void dVehicleChassis::Init(NewtonCollision* const chassisShape, dFloat mass, const dMatrix& localFrame, NewtonApplyForceAndTorque forceAndTorque, dFloat gravityMag)
{
dVehicleManager* const manager = (dVehicleManager*)GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a body and call the low level init function
dMatrix locationMatrix(dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(world, chassisShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties(body, mass, chassisShape);
// initialize
Init(body, localFrame, forceAndTorque, gravityMag);
}
void CustomVehicleController::Init (NewtonCollision* const chassisShape, const dMatrix& vehicleFrame, dFloat mass, const dVector& gravityVector)
{
CustomVehicleControllerManager* const manager = (CustomVehicleControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a body and an call the low level init function
dMatrix locationMatrix (dGetIdentityMatrix());
NewtonBody* const body = NewtonCreateDynamicBody(world, chassisShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties (body, mass, chassisShape);
// initialize
Init (body, vehicleFrame, gravityVector);
}
void CustomPlayerController::Init(dFloat mass, dFloat outerRadius, dFloat innerRadius, dFloat height, dFloat stairStep, const dMatrix& localAxis)
{
dAssert (stairStep >= 0.0f);
dAssert (innerRadius >= 0.0f);
dAssert (outerRadius >= innerRadius);
dAssert (height >= stairStep);
dAssert (localAxis[0].m_w == dFloat (0.0f));
dAssert (localAxis[1].m_w == dFloat (0.0f));
CustomPlayerControllerManager* const manager = (CustomPlayerControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
SetRestrainingDistance (0.0f);
m_outerRadio = outerRadius;
m_innerRadio = innerRadius;
m_height = height;
m_stairStep = stairStep;
SetClimbSlope(45.0f * 3.1416f/ 180.0f);
m_upVector = localAxis[0];
m_frontVector = localAxis[1];
m_groundPlane = dVector (0.0f, 0.0f, 0.0f, 0.0f);
m_groundVelocity = dVector (0.0f, 0.0f, 0.0f, 0.0f);
const int steps = 12;
dVector convexPoints[2][steps];
// create an inner thin cylinder
dFloat shapeHigh = height;
dAssert (shapeHigh > 0.0f);
dVector p0 (0.0f, m_innerRadio, 0.0f, 0.0f);
dVector p1 (shapeHigh, m_innerRadio, 0.0f, 0.0f);
for (int i = 0; i < steps; i ++) {
dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps));
convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(p0));
convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(p1));
}
NewtonCollision* const supportShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL);
// create the outer thick cylinder
dMatrix outerShapeMatrix (localAxis);
dFloat capsuleHigh = m_height - stairStep;
dAssert (capsuleHigh > 0.0f);
m_sphereCastOrigin = capsuleHigh * 0.5f + stairStep;
outerShapeMatrix.m_posit = outerShapeMatrix[0].Scale(m_sphereCastOrigin);
outerShapeMatrix.m_posit.m_w = 1.0f;
NewtonCollision* const bodyCapsule = NewtonCreateCapsule(world, 0.25f, 0.5f, 0, &outerShapeMatrix[0][0]);
NewtonCollisionSetScale(bodyCapsule, capsuleHigh, m_outerRadio * 4.0f, m_outerRadio * 4.0f);
// compound collision player controller
NewtonCollision* const playerShape = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(playerShape);
NewtonCompoundCollisionAddSubCollision (playerShape, supportShape);
NewtonCompoundCollisionAddSubCollision (playerShape, bodyCapsule);
NewtonCompoundCollisionEndAddRemove (playerShape);
// create the kinematic body
dMatrix locationMatrix (dGetIdentityMatrix());
m_body = NewtonCreateKinematicBody(world, playerShape, &locationMatrix[0][0]);
// players must have weight, otherwise they are infinitely strong when they collide
NewtonCollision* const shape = NewtonBodyGetCollision(m_body);
NewtonBodySetMassProperties(m_body, mass, shape);
// make the body collidable with other dynamics bodies, by default
NewtonBodySetCollidable (m_body, true);
dFloat castHigh = capsuleHigh * 0.4f;
dFloat castRadio = (m_innerRadio * 0.5f > 0.05f) ? m_innerRadio * 0.5f : 0.05f;
dVector q0 (0.0f, castRadio, 0.0f, 0.0f);
dVector q1 (castHigh, castRadio, 0.0f, 0.0f);
for (int i = 0; i < steps; i ++) {
dMatrix rotation (dPitchMatrix (i * 2.0f * 3.141592f / steps));
convexPoints[0][i] = localAxis.RotateVector(rotation.RotateVector(q0));
convexPoints[1][i] = localAxis.RotateVector(rotation.RotateVector(q1));
}
m_castingShape = NewtonCreateConvexHull(world, steps * 2, &convexPoints[0][0].m_x, sizeof (dVector), 0.0f, 0, NULL);
m_supportShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 0));
m_upperBodyShape = NewtonCompoundCollisionGetCollisionFromNode (shape, NewtonCompoundCollisionGetNodeByIndex (shape, 1));
NewtonDestroyCollision (bodyCapsule);
NewtonDestroyCollision (supportShape);
NewtonDestroyCollision (playerShape);
m_isJumping = false;
}
void CustomVehicleController::Init (NewtonCollision* const chassisShape, const dMatrix& vehicleFrame, dFloat mass, const dVector& gravityVector)
{
m_finalized = false;
m_externalContactStatesCount = 0;
m_sleepCounter = VEHICLE_SLEEP_COUNTER;
m_freeContactList = m_externalContactStatesPoll.GetFirst();
CustomVehicleControllerManager* const manager = (CustomVehicleControllerManager*) GetManager();
NewtonWorld* const world = manager->GetWorld();
// create a compound collision
NewtonCollision* const vehShape = NewtonCreateCompoundCollision(world, 0);
NewtonCompoundCollisionBeginAddRemove(vehShape);
// if the shape is a compound collision ass all the pieces one at a time
int shapeType = NewtonCollisionGetType (chassisShape);
if (shapeType == SERIALIZE_ID_COMPOUND) {
for (void* node = NewtonCompoundCollisionGetFirstNode(chassisShape); node; node = NewtonCompoundCollisionGetNextNode (chassisShape, node)) {
NewtonCollision* const subCollision = NewtonCompoundCollisionGetCollisionFromNode(chassisShape, node);
NewtonCompoundCollisionAddSubCollision (vehShape, subCollision);
}
} else {
dAssert ((shapeType == SERIALIZE_ID_CONVEXHULL) || (shapeType == SERIALIZE_ID_BOX));
NewtonCompoundCollisionAddSubCollision (vehShape, chassisShape);
}
NewtonCompoundCollisionEndAddRemove (vehShape);
// create the rigid body for this vehicle
dMatrix locationMatrix (dGetIdentityMatrix());
m_body = NewtonCreateDynamicBody(world, vehShape, &locationMatrix[0][0]);
// set vehicle mass, inertia and center of mass
NewtonBodySetMassProperties (m_body, mass, vehShape);
// set linear and angular drag to zero
dVector drag(0.0f, 0.0f, 0.0f, 0.0f);
NewtonBodySetLinearDamping(m_body, 0);
NewtonBodySetAngularDamping(m_body, &drag[0]);
// destroy the collision help shape
NewtonDestroyCollision (vehShape);
// initialize vehicle internal components
NewtonBodyGetCentreOfMass (m_body, &m_chassisState.m_com[0]);
m_chassisState.m_comOffset = dVector (0.0f, 0.0f, 0.0f, 0.0f);
m_chassisState.m_gravity = gravityVector;
m_chassisState.m_gravityMag = dSqrt (gravityVector % gravityVector);
m_chassisState.Init(this, vehicleFrame);
// m_stateList.Append(&m_staticWorld);
m_stateList.Append(&m_chassisState);
// create the normalized size tire shape
m_tireCastShape = NewtonCreateChamferCylinder(world, 0.5f, 1.0f, 0, NULL);
// initialize all components to empty
m_engine = NULL;
m_brakes = NULL;
m_steering = NULL;
m_handBrakes = NULL;
SetDryRollingFrictionTorque (100.0f/4.0f);
SetAerodynamicsDownforceCoefficient (0.5f * dSqrt (gravityVector % gravityVector), 60.0f * 0.447f);
}
