public void Test1()
{
m_NewtonContactBegin = new Newton.NewtonContactBegin(InvokeContactBegin);
}
public void SetCollisionCallback(CMaterial pId0, CMaterial pId1, CMaterialPhysicsSpecialEffect pSpecialEffect, EventHandler<CContactBeginEventArgs> pContactBegin, EventHandler<CContactProcessEventArgs> pContactProcess, EventHandler<CContactEndEventArgs> pContactEnd)
{
IntPtr aKey = IntPtr.Zero;
if (pSpecialEffect != null)
{
aKey = (IntPtr)pSpecialEffect.GetHashCode();
CHashTables.MaterialsUserData.Add(aKey, pSpecialEffect);
}
// Takes in a delegate, stores it, but then hooks
m_ContactBegin = pContactBegin;
m_NewtonContactBegin = new Newton.NewtonContactBegin(InvokeContactBegin);
m_ContactProcess = pContactProcess;
m_NewtonContactProcess = new Newton.NewtonContactProcess(InvokeContactProcess);
m_ContactEnd = pContactEnd;
m_NewtonContactEnd = new Newton.NewtonContactEnd(InvokeContactEnd);
Newton.NewtonMaterialSetCollisionCallback(m_World.Handle, pId0.ID, pId1.ID, aKey, m_NewtonContactBegin, m_NewtonContactProcess, m_NewtonContactEnd);
}
public void SetCollisionCallback(CMaterial pId0, CMaterial pId1, CMaterialPhysicsSpecialEffect pSpecialEffect, EventHandler <CContactBeginEventArgs> pContactBegin, EventHandler <CContactProcessEventArgs> pContactProcess, EventHandler <CContactEndEventArgs> pContactEnd)
{
IntPtr aKey = IntPtr.Zero;
if (pSpecialEffect != null)
{
aKey = (IntPtr)pSpecialEffect.GetHashCode();
CHashTables.MaterialsUserData.Add(aKey, pSpecialEffect);
}
// Takes in a delegate, stores it, but then hooks
m_ContactBegin = pContactBegin;
m_NewtonContactBegin = new Newton.NewtonContactBegin(InvokeContactBegin);
m_ContactProcess = pContactProcess;
m_NewtonContactProcess = new Newton.NewtonContactProcess(InvokeContactProcess);
m_ContactEnd = pContactEnd;
m_NewtonContactEnd = new Newton.NewtonContactEnd(InvokeContactEnd);
Newton.NewtonMaterialSetCollisionCallback(m_World.Handle, pId0.ID, pId1.ID, aKey, m_NewtonContactBegin, m_NewtonContactProcess, m_NewtonContactEnd);
}
/// <summary>
/// Creates an instance of the Newton physics simulation engine.
/// </summary>
public NewtonPhysics()
{
gravity = 9.8f;
gravityDir = Vector3Helper.Get(0, -1, 0);
useBoundingBox = false;
worldSize = new BoundingBox(Vector3.One * -100, Vector3.One * 100);
objectIDs = new Dictionary<IPhysicsObject, IntPtr>();
scaleTable = new Dictionary<IntPtr, Vector3>();
reverseIDs = new Dictionary<IntPtr, IPhysicsObject>();
collisionCallbacks = new Dictionary<CollisionPair, CollisionCallback>();
materialIDs = new Dictionary<String, int>();
materialPairs = new List<string>();
materials = new Dictionary<IntPtr, NewtonMaterial>();
joints = new Dictionary<IntPtr, Joint>();
jointsToBeAdded = new List<Joint>();
pickedObjects = new List<PickedObject>();
forces = new Dictionary<IntPtr, Stack<Vector3>>();
torques = new Dictionary<IntPtr, Stack<Vector3>>();
setTransformMap = new Dictionary<IPhysicsObject,Newton.NewtonSetTransform>();
applyForceMap = new Dictionary<IPhysicsObject,Newton.NewtonApplyForceAndTorque>();
treeCollisionMap = new Dictionary<IPhysicsObject,Newton.NewtonTreeCollision>();
collisionMesh = new List<List<Vector3>>();
numSubSteps = 1;
pauseSimulation = false;
simulationTimeStep = 0.016f;
transformCallback = delegate(IntPtr body, float[] pMatrix)
{
if (!reverseIDs.ContainsKey(body) || reverseIDs[body].Manipulatable)
return;
ShapeType shape = reverseIDs[body].Shape;
tmpVec1 = scaleTable[body];
if ((shape == ShapeType.Box) || (shape == ShapeType.Sphere) || (shape == ShapeType.ConvexHull)
|| (shape == ShapeType.TriangleMesh))
{
Matrix.CreateScale(ref tmpVec1, out tmpMat1);
MatrixHelper.FloatsToMatrix(pMatrix, out tmpMat2);
Matrix.Multiply(ref tmpMat1, ref tmpMat2, out tmpMat1);
reverseIDs[body].PhysicsWorldTransform = tmpMat1;
}
else
{
Matrix.CreateScale(ref tmpVec1, out tmpMat1);
Matrix.CreateRotationZ(-MathHelper.PiOver2, out tmpMat2);
Matrix.Multiply(ref tmpMat1, ref tmpMat2, out tmpMat1);
MatrixHelper.FloatsToMatrix(pMatrix, out tmpMat2);
Matrix.Multiply(ref tmpMat1, ref tmpMat2, out tmpMat1);
reverseIDs[body].PhysicsWorldTransform = tmpMat1;
}
};
applyForceAndTorqueCallback = delegate(IntPtr pNewtonBody)
{
if (!reverseIDs.ContainsKey(pNewtonBody))
return;
float[] force = new float[3];
force[0] = force[1] = force[2] = 0;
if (reverseIDs[pNewtonBody].ApplyGravity)
{
float Ixx = 0, Iyy = 0, Izz = 0, mass = 0;
Newton.NewtonBodyGetMassMatrix(pNewtonBody, ref mass, ref Ixx, ref Iyy, ref Izz);
Vector3.Multiply(ref gravityDir, gravity * mass, out tmpVec1);
force = Vector3Helper.ToFloats(ref tmpVec1);
}
Vector3 tmp;
if (forces.ContainsKey(pNewtonBody) && forces[pNewtonBody].Count > 0)
{
Stack<Vector3> _forces = forces[pNewtonBody];
while (_forces.Count > 0)
{
tmp = _forces.Pop();
force[0] += tmp.X;
force[1] += tmp.Y;
force[2] += tmp.Z;
}
}
Newton.NewtonBodyAddForce(pNewtonBody, force);
if (torques.ContainsKey(pNewtonBody) && torques[pNewtonBody].Count > 0)
{
float[] torque = new float[3];
torque[0] = torque[1] = torque[2] = 0;
Stack<Vector3> _torques = torques[pNewtonBody];
while (_torques.Count > 0)
{
tmp = _torques.Pop();
torque[0] += tmp.X;
torque[1] += tmp.Y;
torque[2] += tmp.Z;
}
Newton.NewtonBodyAddTorque(pNewtonBody, torque);
}
};
rayCastFilterCallback = delegate(IntPtr pNewtonBody, float[] pHitNormal, int pCollisionID,
IntPtr pUserData, float pIntersetParam)
{
if (!reverseIDs.ContainsKey(pNewtonBody))
return -1;
IPhysicsObject physObj = reverseIDs[pNewtonBody];
if (physObj.Pickable)
{
PickedObject pickedObject = new PickedObject(physObj, pIntersetParam);
pickedObjects.Add(pickedObject);
}
return pIntersetParam;
};
materialContactBeginCallback = delegate(IntPtr pMaterial, IntPtr pNewtonBody0, IntPtr pNewtonBody1)
{
if (!materials.ContainsKey(Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)))
return 1;
NewtonMaterial physMat = materials[Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)];
if (physMat.ContactBeginCallback == null)
return 1;
if (reverseIDs.ContainsKey(pNewtonBody0) && reverseIDs.ContainsKey(pNewtonBody1))
physMat.ContactBeginCallback(reverseIDs[pNewtonBody0], reverseIDs[pNewtonBody1]);
return 1;
};
materialContactProcessCallback = delegate(IntPtr pMaterial, IntPtr pContact)
{
if (!materials.ContainsKey(Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)))
return 1;
NewtonMaterial physMat = materials[Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)];
if (physMat.ContactProcessCallback == null)
return 1;
float contactNormalSpeed = Newton.NewtonMaterialGetContactNormalSpeed(pMaterial, pContact);
float[] contactPos = new float[3];
float[] contactNormal = new float[3];
Newton.NewtonMaterialGetContactPositionAndNormal(pMaterial, contactPos, contactNormal);
float colObj1ContactTangentSpeed = Newton.NewtonMaterialGetContactTangentSpeed(pMaterial, pContact, 0);
float colObj2ContactTangentSpeed = Newton.NewtonMaterialGetContactTangentSpeed(pMaterial, pContact, 1);
float[] colObj1ContactTangentDir = new float[3];
float[] colObj2ContactTangentDir = new float[3];
Newton.NewtonMaterialGetContactTangentDirections(pMaterial, colObj1ContactTangentDir,
colObj2ContactTangentDir);
physMat.ContactProcessCallback(Vector3Helper.Get(contactPos[0], contactPos[1], contactPos[2]),
Vector3Helper.Get(contactNormal[0], contactNormal[1], contactNormal[2]),
contactNormalSpeed, colObj1ContactTangentSpeed, colObj2ContactTangentSpeed,
Vector3Helper.Get(colObj1ContactTangentDir[0], colObj1ContactTangentDir[1], colObj1ContactTangentDir[2]),
Vector3Helper.Get(colObj2ContactTangentDir[0], colObj2ContactTangentDir[1], colObj2ContactTangentDir[2]));
return 1;
};
materialContactEndCallback = delegate(IntPtr pMaterial)
{
if (!materials.ContainsKey(Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)))
return;
NewtonMaterial physMat = materials[Newton.NewtonMaterialGetMaterialPairUserData(pMaterial)];
if (physMat.ContactEndCallback == null)
return;
physMat.ContactEndCallback();
};
collisionIterator = delegate(IntPtr pNewtonBody, int vertexCount, float[] faceArray, int faceID)
{
List<Vector3> verts = new List<Vector3>();
int max = faceArray.Length / 3;
if (vertexCount > max)
Log.Write("More faceArray needed for drawing the collision mesh: " + vertexCount);
for (int i = 0; i < vertexCount && i < max; i++)
verts.Add(Vector3Helper.Get(faceArray[i * 3], faceArray[i * 3 + 1], faceArray[i * 3 + 2]));
collisionMesh.Add(verts);
};
}
public void Test1()
{
m_NewtonContactBegin = new Newton.NewtonContactBegin(InvokeContactBegin);
}
