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adding the tractor script, last of the demos
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@JulioJerez
JulioJerez committed Jan 4, 2025
1 parent dbbdde0 commit 8488e69
Showing 1 changed file with 106 additions and 7 deletions.
113 changes: 106 additions & 7 deletions newton-4.00/applications/ndSandbox/demos/ndHeavyVehicle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -735,7 +735,7 @@ static ndMultiBodyVehicle* CreateLav25Vehicle(ndDemoEntityManager* const scene,
gearBox->SetIdleOmega(configuration.m_engine.GetIdleRadPerSec() * dRadPerSecToRpm);

// 6 add any extra funtionality
auto BuildTurrent = [vehicle, notifyCallback, scene]()
auto BuildTurret = [vehicle, notifyCallback, scene]()
{
const ndMatrix localFrame(vehicle->GetLocalFrame());
ndBodyDynamic* const chassis = vehicle->GetChassis();
Expand Down Expand Up @@ -770,13 +770,112 @@ static ndMultiBodyVehicle* CreateLav25Vehicle(ndDemoEntityManager* const scene,

notifyCallback->m_turretEffector = effector;
};
BuildTurrent();
BuildTurret();

notifyCallback->m_currentGear = sizeof(configuration.m_transmission.m_forwardRatios) / sizeof(configuration.m_transmission.m_forwardRatios[0]) + 1;
vehicle->SetVehicleSolverModel(configuration.m_useHardSolverMode ? true : false);
return vehicle;
}

static ndMultiBodyVehicle* CreateTractor(ndDemoEntityManager* const scene, const ndVehicleDectriptor& desc, const ndMatrix& matrix, ndVehicleUI* const vehicleUI)
{
class TractorController : public ndVehicleCommonNotify
{
public:
TractorController(const ndVehicleDectriptor& desc, ndMultiBodyVehicle* const vehicle, ndVehicleUI* const ui)
:ndVehicleCommonNotify(desc, vehicle, ui)
//, m_turretEffector(nullptr)
{
//m_cannonHigh = 0.0f;
//m_turretAngle = 0.0f;
}

virtual void ApplyInputs(ndWorld* const world, ndFloat32 timestep) override
{
ndVehicleCommonNotify::ApplyInputs(world, timestep);

//if (m_turretEffector && m_isPlayer)
//{
// ndDemoEntityManager* const scene = ((ndPhysicsWorld*)world)->GetManager();
// ndFixSizeArray<char, 32> buttons;
// scene->GetJoystickButtons(buttons);
//
// bool wakeUpVehicle = false;
// if (buttons[2])
// {
// wakeUpVehicle = true;
// m_turretAngle += 5.0e-3f;
// }
// else if (buttons[1])
// {
// wakeUpVehicle = true;
// m_turretAngle -= 5.0e-3f;
// }
//
// if (buttons[0])
// {
// wakeUpVehicle = true;
// m_cannonHigh -= 2.0e-3f;
// }
// else if (buttons[3])
// {
// wakeUpVehicle = true;
// m_cannonHigh += 2.0e-3f;
// }
//
// m_cannonHigh = ndClamp(m_cannonHigh, -ndFloat32(0.1f), ndFloat32(0.5f));
// m_turretAngle = ndClamp(m_turretAngle, -ndFloat32(2.0f) * ndPi, ndFloat32(2.0f) * ndPi);
//
// if (wakeUpVehicle)
// {
// ndMatrix effectorMatrix(ndPitchMatrix(m_turretAngle));
// effectorMatrix.m_posit.m_x = m_cannonHigh;
// m_turretEffector->SetOffsetMatrix(effectorMatrix);
// ndMultiBodyVehicle* const vehicle = (ndMultiBodyVehicle*)GetModel();
// vehicle->GetChassis()->SetSleepState(false);
// }
//}
}

//ndIk6DofEffector* m_turretEffector;
//ndFloat32 m_cannonHigh;
//ndFloat32 m_turretAngle;
};

ndMultiBodyVehicle* const vehicle = new ndMultiBodyVehicle;

vehicle->SetNotifyCallback(ndSharedPtr<ndModelNotify>(new TractorController(desc, vehicle, vehicleUI)));
TractorController* const notifyCallback = (TractorController*)*vehicle->GetNotifyCallback();

ndDemoEntity* const vehicleEntityDummyRoot = LoadVehicleMeshModel(scene, desc.m_name);

ndDemoEntity* const vehicleEntity = vehicleEntityDummyRoot->GetFirstChild();
vehicleEntity->ResetMatrix(vehicleEntity->CalculateGlobalMatrix()* matrix);

// 1- add chassis to the vehicle model
// create the vehicle chassis as a normal rigid body
const ndVehicleDectriptor& configuration = notifyCallback->m_desc;

ndSharedPtr<ndBody> chassisBody(notifyCallback->CreateChassis(scene, vehicleEntity, configuration.m_chassisMass));
vehicle->AddChassis(chassisBody);

ndBodyDynamic* const chassis = vehicle->GetChassis();
chassis->SetAngularDamping(ndVector(configuration.m_chassisAngularDrag));

// lower vehicle com;
ndVector com(chassis->GetCentreOfMass());
const ndMatrix localFrame(vehicle->GetLocalFrame());
com += localFrame.m_up.Scale(configuration.m_comDisplacement.m_y);
com += localFrame.m_front.Scale(configuration.m_comDisplacement.m_x);
com += localFrame.m_right.Scale(configuration.m_comDisplacement.m_z);
chassis->SetCentreOfMass(com);


notifyCallback->m_currentGear = sizeof(configuration.m_transmission.m_forwardRatios) / sizeof(configuration.m_transmission.m_forwardRatios[0]) + 1;
vehicle->SetVehicleSolverModel(configuration.m_useHardSolverMode ? true : false);
return vehicle;
}

void ndHeavyVehicle (ndDemoEntityManager* const scene)
{
ndMatrix sceneLocation(ndGetIdentityMatrix());
Expand Down Expand Up @@ -823,16 +922,16 @@ void ndHeavyVehicle (ndDemoEntityManager* const scene)

matrix.m_posit.m_x += 6.0f;
matrix.m_posit.m_z += 6.0f;
ndSharedPtr<ndModel> vehicle1(CreateLav25Vehicle(scene, lav25Desc, matrix, vehicleUI));
//ndSharedPtr<ndModel> vehicle1(CreateLav25Vehicle(scene, lav25Desc, matrix, vehicleUI));

matrix.m_posit.m_z -= 12.0f;
//ndSharedPtr<ndModel> vehicle2(new ndTractorVehicle(scene, tractorDesc, matrix, vehicleUI));
ndSharedPtr<ndModel> vehicle2(CreateTractor(scene, tractorDesc, matrix, vehicleUI));

//world->AddModel(vehicle0);
world->AddModel(vehicle1);
//world->AddModel(vehicle2);
//world->AddModel(vehicle1);
world->AddModel(vehicle2);

ndVehicleCommonNotify* const notifyCallback = (ndVehicleCommonNotify*)*vehicle1->GetNotifyCallback();
ndVehicleCommonNotify* const notifyCallback = (ndVehicleCommonNotify*)*vehicle2->GetNotifyCallback();
notifyCallback->SetAsPlayer(scene);

matrix.m_posit.m_x += 25.0f;
Expand Down

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