Ok here is the working Tutorial two with some changes so it will be more visual and with the forgoten line for collision.
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(-19,-49,-30)) camera.setRotation(T_irrVector3df.createFromVals(0 , 0 , 0)) Local light:T_irrILightSceneNode = smgr.addLightSceneNode( 0 , T_irrVector3df.createfromVals(-20 , -40 , -30) , 100) Global nWorld:Byte Ptr = newtonCreate(PhysicsAlloc , PhysicsFree) initScene() Local Timer:Int = MilliSecs() While (device.run()) Timer:+MilliSecs() newtonUpdate(nWorld , 0.001) 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, -mass * 9.8 , 0.0] ' GG: messed with the mass multiplier to make it look like the tutorial. have no idea why this is different. Local force:Float[] = [0.0, -mass * 410 , 0.0] NewtonBodySetForce (body, Varptr force[0]) End Function Function PhysicsSetTransform (body:Byte Ptr, NewtonMat:Float Ptr) Local primitive:T_irrISceneNode '// get the graphic Object form the rigid body ' GG: changed to recreate the scenenode based on the C++ object handle primitive = T_irrISceneNode.CreateFromHandle(Int(newtonBodyGetUserData(body)),False) '// set the transformation matrix For this rigid body newtonBodyGetMatrix(body , Varptr NewtonMat[0]) T_irrSetMatrix(Primitive , Varptr NewtonMat[0]) End Function Function PhysicsBodyDestructor(body:Byte Ptr) Local primitive:T_irrISceneNode '// get the graphic Object form the rigid body ' GG: changed to recreate the scenenode based on the C++ object handle primitive = T_irrISceneNode.CreateFromHandle(Int(newtonBodyGetUserData(body)),False) '// 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("doc/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.setMaterialFlag(EMF_LIGHTING,True) IFloor.setMaterialTexture(0 , texture) 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. ' GG: changed to store the scenenode C++ object handle instead of a reference to the BMAX object with falls out of scope NewtonBodySetUserData(floorBody,Byte Ptr(IFloor.handle)) '// 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 newtonReleaseCollision(nWorld , 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.setMaterialFlag(EMF_LIGHTING,True) box.SetMaterialTexture(0 , Texture) box.setPosition(T_irrVector3df.createFromVals(location[0] ,location[1] , location[2])) boxBody = newtonCreateBody(nWorld , collision) ' GG: changed to store the scenenode C++ object handle instead of a reference to the BMAX object with falls out of scope newtonBodySetUserData(boxBody ,Byte Ptr(box.handle)) '// 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) EndFunction