static void MagneticField (const NewtonJoint* contactJoint, dFloat timestep, int threadIndex)
{
dFloat magnetStregnth;
const NewtonBody* body0;
const NewtonBody* body1;
const NewtonBody* magneticField;
const NewtonBody* magneticPiece;
body0 = NewtonJointGetBody0 (contactJoint);
body1 = NewtonJointGetBody1 (contactJoint);
// get the magnetic field body
magneticPiece = body0;
magneticField = body1;
if (NewtonCollisionIsTriggerVolume (NewtonBodyGetCollision(body0))) {
magneticPiece = body1;
magneticField = body0;
}
_ASSERTE (NewtonCollisionIsTriggerVolume (NewtonBodyGetCollision(magneticField)));
// calculate the magnetic force field
dMatrix center;
dMatrix location;
NewtonBodyGetMatrix (magneticField, ¢er[0][0]);
NewtonBodyGetMatrix (magneticPiece, &location[0][0]);
Magnet* magnet;
magnet = (Magnet*)NewtonBodyGetUserData(magneticField);
magnetStregnth = magnet->m_magnetStregnth;
// calculate the magnetic force;
dFloat den;
dVector force (center.m_posit - location.m_posit);
den = force % force;
den = magnetStregnth / (den * dSqrt (den) + 0.1f);
force = force.Scale (den);
// because we are modifiing one of the bodies membber in the call back, there uis a chace that
// another materail can be operations on the same object at the same time of aother thread
// therfore we need to make the assigmnet in a critical section.
NewtonWorldCriticalSectionLock (NewtonBodyGetWorld (magneticPiece));
// add the magner force
NewtonBodyAddForce (magneticPiece, &force[0]);
force = force.Scale (-1.0f);
NewtonBodyAddForce (magnet->m_magneticCore, &force[0]);
// also if the body is sleeping fore it to wake up for this frame
NewtonBodySetFreezeState (magneticPiece, 0);
NewtonBodySetFreezeState (magnet->m_magneticCore, 0);
// unlock the critical section
NewtonWorldCriticalSectionUnlock (NewtonBodyGetWorld (magneticPiece));
}
NewtonBody* Body::create(NewtonCollision* collision, float mass, int freezeState, const Vec4f& damping)
{
Vec4f minBox, maxBox;
Vec4f origin, inertia;
m_body = NewtonCreateBody(newton::world, collision, this->m_matrix[0]);
NewtonBodySetUserData(m_body, this);
NewtonBodySetMatrix(m_body, this->m_matrix[0]);
NewtonConvexCollisionCalculateInertialMatrix(collision, &inertia[0], &origin[0]);
if (mass < 0.0f)
mass = NewtonConvexCollisionCalculateVolume(collision) * 0.5f;
if (mass != 0.0f)
NewtonBodySetMassMatrix(m_body, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
NewtonBodySetCentreOfMass(m_body, &origin[0]);
NewtonBodySetForceAndTorqueCallback(m_body, Body::__applyForceAndTorqueCallback);
NewtonBodySetTransformCallback(m_body, Body::__setTransformCallback);
NewtonBodySetDestructorCallback(m_body, Body::__destroyBodyCallback);
NewtonBodySetFreezeState(m_body, freezeState);
NewtonBodySetLinearDamping(m_body, damping.w);
NewtonBodySetAngularDamping(m_body, &damping[0]);
return m_body;
}
void GetConnectedBodiesByJoints (NewtonBody* const body)
{
for (NewtonJoint* joint = NewtonBodyGetFirstJoint(body); joint; joint = NewtonBodyGetNextJoint(body, joint)) {
CustomJoint* const customJoint = (CustomJoint*) NewtonJointGetUserData(joint);
NewtonBody* const body0 = customJoint->GetBody0();
NewtonBody* const body1 = customJoint->GetBody1();
NewtonBody* const otherBody = (body0 == body) ? body1 : body0;
// do whatever you need to do here
NewtonBodySetFreezeState (otherBody, 0);
}
}
void makeFence(Level* level, const NewtonWorld* newtonWorld)
{
return;
CollisionSet fencePartsCollisions;
fencePartsCollisions.insert(level->getCollision("fence"));
//fencePartsCollisions.insert(level->getCollision("fenceClip1"));
//fencePartsCollisions.insert(level->getCollision("fenceClip2"));
fencePartsCollisions.insert(level->getCollision("fenceTop"));
Collision* heightMap = level->getCollision("level");
for (size_t fencesVectorIdx = 0; fencesVectorIdx < level->m_fences.size(); fencesVectorIdx++)
{
const vector<Vector>& fence = level->m_fences[fencesVectorIdx];
for (size_t i = 0; i < fence.size() - 1; i++)
{
const Vector startPoint = fence[i];
const Vector endPoint = fence[i + 1];
Vector delta(endPoint - startPoint);
const Vector rotation(0, - delta.getRotationY(), 0);
float howMany = delta.magnitude() / fenceSpacing;
delta /= howMany;
for (int j = 0; j < howMany; j++)
{
const string bodyID = "fence" + cast<string>(fencesVectorIdx) + "_" + cast<string>(i) + "_" + cast<string>(j);
Body* body = new Body(bodyID, level, fencePartsCollisions);
body->m_soundable = true;
Vector position = Vector(startPoint + delta * static_cast<float>(j));
position.y = fenceHeight / 2 + heightMap->getHeight(position.x, position.z) + 0.05f;
body->setTransform(position, rotation);
NewtonBodySetAutoSleep(body->m_newtonBody, 1);
NewtonBodySetFreezeState(body->m_newtonBody, 1);
//NewtonBodySetMassMatrix(body->m_newtonBody, 0, 0, 0, 0);
level->m_bodies[bodyID] = body;
}
}
}
}
static void PhysicsApplyPickForce (const NewtonBody* body, dFloat timestep, int threadIndex)
{
dFloat mass;
dFloat Ixx;
dFloat Iyy;
dFloat Izz;
dVector com;
dVector veloc;
dVector omega;
dMatrix matrix;
// apply the thew body forces
if (chainForceCallback) {
chainForceCallback (body, timestep, threadIndex);
}
// add the mouse pick penalty force and torque
NewtonBodyGetVelocity(body, &veloc[0]);
NewtonBodyGetOmega(body, &omega[0]);
NewtonBodyGetVelocity(body, &veloc[0]);
NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
dVector force (pickedForce.Scale (mass * MOUSE_PICK_STIFFNESS));
dVector dampForce (veloc.Scale (MOUSE_PICK_DAMP * mass));
force -= dampForce;
NewtonBodyGetMatrix(body, &matrix[0][0]);
NewtonBodyGetCentreOfMass (body, &com[0]);
// calculate local point relative to center of mass
dVector point (matrix.RotateVector (attachmentPoint - com));
dVector torque (point * force);
dVector torqueDamp (omega.Scale (mass * 0.1f));
NewtonBodyAddForce (body, &force.m_x);
NewtonBodyAddTorque (body, &torque.m_x);
// make sure the body is unfrozen, if it is picked
NewtonBodySetFreezeState (body, 0);
}
void cPhysicsBodyNewton::SetEnabled(bool a_bEnabled)
{
NewtonBodySetFreezeState(m_pNewtonBody, !a_bEnabled);
}
void cPhysicsBodyNewton::SetEnabled(bool abEnabled)
{
NewtonBodySetFreezeState(mpNewtonBody, abEnabled ? 1 : 0);
}
