appling same method to heavy truck demo (wip)

newton-4.00/applications/ndSandbox/demos/ndHeavyVehicle.cpp

@@ -762,6 +762,36 @@ class ndBigRigVehicle : public ndHeavyMultiBodyVehicle
 	}
 };
 
+
+static ndDemoEntity* LoadVehicleMeshModel(ndDemoEntityManager* const scene, const char* const filename)
+{
+	ndMeshLoader loader;
+	ndDemoEntity* const vehicleEntity = loader.LoadEntity(filename, scene);
+	scene->AddEntity(vehicleEntity);
+	return vehicleEntity;
+}
+
+static ndMultiBodyVehicle* CreateBigRig(ndDemoEntityManager* const scene, const ndVehicleDectriptor& desc, const ndMatrix& matrix, ndVehicleUI* const vehicleUI)
+{
+	ndMultiBodyVehicle* const vehicle = new ndMultiBodyVehicle;
+
+	vehicle->SetNotifyCallback(ndSharedPtr<ndModelNotify>(new ndVehicleCommonNotify(desc, vehicle, vehicleUI)));
+	ndVehicleCommonNotify* const notifyCallback = (ndVehicleCommonNotify*)*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 mode 
+	// create the vehicle chassis as a normal rigid body
+	const ndVehicleDectriptor& configuration = notifyCallback->m_desc;
+
+
+	vehicle->SetVehicleSolverModel(configuration.m_useHardSolverMode ? true : false);
+	return vehicle;
+}
+
 void ndHeavyVehicle (ndDemoEntityManager* const scene)
 {
 	ndMatrix sceneLocation(ndGetIdentityMatrix());
@@ -805,20 +835,21 @@ void ndHeavyVehicle (ndDemoEntityManager* const scene)
 	scene->Set2DDisplayRenderFunction(vehicleUIPtr);
 
 	//ndSharedPtr<ndModel> vehicle0(new ndBigRigVehicle(scene, bigRigDesc, matrix, vehicleUI));
+	ndSharedPtr<ndModel> vehicle0(CreateBigRig(scene, bigRigDesc, matrix, vehicleUI));
 
 	matrix.m_posit.m_x += 6.0f;
 	matrix.m_posit.m_z += 6.0f;
 	//ndSharedPtr<ndModel> vehicle1(new ndLav25Vehicle(scene, lav25Desc, matrix, vehicleUI));
 
 	matrix.m_posit.m_z -= 12.0f;
-	ndSharedPtr<ndModel> vehicle2(new ndTractorVehicle(scene, tractorDesc, matrix, vehicleUI));
+	//ndSharedPtr<ndModel> vehicle2(new ndTractorVehicle(scene, tractorDesc, matrix, vehicleUI));
 
-	//world->AddModel(vehicle0);
+	world->AddModel(vehicle0);
 	//world->AddModel(vehicle1);
-	world->AddModel(vehicle2);
+	//world->AddModel(vehicle2);
 
-	ndHeavyMultiBodyVehicle* const vehicle = (ndHeavyMultiBodyVehicle*)*vehicle2;
-	vehicle->SetAsPlayer(scene);
+	ndVehicleCommonNotify* const notifyCallback = (ndVehicleCommonNotify*)*vehicle0->GetNotifyCallback();
+	notifyCallback->SetAsPlayer(scene);
 
 	matrix.m_posit.m_x += 25.0f;
 	matrix.m_posit.m_z += 6.0f;

newton-4.00/applications/ndSandbox/ndDemoEntityManager.cpp

@@ -49,8 +49,8 @@
 //#define DEFAULT_SCENE	9		// static mesh collision 
 //#define DEFAULT_SCENE	10		// static user mesh collision 
 //#define DEFAULT_SCENE	11		// basic joints
-#define DEFAULT_SCENE	12		// basic vehicle
-//#define DEFAULT_SCENE	13		// heavy vehicle
+//#define DEFAULT_SCENE	12		// basic vehicle
+#define DEFAULT_SCENE	13		// heavy vehicle
 //#define DEFAULT_SCENE	14		// background vehicle prop
 //#define DEFAULT_SCENE	15		// basic player
 //#define DEFAULT_SCENE	16		// rag doll

newton-4.00/applications/ndSandbox/toolbox/ndVehicleCommon.cpp

@@ -949,19 +949,22 @@ void ndVehicleCommonNotify::Debug(ndConstraintDebugCallback& context) const
 	}
 }
 
-void ndVehicleCommonNotify::SetCamera(ndDemoEntityManager* const manager, ndFloat32 timestep)
+void ndVehicleCommonNotify::SetCamera(ndDemoEntityManager* const manager, ndFloat32)
 {
 	ndMultiBodyVehicle* const vehicle = (ndMultiBodyVehicle*)GetModel();
 
-	ndDemoCamera* const camera = manager->GetCamera();
-	ndDemoEntity* const chassisEntity = (ndDemoEntity*)vehicle->GetChassis()->GetNotifyCallback()->GetUserData();
-	ndMatrix camMatrix(camera->GetNextMatrix());
-	ndMatrix playerMatrix(chassisEntity->GetNextMatrix());
+	if (vehicle->GetRoot())
+	{
+		ndDemoCamera* const camera = manager->GetCamera();
+		ndDemoEntity* const chassisEntity = (ndDemoEntity*)vehicle->GetChassis()->GetNotifyCallback()->GetUserData();
+		ndMatrix camMatrix(camera->GetNextMatrix());
+		ndMatrix playerMatrix(chassisEntity->GetNextMatrix());
 
-	ndVector frontDir(camMatrix[0]);
-	ndVector camOrigin(0.0f);
-	camOrigin = playerMatrix.m_posit + ndVector(0.0f, 1.0f, 0.0f, 0.0f);
-	camOrigin -= frontDir.Scale(10.0f);
+		ndVector frontDir(camMatrix[0]);
+		ndVector camOrigin(0.0f);
+		camOrigin = playerMatrix.m_posit + ndVector(0.0f, 1.0f, 0.0f, 0.0f);
+		camOrigin -= frontDir.Scale(10.0f);
 
-	camera->SetNextMatrix(camMatrix, camOrigin);
+		camera->SetNextMatrix(camMatrix, camOrigin);
+	}
 }

newton-4.00/sdk/dCollision/ndMeshEffect.h

@@ -574,7 +574,7 @@ class ndMeshEffect: public ndPolyhedra
 	D_COLLISION_API void Init();
 	D_COLLISION_API virtual void BeginFace();
 	D_COLLISION_API virtual bool EndFace();
-	ndFloat64 QuantizeCordinade(ndFloat64 val) const;
+	ndFloat64 QuantizeCoordinade(ndFloat64 val) const;
 
 	bool Sanity() const;
 	void PackPoints();
@@ -633,7 +633,7 @@ inline dInt32 ndMeshEffect::GetVertexLayer(dInt32 index) const
 }
 #endif
 
-inline ndFloat64 ndMeshEffect::QuantizeCordinade(ndFloat64 x) const
+inline ndFloat64 ndMeshEffect::QuantizeCoordinade(ndFloat64 x) const
 {
 	ndInt32 exp;
 	ndFloat64 mantissa = frexp(x, &exp);

newton-4.00/sdk/dCollision/ndMeshEffect1.cpp

@@ -2402,7 +2402,7 @@ void ndMeshEffect::BeginBuildFace()
 void ndMeshEffect::AddPoint(ndFloat64 x, ndFloat64 y, ndFloat64 z)
 {
 	m_attrib.m_pointChannel.PushBack(ndInt32(m_points.m_vertex.GetCount()));
-	const ndBigVector point(QuantizeCordinade(x), QuantizeCordinade(y), QuantizeCordinade(z), ndFloat64(0.0f));
+	const ndBigVector point(QuantizeCoordinade(x), QuantizeCoordinade(y), QuantizeCoordinade(z), ndFloat64(0.0f));
 	m_points.m_vertex.PushBack(point);
 }
 

newton-4.00/sdk/dNewton/dModels/dVehicle/ndMultiBodyVehicle.cpp

@@ -338,17 +338,19 @@ void ndMultiBodyVehicle::AddChassis(const ndSharedPtr<ndBody>& chassis)
 
 void ndMultiBodyVehicle::SetVehicleSolverModel(bool hardJoint)
 {
-	ndAssert(m_chassis);
 	ndJointBilateralSolverModel openLoopMode = hardJoint ? m_jointkinematicOpenLoop : m_jointIterativeSoft;
-	for (ndNode* node = GetRoot()->GetFirstChild(); node; node = node->GetNext())
+	if (GetRoot())
 	{
-		ndJointBilateralConstraint* const joint = *node->m_joint;
-		const char* const className = joint->ClassName();
-		if (!strcmp(className, "ndMultiBodyVehicleTireJoint") ||
-			!strcmp(className, "ndMultiBodyVehicleDifferential") ||
-			!strcmp(className, "ndMultiBodyVehicleMotor"))
+		for (ndNode* node = GetRoot()->GetFirstChild(); node; node = node->GetNext())
 		{
-			joint->SetSolverModel(openLoopMode);
+			ndJointBilateralConstraint* const joint = *node->m_joint;
+			const char* const className = joint->ClassName();
+			if (!strcmp(className, "ndMultiBodyVehicleTireJoint") ||
+				!strcmp(className, "ndMultiBodyVehicleDifferential") ||
+				!strcmp(className, "ndMultiBodyVehicleMotor"))
+			{
+				joint->SetSolverModel(openLoopMode);
+			}
 		}
 	}
 
@@ -541,11 +543,13 @@ ndMultiBodyVehicleGearBox* ndMultiBodyVehicle::AddGearBox(ndMultiBodyVehicleDiff
 bool ndMultiBodyVehicle::IsSleeping() const
 {
 	bool sleeping = true;
-	for (ndNode* node = GetRoot()->GetFirstIterator(); sleeping && node; node = node->GetNextIterator())
+	if (GetRoot())
 	{
-		ndBodyDynamic* const body = node->m_body->GetAsBodyDynamic();
-		//active = active || (body->GetScene() ? true : false);
-		sleeping = sleeping && body->GetSleepState();
+		for (ndNode* node = GetRoot()->GetFirstIterator(); sleeping && node; node = node->GetNextIterator())
+		{
+			ndBodyDynamic* const body = node->m_body->GetAsBodyDynamic();
+			sleeping = sleeping && body->GetSleepState();
+		}
 	}
 	return sleeping;
 }
@@ -980,7 +984,12 @@ void ndMultiBodyVehicle::PostUpdate(ndWorld* const, ndFloat32)
 
 void ndMultiBodyVehicle::Debug(ndConstraintDebugCallback& context) const
 {
-	// draw vehicle cordinade system;
+	if (!GetRoot())
+	{
+		return;
+	}
+
+	// draw vehicle coordinade system;
 	const ndBodyKinematic* const chassis = m_chassis;
 	ndAssert(chassis);
 	ndMatrix chassisMatrix(chassis->GetMatrix());