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