History: Newton Game Dynamics 2.0 Code

            This is the source code for ((OgreNewt 2)) tutorial.

{maketoc}

!!OgreNewtApplication.h
{CODE(wrap="1", colors="c++")}#ifndef __OgreNewtApplication_h_
#define __OgreNewtTut_h_

#include "ExampleApplication.h"
#include <OgreNewt.h>
#include "OgreNewt_BasicFrameListener.h"

class OgreNewtApplication :
    public ExampleApplication
{
public:
    OgreNewtApplication(void);
    ~OgreNewtApplication(void);

    void createScene();

    void createFrameListener(void);

    void crazyCallback(OgreNewt::Body* body, float timeStep, int threadIndex );
private:
    OgreNewt::World *mWorld;
};

#endif {CODE}

!!OgreNewtApplication.cpp
{CODE(wrap="1", colors="c++")} 
#if OGRE_PLATFORM == OGRE_PLATFORM_WIN32
#define WIN32_LEAN_AND_MEAN
#include "windows.h"
#endif

#include "OgreNewtApplication.h"

OgreNewtApplication::OgreNewtApplication(void)
{
    mWorld = new OgreNewt::World();
}

OgreNewtApplication::~OgreNewtApplication(void)
{
    delete mWorld;
}

void OgreNewtApplication::createScene()
{
    Ogre::Light *light = mSceneMgr->createLight("main_light");
    light->setPosition(0, 50, 0);
    light->setDiffuseColour(Ogre::ColourValue(1, 0.5, 0.5));
    mSceneMgr->setAmbientLight(Ogre::ColourValue(0.5,0.5,0.5));

    mCamera->setPosition(Ogre::Vector3(100,50,100));
    mCamera->lookAt(0,0,0);

    Ogre::Vector3 size(100.0,5.0,100.0);
    Ogre::SceneNode* node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    Ogre::Entity* ent = mSceneMgr->createEntity( "floorobj", "box.mesh" );
    node->attachObject( ent );
    node->setScale( size );

    OgreNewt::CollisionPtr col( new OgreNewt::CollisionPrimitives::TreeCollision( mWorld, ent, true));
    OgreNewt::Body* floorbody = new OgreNewt::Body( mWorld, col );
    floorbody->attachNode(node);
    floorbody->setPositionOrientation( Ogre::Vector3(0,-5,0), Ogre::Quaternion::IDENTITY );

    // BOX
    size = Ogre::Vector3( 5, 5, 5 );
    node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    ent = mSceneMgr->createEntity("box_body", "box.mesh" );
    node->attachObject( ent );
    node->setScale( size );

    // rigid body.
    OgreNewt::CollisionPrimitives::Box *boxcol = new OgreNewt::CollisionPrimitives::Box(mWorld, size);
    col = OgreNewt::CollisionPtr(boxcol);
    OgreNewt::Body* bod = new OgreNewt::Body( mWorld, col );
    bod->attachNode( node );

    // initial position
    bod->setPositionOrientation( Ogre::Vector3(0,20,5), Ogre::Quaternion::IDENTITY );

    Ogre::Real mass = 10.0;
    Ogre::Vector3 inertia, centerOfMass;
    boxcol->calculateInertialMatrix(inertia, centerOfMass);
    
    inertia*=mass;    

    bod->setMassMatrix( mass, inertia );
    bod->setCenterOfMass(centerOfMass);

    bod->setStandardForceCallback();

    // CYLINDER  
    // cylinder with a radius of 5.5, height of 10.3
    size = Ogre::Vector3( 10.3, 5.5, 5.5 );
    node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    ent = mSceneMgr->createEntity("cylinder_body", "cylinder.mesh" );
    node->attachObject( ent );
    node->setScale( size );

    // rigid body.
    OgreNewt::CollisionPrimitives::Cylinder *cylCol = new OgreNewt::CollisionPrimitives::Cylinder(mWorld, 5.5, 10.3);
    col = OgreNewt::CollisionPtr(cylCol);
    bod = new OgreNewt::Body( mWorld, col );
    bod->attachNode( node );

    // initial position
    bod->setPositionOrientation( Ogre::Vector3(20,15,15), Ogre::Quaternion(Ogre::Degree(45),Ogre::Vector3(1,1,0)) );

    mass = 5.0;
    cylCol->calculateInertialMatrix(inertia, centerOfMass);
    
    inertia*=mass;    

    bod->setMassMatrix( mass, inertia );
    bod->setCenterOfMass(centerOfMass);

    bod->setStandardForceCallback();

    // CONE
    // cone with a radius of 4.8, height of 5.0
    size = Ogre::Vector3( 5.0, 4.8, 4.8 );

    node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    ent = mSceneMgr->createEntity("cone_body", "cone.mesh" );
    node->attachObject( ent );
    node->setScale( size );

    // rigid body.
    OgreNewt::CollisionPrimitives::Cone *coneCol = new OgreNewt::CollisionPrimitives::Cone(mWorld, 4.8, 5.0);
    col = OgreNewt::CollisionPtr(coneCol);
    bod = new OgreNewt::Body( mWorld, col );
    bod->attachNode( node );

    // initial position
    bod->setPositionOrientation( Ogre::Vector3(0,26,5), Ogre::Quaternion(Ogre::Degree(45), Ogre::Vector3(1,0,0)) );

    mass = 15.0;
    coneCol->calculateInertialMatrix(inertia, centerOfMass);
    
    inertia*=mass;    

    bod->setMassMatrix( mass, inertia );
    bod->setCenterOfMass(centerOfMass);

    bod->setStandardForceCallback();

    // CONE
    // cone with a radius of 4.8, height of 10.0
    size = Ogre::Vector3( 10.0, 4.8, 4.8 );

    node = mSceneMgr->getRootSceneNode()->createChildSceneNode();
    ent = mSceneMgr->createEntity("crazy_cone_body", "cone.mesh" );
    node->attachObject( ent );
    node->setScale( size );

    // rigid body.
    coneCol = new OgreNewt::CollisionPrimitives::Cone(mWorld, 4.8, 5.0);
    col = OgreNewt::CollisionPtr(coneCol);
    bod = new OgreNewt::Body( mWorld, col );
    bod->attachNode( node );

    // initial position
    bod->setPositionOrientation( Ogre::Vector3(20,26,5), Ogre::Quaternion::IDENTITY );

    mass = 20.0;
    coneCol->calculateInertialMatrix(inertia, centerOfMass);
    
    inertia*=mass;    

    bod->setMassMatrix( mass, inertia );
    bod->setCenterOfMass(centerOfMass);

    bod->setCustomForceAndTorqueCallback<OgreNewtApplication>(&OgreNewtApplication::crazyCallback, this);
    

}

void OgreNewtApplication::createFrameListener()
{
    mFrameListener = new ExampleFrameListener( mWindow, mCamera );
    mRoot->addFrameListener( mFrameListener );

    OgreNewt::BasicFrameListener* mOgreNewtListener;
    mOgreNewtListener = new OgreNewt::BasicFrameListener( mWindow, mWorld );
    mRoot->addFrameListener( mOgreNewtListener );

}

void OgreNewtApplication::crazyCallback(OgreNewt::Body *body, float timeStep, int threadIndex)
{
    Ogre::Vector3 force(0,10,0), pointToApply(4,4,4);
    body->addLocalForce(force, pointToApply);
}

#if OGRE_PLATFORM == OGRE_PLATFORM_WIN32
   INT WINAPI WinMain( HINSTANCE hInst, HINSTANCE, LPSTR strCmdLine, INT )
#else
   int main(int argc, char *argv[])
#endif
   {
      // Create application object
      OgreNewtApplication app;

      try {
         app.go();
      } catch( Ogre::Exception& e ) {
#if OGRE_PLATFORM == OGRE_PLATFORM_WIN32
         MessageBox( NULL, e.getFullDescription().c_str(), "An exception has occured!", MB_OK | MB_ICONERROR | MB_TASKMODAL);
#else
         std::cerr << "An exception has occured: " <<
            e.getFullDescription().c_str() << std::endl;
#endif
      }

      return 0;
   }{CODE}