public static void AddRollingBeats(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(10.0f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 3, 3);
GeometryNode bar;
// //////////////////////////////////////////////////////////////////
//
// Create a bar and attach it to the world with a hinge with limits
//
// //////////////////////////////////////////////////////////////////
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
pileTrans.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathHelper.PiOver2);
Material barMat = new Material();
barMat.Diffuse = Color.Purple.ToVector4();
barMat.Specular = Color.White.ToVector4();
barMat.SpecularPower = 10;
bar = new GeometryNode("Bar");
bar.Model = new Cylinder(size.Y, size.Y, size.X, 20);
bar.Material = barMat;
bar.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
bar.AddToPhysicsEngine = true;
bar.Physics.Interactable = true;
bar.Physics.Collidable = true;
bar.Physics.Shape = ShapeType.Cylinder;
bar.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(bar);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X -= size.X * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(bar.Physics, null, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a sliding visualObject with limits
//
////////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X += size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.Red.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Slider");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
sliderLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
sliderLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
SliderJoint joint = new SliderJoint(pivot, pin);
sliderUpdate = delegate(IntPtr slider, ref Newton.NewtonHingeSliderUpdateDesc desc)
{
float distance = Newton.NewtonSliderGetJointPosit(slider);
if (distance < sliderLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.X);
return 1;
}
else if (distance > sliderLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.Y);
return 1;
}
// no action need it if the joint angle is with the limits
return 0;
};
joint.NewtonSliderCallback = sliderUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a corkscrew visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Corkscrew");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
corkscrewLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
corkscrewLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
CorkscrewJoint joint = new CorkscrewJoint(pivot, pin);
corkscrewUpdate = delegate(IntPtr corkscrew, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float distance = Newton.NewtonCorkscrewGetJointPosit(corkscrew);
// The first entry in NewtonHingeSliderUpdateDesc control the screw linear acceleration
if (distance < corkscrewLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew,
ref desc[0], corkscrewLimit.X);
retCode |= 1;
}
else if (distance > corkscrewLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew, ref
desc[0], corkscrewLimit.Y);
retCode |= 1;
}
// The second entry in NewtonHingeSliderUpdateDesc control the screw angular acceleration.
// Make s small screw motor by setting the angular acceleration of the screw axis
// We are not going to limit the angular rotation of the screw, but is we did we should
// or return code with 2
float omega = Newton.NewtonCorkscrewGetJointOmega(corkscrew);
desc[1].m_Accel = 1.5f - 0.2f * omega;
// or with 0x10 to tell newton this axis is active
retCode |= 2;
// return the code
return retCode;
};
joint.NewtonCorkscrewCallback = corkscrewUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a universal joint visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.45f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Universal");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin0 = Vector3.UnitX;
Vector3 pin1 = Vector3.UnitY;
universalLimit.X = -30.0f * MathHelper.Pi / 180.0f;
universalLimit.Y = 30.0f * MathHelper.Pi / 180.0f;
UniversalJoint joint = new UniversalJoint(pivot, pin0, pin1);
universalUpdate = delegate(IntPtr universal, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float omega = Newton.NewtonUniversalGetJointOmega0(universal);
desc[0].m_Accel = -1.5f - 0.2f * omega;
retCode |= 1;
float angle = Newton.NewtonUniversalGetJointAngle1(universal);
if (angle < universalLimit.X)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.X);
retCode |= 2;
}
else if (angle > universalLimit.Y)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.Y);
retCode |= 2;
}
// return the code
return retCode;
};
joint.NewtonUniversalCallback = universalUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
}
public static void AddRollingBeats(Scene scene, TransformNode parentTrans)
{
Vector3 size = new Vector3(10.0f, 0.25f, 0.25f);
Vector3 location = new Vector3(0, 3, 3);
GeometryNode bar;
// //////////////////////////////////////////////////////////////////
//
// Create a bar and attach it to the world with a hinge with limits
//
// //////////////////////////////////////////////////////////////////
{
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = location;
pileTrans.Rotation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, MathHelper.PiOver2);
Material barMat = new Material();
barMat.Diffuse = Color.Purple.ToVector4();
barMat.Specular = Color.White.ToVector4();
barMat.SpecularPower = 10;
bar = new GeometryNode("Bar");
bar.Model = new Cylinder(size.Y, size.Y, size.X, 20);
bar.Material = barMat;
bar.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
bar.AddToPhysicsEngine = true;
bar.Physics.Interactable = true;
bar.Physics.Collidable = true;
bar.Physics.Shape = ShapeType.Cylinder;
bar.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(bar);
Vector3 pivot = location + parentTrans.Translation;
Vector3 pin = Vector3.UnitY;
pivot.X -= size.X * 0.5f;
HingeJoint joint = new HingeJoint(pivot, pin);
joint.NewtonHingeCallback = doubleDoor;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(bar.Physics, null, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a sliding visualObject with limits
//
////////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X += size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.Red.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Slider");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
sliderLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
sliderLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
SliderJoint joint = new SliderJoint(pivot, pin);
sliderUpdate = delegate(IntPtr slider, ref Newton.NewtonHingeSliderUpdateDesc desc)
{
float distance = Newton.NewtonSliderGetJointPosit(slider);
if (distance < sliderLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.X);
return(1);
}
else if (distance > sliderLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc.m_Accel = Newton.NewtonSliderCalculateStopAccel(slider, ref desc, sliderLimit.Y);
return(1);
}
// no action need it if the joint angle is with the limits
return(0);
};
joint.NewtonSliderCallback = sliderUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a corkscrew visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.25f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Corkscrew");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin = Vector3.UnitX;
corkscrewLimit.X = ((location.X - beatLocation.X) - size.X * 0.5f);
corkscrewLimit.Y = ((location.X - beatLocation.X) + size.X * 0.5f);
CorkscrewJoint joint = new CorkscrewJoint(pivot, pin);
corkscrewUpdate = delegate(IntPtr corkscrew, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float distance = Newton.NewtonCorkscrewGetJointPosit(corkscrew);
// The first entry in NewtonHingeSliderUpdateDesc control the screw linear acceleration
if (distance < corkscrewLimit.X)
{
// if the distance is smaller than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew,
ref desc[0], corkscrewLimit.X);
retCode |= 1;
}
else if (distance > corkscrewLimit.Y)
{
// if the distance is larger than the predefine interval, stop the slider
desc[0].m_Accel = Newton.NewtonCorkscrewCalculateStopAccel(corkscrew, ref
desc[0], corkscrewLimit.Y);
retCode |= 1;
}
// The second entry in NewtonHingeSliderUpdateDesc control the screw angular acceleration.
// Make s small screw motor by setting the angular acceleration of the screw axis
// We are not going to limit the angular rotation of the screw, but is we did we should
// or return code with 2
float omega = Newton.NewtonCorkscrewGetJointOmega(corkscrew);
desc[1].m_Accel = 1.5f - 0.2f * omega;
// or with 0x10 to tell newton this axis is active
retCode |= 2;
// return the code
return(retCode);
};
joint.NewtonCorkscrewCallback = corkscrewUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
// /////////////////////////////////////////////////////////////////
//
// Add a universal joint visualObject with limits
//
// /////////////////////////////////////////////////////////////////
{
Vector3 beatLocation = location;
Vector3 beatSize = new Vector3(0.5f, 2.0f, 2.0f);
beatLocation.X -= size.X * 0.45f;
TransformNode pileTrans = new TransformNode();
pileTrans.Translation = beatLocation;
Material beatMat = new Material();
beatMat.Diffuse = Color.YellowGreen.ToVector4();
beatMat.Specular = Color.White.ToVector4();
beatMat.SpecularPower = 10;
GeometryNode beat = new GeometryNode("Beat Universal");
beat.Model = new Box(beatSize);
beat.Material = beatMat;
beat.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
beat.AddToPhysicsEngine = true;
beat.Physics.Interactable = true;
beat.Physics.Collidable = true;
beat.Physics.Shape = ShapeType.Box;
beat.Physics.Mass = 2.0f;
parentTrans.AddChild(pileTrans);
pileTrans.AddChild(beat);
Vector3 pivot = beatLocation + parentTrans.Translation;
Vector3 pin0 = Vector3.UnitX;
Vector3 pin1 = Vector3.UnitY;
universalLimit.X = -30.0f * MathHelper.Pi / 180.0f;
universalLimit.Y = 30.0f * MathHelper.Pi / 180.0f;
UniversalJoint joint = new UniversalJoint(pivot, pin0, pin1);
universalUpdate = delegate(IntPtr universal, Newton.NewtonHingeSliderUpdateDesc[] desc)
{
// no action need it if the joint angle is with the limits
uint retCode = 0;
float omega = Newton.NewtonUniversalGetJointOmega0(universal);
desc[0].m_Accel = -1.5f - 0.2f * omega;
retCode |= 1;
float angle = Newton.NewtonUniversalGetJointAngle1(universal);
if (angle < universalLimit.X)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.X);
retCode |= 2;
}
else if (angle > universalLimit.Y)
{
desc[1].m_Accel = Newton.NewtonUniversalCalculateStopAlpha1(universal, ref desc[1],
universalLimit.Y);
retCode |= 2;
}
// return the code
return(retCode);
};
joint.NewtonUniversalCallback = universalUpdate;
((NewtonPhysics)scene.PhysicsEngine).CreateJoint(beat.Physics, bar.Physics, joint);
}
}