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completed vehicle demos.
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now try to implement them in unreal (wip)
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@JulioJerez
JulioJerez committed Jan 4, 2025
1 parent 04f2f4c commit 96f2ea7
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Showing 2 changed files with 70 additions and 28 deletions.
97 changes: 70 additions & 27 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 @@ -497,15 +497,60 @@ static ndMultiBodyVehicle* CreateTractor(ndDemoEntityManager* const scene, const
,m_armHinge(nullptr)
,m_bucketHinge(nullptr)
{
m_armAngle = 0.0f;
m_bucketAngle = 0.0f;
}

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

if (m_isPlayer)
{
ndDemoEntityManager* const scene = ((ndPhysicsWorld*)world)->GetManager();
ndFixSizeArray<char, 32> buttons;

bool wakeUpVehicle = false;
scene->GetJoystickButtons(buttons);
if (buttons[0])
{
wakeUpVehicle = true;
m_armAngle = m_armAngle + timestep * 0.25f;
}
else if (buttons[3])
{
wakeUpVehicle = true;
m_armAngle = m_armAngle - timestep * 0.25f;
}

if (buttons[1])
{
wakeUpVehicle = true;
m_bucketAngle = m_bucketAngle + timestep * 0.5f;
}
else if (buttons[2])
{
wakeUpVehicle = true;
m_bucketAngle = m_bucketAngle - timestep * 0.5f;
}

m_armAngle = ndClamp(m_armAngle, ndFloat32(-10.0f) * ndDegreeToRad, ndFloat32(45.0f) * ndDegreeToRad);
m_bucketAngle = ndClamp(m_bucketAngle, ndFloat32(-75.0f) * ndDegreeToRad, ndFloat32(80.0f) * ndDegreeToRad);

if (wakeUpVehicle)
{
m_armHinge->SetTargetAngle(m_armAngle);
m_bucketHinge->SetTargetAngle(m_bucketAngle);
ndMultiBodyVehicle* const vehicle = (ndMultiBodyVehicle*)GetModel();
vehicle->GetChassis()->SetSleepState(false);
}
}
}

ndJointHinge* m_armHinge;
ndJointHinge* m_bucketHinge;
ndFloat32 m_armAngle;
ndFloat32 m_bucketAngle;
};

ndMultiBodyVehicle* const vehicle = new ndMultiBodyVehicle;
Expand Down Expand Up @@ -606,36 +651,34 @@ static ndMultiBodyVehicle* CreateTractor(ndDemoEntityManager* const scene, const
ndSharedPtr<ndJointBilateralConstraint> bucketHinge(new ndJointHinge(frontBucketMatrix, frontBucketBody->GetAsBodyKinematic(), armBody->GetAsBodyKinematic()));
notifyCallback->m_bucketHinge = (ndJointHinge*)*bucketHinge;
notifyCallback->m_bucketHinge->SetAsSpringDamper(0.01f, 1500.0f, 20.0f);
ndModelArticulation::ndNode* const bucketNode = vehicle->AddLimb(armNode, frontBucketBody, bucketHinge);
vehicle->AddLimb(armNode, frontBucketBody, bucketHinge);

auto AddHydraulic = [vehicle, notifyCallback, scene](ndBodyDynamic* const parentBody, const char* const name0, const char* const name1, ndBodyKinematic* const attachmentBody, const char* const attachement)
{
//void AddHydraulic(ndDemoEntityManager* const scene, ndBodyKinematic* const parentBody, const char* const name0, const char* const name1, ndBodyKinematic* const attachmentBody, const char* const attachement)
//ndWorld* const world = scene->GetWorld();
//ndSharedPtr<ndBody>body0(MakeChildPart(scene, parentBody, name0, m_configuration.m_chassisMass * 0.01f));
//ndMatrix matrix0(m_localFrame * body0->GetMatrix());
//ndSharedPtr<ndJointBilateralConstraint>joint0(new ndJointHinge(matrix0, body0->GetAsBodyKinematic(), parentBody));
//world->AddBody(body0);
//world->AddJoint(joint0);
//
//ndSharedPtr<ndBody>body1(MakeChildPart(scene, body0->GetAsBodyKinematic(), name1, m_configuration.m_chassisMass * 0.01f));
//ndMatrix matrix1(m_localFrame * body1->GetMatrix());
//ndSharedPtr<ndJointBilateralConstraint>joint1(new ndJointSlider(matrix1, body1->GetAsBodyKinematic(), body0->GetAsBodyKinematic()));
//world->AddBody(body1);
//world->AddJoint(joint1);
//
//ndDemoEntity* const parentEntity = (ndDemoEntity*)m_chassis->GetNotifyCallback()->GetUserData();
//ndDemoEntity* const attachmentNode = parentEntity->Find(attachement);
//matrix0.m_posit = attachmentNode->CalculateGlobalMatrix(nullptr).m_posit;
//
//ndIk6DofEffector* const attachementJoint = new ndIk6DofEffector(matrix0, matrix0, body1->GetAsBodyKinematic(), attachmentBody);
//attachementJoint->EnableAxisX(false);
//attachementJoint->EnableAxisY(true);
//attachementJoint->EnableAxisZ(true);
//attachementJoint->EnableRotationAxis(ndIk6DofEffector::m_disabled);
//
//ndSharedPtr<ndJointBilateralConstraint> attachementJointPtr(attachementJoint);
//world->AddJoint(attachementJointPtr);
const ndMatrix localFrame(vehicle->GetLocalFrame());
const ndVehicleDectriptor& configuration = notifyCallback->m_desc;
ndSharedPtr<ndBody>baseBody(MakeChildPart(scene, parentBody, name0, configuration.m_chassisMass * 0.01f));
ndMatrix matrix0(localFrame * baseBody->GetMatrix());
ndSharedPtr<ndJointBilateralConstraint>hingeJoint(new ndJointHinge(matrix0, baseBody->GetAsBodyKinematic(), parentBody));
ndModelArticulation::ndNode* const hingeNode = vehicle->AddLimb(vehicle->FindByBody(parentBody), baseBody, hingeJoint);

ndSharedPtr<ndBody>boomBody(MakeChildPart(scene, baseBody->GetAsBodyKinematic(), name1, configuration.m_chassisMass * 0.01f));
ndMatrix matrix1(localFrame * boomBody->GetMatrix());
ndSharedPtr<ndJointBilateralConstraint>boomJoint(new ndJointSlider(matrix1, boomBody->GetAsBodyKinematic(), baseBody->GetAsBodyKinematic()));
vehicle->AddLimb(hingeNode, boomBody, boomJoint);

ndBodyDynamic* const chassis = vehicle->GetChassis();
ndDemoEntity* const parentEntity = (ndDemoEntity*)chassis->GetNotifyCallback()->GetUserData();
ndDemoEntity* const attachmentNode = parentEntity->Find(attachement);
matrix0.m_posit = attachmentNode->CalculateGlobalMatrix().m_posit;

ndIk6DofEffector* const attachementJoint = new ndIk6DofEffector(matrix0, matrix0, boomBody->GetAsBodyKinematic(), attachmentBody);
attachementJoint->EnableAxisX(false);
attachementJoint->EnableAxisY(true);
attachementJoint->EnableAxisZ(true);
attachementJoint->EnableRotationAxis(ndIk6DofEffector::m_disabled);
ndSharedPtr<ndJointBilateralConstraint> attachementJointPtr(attachementJoint);
vehicle->AddCloseLoop(attachementJointPtr);
};

AddHydraulic(chassis, "armHydraulicPiston_left", "armHydraulic_left", armBody->GetAsBodyKinematic(), "attach0_left");
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1 change: 0 additions & 1 deletion newton-4.00/sdk/dNewton/dModels/ndModelArticulation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -206,7 +206,6 @@ void ndModelArticulation::OnAddToWorld()

for (ndList<ndNode>::ndNode* node = m_closeLoops.GetFirst(); node; node = node->GetNext())
{
//ndNode* const node = *node->GetInfo();
m_world->AddJoint(node->GetInfo().m_joint);
}
}
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