Irrlicht and Newton

BlitzMax Forums/BlitzMax Programming/Irrlicht and Newton

Haramanai
 #1
Ok the second tutorial its almost ready.
Here is the code.
Strict

Framework PUB.Newton
Import GG.IrrBMax
Import BRL.PNGLoader


Local device:T_irrIrrlichtDevice = T_irrIrrlichtDevice.create(EDT_OPENGL , T_irrDimension2d_s32.create(640 , 480) , 16 , False , False , False , 0)
Global driver:T_irrIVideoDriver = device.getVideoDriver()
Global smgr:T_IrrISceneManager = device.getSceneManager() 
'Local Tex:T_irrITexture = driver.getTexture("brlLogo.png")

Local camera:T_irrICameraSceneNode = smgr.addCameraSceneNodeFPS()
camera.setPosition(T_irrVector3df.createFromVals(-20,0,0))
camera.setRotation(T_irrVector3df.createFromVals(0 , 90 , 0))



Global nWorld:Byte Ptr = newtonCreate(PhysicsAlloc , PhysicsFree)


initScene()
Local Timer:Int = MilliSecs()
While (device.run())
	Timer:+MilliSecs()
	newtonUpdate(nWorld , Timer)
	Timer = MilliSecs()
	'NewtonBodyGetMatrix(box , Varptr Mat[0])
	'T_irrSetMatrix(node , Mat)

	driver.beginScene(True , True , T_irrSColor.createFromVals(0,200 , 200 , 200))

	smgr.drawAll()
	
	driver.endScene()
	FlushMem
Wend



Rem '''''''''''''''''''''''''''''''''''/////////////////////////////////////   The Convertion Matrix Functions
		T_irrGetMatrix is the function to get the matrix from the Irrlecht SceneNode And pass it
	to an array to be used by Newton.
		T_irrSetMatrix is the function to pass the Matrix from Newton to the Irrlicht SceneNode
EndRem

Function T_irrGetMatrix(NSceneNode:T_irrISceneNode , NewtonMat:Float Ptr)
	Local Euler:Float[3]
	Euler[0] = NSceneNode.getRotation().getX() * (Pi / 180.0)
	Euler[1] = NSceneNode.getRotation().getY() * (Pi / 180.0)
	Euler[2] = NSceneNode.getRotation().getZ() * (Pi / 180.0)
	NewtonSetEulerAngle(Varptr Euler[0] , Varptr newtonMat[0])
	Newtonmat[12] = NSceneNode.getPosition().getX()
	newtonMat[13] = NSceneNode.getPosition().getY()
	NewtonMat[14] = NSceneNode.getPosition().getZ()	
End Function

Function T_irrSetMatrix(NSceneNode:T_irrISceneNode , NewtonMat:Float Ptr)
	Local Euler:Float[3]
	NewtonGetEulerAngle(Varptr NewtonMat[0] , Varptr Euler[0])
	NSceneNode.setPosition(T_irrVector3df.createFromVals(NewtonMat[12] , NewtonMat[13] , NewtonMat[14]))
	NSceneNode.setRotation(T_irrVector3df.createfromVals(Euler[0] * (180 / Pi) , Euler[1] * (180 / Pi) , Euler[2] * (180 / Pi)))

End Function

Rem 
					THE FUNCTIONS FROM TUTORIAL 2
End Rem

Function	PhysicsAlloc:Byte Ptr(sizeInBytes:Int)
	Return MemAlloc(sizeInBytes)
End Function

Function    PhysicsFree( memptr:Byte Ptr, sizeInBytes:Int)
	MemFree (memptr, sizeInBytes)
End Function

' set the tranformation of a rigid body
Function  PhysicsApplyForceAndTorque (Body:Byte Ptr)
	Local mass:Float
	Local Ixx:Float
	Local Iyy:Float
	Local Izz:Float

	NewtonBodyGetMassMatrix (body,Varptr mass, Varptr Ixx, Varptr Iyy, Varptr Izz);
	Local force:Float[] =  [0.0, -10.0 , 0.0]
	NewtonBodySetForce (body, Varptr force[0])
End Function

Function  PhysicsSetTransform (body:Byte Ptr, NewtonMat:Float Ptr)
	Local primitive:T_irrISceneNode Ptr
	'// get the graphic Object form the rigid body
	primitive = T_irrISceneNode Ptr(newtonBodyGetUserData(body))
	
	'// set the transformation matrix For this rigid body
	newtonBodyGetMatrix(body , Varptr NewtonMat[0])
	T_irrSetMatrix(Var Primitive , Varptr NewtonMat[0])
	

End Function

Function PhysicsBodyDestructor(body:Byte Ptr)
	Local primitive:T_irrISceneNode

	'// get the graphic Object form the rigid body
	primitive = Var T_irrISceneNode Ptr (newtonBodyGetUserData(body))

	'// destroy the graphic Object
	primitive.remove()
	
End Function

Function CleanUp ()

	'// destroy the Newton world
	NewtonDestroy (nWorld);
	
End Function

Function InitScene()
	Global Texture:T_irrITexture = Driver.getTexture("brllogo.png") 
	Global box:T_irrISceneNode
	Global IFloor:T_irrISceneNode
	Global boxBody:Byte Ptr
	Global floorBody:Byte Ptr
	Global collision:Byte Ptr
	Global Mat:Float[16]
	'// create the newton world

	
	'// set the linear solver model For faster speed 
	NewtonSetSolverModel(nWorld, 8)

	'// set the adpative friction model For faster speed 
	NewtonSetFrictionModel(nWorld, 1)
	
	'// Set the termination Function
	'atexit(CleanUp);   '//// I Haven't Found The Apropriaty Function for Irrlicht
	
	'// create the the Floor graphic objects
	IFloor = smgr.addTestSceneNode(100 )
	IFloor.setPosition(T_irrVector3df.createFromVals(0,-100 , 0))
	collision = newtonCreateBox(nWorld , 100.0 , 100.0 , 100.0 , Null)
	FloorBody = newtonCreateBody(nWorld , collision)
	
	'// set the transformation For this rigid body
	T_irrGetMatrix(IFloor ,Varptr Mat[0])
	NewtonBodySetMatrix(floorBody,Varptr Mat[0])
	
	'// save the pointer To the graphic Object with the body.
	NewtonBodySetUserData(floorBody,Varptr IFloor)
	
	'// set a destrutor For this rigid body
	NewtonBodySetDestructorCallback(floorBody, PhysicsBodyDestructor);
	
	'// set the initial size
	'size = dVector(0.5f, 0.5f, 0.5f);    Not really nesesery(I think so)

	'// create the collision 
	collision = NewtonCreateBox(nWorld, 0.5 , 0.5, 0.5 , Null) 
	Local location:Float[] = [0.0 , 0.0 , 0.0]
	location[0] = -10.0   'FOR  X
	For Local k:Int = 0 To 9
		location[2] = 0.0	'For Z
		For Local J:Int = 0 To 9
			location[1] = 2.0	'For Y
			For Local i:Int = 0  To 9
				
				box = smgr.addTestSceneNode(0.5)
				box.SetMaterialTexture(0 , Texture)
				box.setPosition(T_irrVector3df.createFromVals(location[0] ,location[1] , location[2]))
				boxBody = newtonCreateBody(nWorld , collision)				
				newtonBodySetUserData(boxBody , Varptr box)		

				'// set a destrutor For this rigid body
				NewtonBodySetDestructorCallback(boxBody, PhysicsBodyDestructor)

				'// set the tranform call back Function
				NewtonBodySetTransformCallback(boxBody, PhysicsSetTransform)

				'// set the force And torque call back funtion
				NewtonBodySetForceAndTorqueCallback(boxBody, PhysicsApplyForceAndTorque)

				'// set the mass matrix
				'//NewtonBodySetMassMatrix (boxBody, 1.0f, 1.0f / 6.0f, 1.0f / 6.0f, 1.0f  / 6.0f);
				NewtonBodySetMassMatrix(boxBody, 1.0, 1.0, 1.0, 1.0)				

				'// set the matrix For tboth the rigid nody And the graphic body
				T_irrGetMatrix(box , Varptr Mat[0])
				NewtonBodySetMatrix(boxBody,Varptr Mat[0])
				PhysicsSetTransform(boxBody, Varptr Mat[0])

				Location[1] :+ 0.5 * 2.0
			Next
			Location[2] :- 0.5 * 4.0 	
		Next
		location[0] :- 0.5 * 4.0 
	Next

	'// Release the collsion geometry when Not need it
	NewtonReleaseCollision(nWorld, collision)
end function


the proble that i have here and not working the tutorial right is that collisions are not working if not all Irrlicht Nodes have inique names.
plus the pointer PhysicsSetTransform function if the nodes have the same name(like the cubes in the tutorial) allways call the last added node.

If someone finds out what going wrong pls say.