SetRow (3, *((Point3*) &matrix[3]));
maxNode->SetNodeTM(0, maxMatrix);
for (void* ptr = scene.GetFirstChild(node); ptr; ptr = scene.GetNextChild(node, ptr) ) {
dScene::dTreeNode* node = scene.GetNodeFromLink(ptr);
dNodeInfo* info = scene.GetInfoFromNode(node);
if (info->IsType(dSceneNodeInfo::GetRttiType())) {
LoadNode (scene, maxNode, node, meshCache, mtl, maxNodeCache);
}
}
}
