Newton 2.21

[Jagang]

Hello
Firstly I'm French.
I would like use Newton 2.21 with Irrlicht 1.7.1. But, on internet, all tutorials I can find are obsolete ! For example this tutorial.

• M of matrix4 is private
• NewtonCreate have 0 argument

Moreover, the api database on the wiki isn't updated (NewtonCreate have again 2 arguments)
As a result, I wrote a code but it crash :

main.cpp

Code: Select all

#include <math.h>
#include <fstream>
#include <string>
#include <iostream>

using namespace std;

// irrlicht
#include <irr/irrlicht.h>

using namespace irr;
using namespace core;
using namespace scene;
using namespace video;
using namespace io;
using namespace gui;

// newton
#include <newton/Newton.h>


#include "matrix.hpp"



void ApplyForce(const NewtonBody *nbody,float r,int r1)
{
    float mass, ixx, iyy, izz;
    NewtonBodyGetMassMatrix(nbody, &mass, &ixx, &iyy, &izz);
    float force[3] = {0, mass * -9.82, 0};
    NewtonBodyAddForce(nbody, force);
}


int main(int argc, char* argv[])
{
   u32 lasttick=0;
   
   // Init the Irrlicht engine
   IrrlichtDevice* device = createDevice(
      EDT_OPENGL,             //video::E_DRIVER_TYPE       deviceType = video::EDT_SOFTWARE,
      dimension2d<u32>(800, 600), //const core::dimension2d< u32 > &     windowSize = (core::dimension2d< u32 >(640, 480)),
      16,                   //u32     bits = 16,
      false,                   //bool     fullscreen = false,
      false,                   //bool     stencilbuffer = false,
      false,                   //bool     vsync = false,
      false);                //IEventReceiver *     receiver = 0
   IVideoDriver* driver = device->getVideoDriver();
   ISceneManager* smgr = device->getSceneManager();
   
   // Newton vars
   NewtonWorld *nWorld;
   
   // Init newton
   nWorld = NewtonCreate();
   
   float min[3];
   float max[3];

   min[0] = -200.0;
   min[1] = -100.0;
   min[2] = -200.0;

   max[0] = 200.0;
   max[1] = 100.0;
   max[2] = 200.0;

   NewtonSetWorldSize( nWorld, min, max );

   
   // Set up default material properties for newton
   int i = NewtonMaterialGetDefaultGroupID(nWorld);
   
   NewtonMaterialSetDefaultFriction   (nWorld, i, i, 0.8f, 0.4f);
   NewtonMaterialSetDefaultElasticity (nWorld, i, i, 0.3f);
   NewtonMaterialSetDefaultSoftness   (nWorld, i, i, 0.05f);
   NewtonMaterialSetCollisionCallback (nWorld, i, i, NULL, NULL, NULL);
   
   ICameraSceneNode* cam = smgr->addCameraSceneNodeFPS(
      NULL,//ISceneNode  *       parent = 0,
      100.0f,//f32     rotateSpeed = 100.0f,
      0.01f//f32     moveSpeed = 0.5f,
      //s32     id = -1,
      //SKeyMap *     keyMapArray = 0,
      //s32     keyMapSize = 0,
      //bool     noVerticalMovement = false,
      //f32     jumpSpeed = 0.f,
      //bool     invertMouse = false,
      );//bool     makeActive = true
   cam->setPosition(vector3df(5, 5, 0));
   cam->setTarget(vector3df(0, 5, 0));
   
   device->getCursorControl()->setVisible(false);
   
   //! cube 1
   ISceneNode* cube1 = smgr->addCubeSceneNode(1,0,-1,vector3df(0, 5, 0));
   cube1->setMaterialTexture(0, driver->getTexture("tex/crate.jpg"));
   cube1->setMaterialFlag(EMF_LIGHTING, false);
   
   // Créer le corp // ------------------
   NewtonBody* body1;
   // On Initialise le corp // ----------
   body1 = NewtonCreateBody(nWorld,NewtonCreateBox(nWorld,1,1,1,0,NULL)) ;
   // On lui assigne une matrice // -----
   Matrix mat1;
   NewtonBodySetMatrix(body1,mat1.p());
   mat1.info();
   // Configurer la masse et l'inertie //-
   NewtonBodySetMassMatrix(body1,10,2,2,2);
   // On affecte au corp la force de gravité // ---
   NewtonBodySetForceAndTorqueCallback(body1, ApplyForce);
   
   //! cube 2
   ISceneNode* cube2 = smgr->addCubeSceneNode(1,0,-1,vector3df(0, 0, 0));
   cube2->setMaterialTexture(0, driver->getTexture("tex/crate.jpg"));
   cube2->setMaterialFlag(EMF_LIGHTING, false);
   
   while(device->run())
   {
      // calcule de la physique
      if (device->getTimer()->getTime() > lasttick + 10)
      {   
         NewtonUpdate(nWorld, (device->getTimer()->getTime()-lasttick)/1000);
         lasttick = device->getTimer()->getTime();
         
         NewtonBodyGetMatrix(body1,mat1.p());
         /*cube1->setRotation(vector3df(mat1[0]));
         cube1->setPosition(mat1.getTranslation());*/
         mat1.info();
      }
      
      driver->beginScene(true, true, video::SColor(0,220,220,255));
      smgr->drawAll();
      driver->endScene();
   }
   
   NewtonDestroy(nWorld);
   device->drop();

   return 0;
}


matrix.hpp

Code: Select all

#ifndef MATRIX_HPP_INCLUDED
#define MATRIX_HPP_INCLUDED

class Matrix
{
   public:
   Matrix();
   float* p();
   
   void info(int indice=-1);
   
   private:
   float M[16];
};

#endif // MATRIX_HPP_INCLUDED


matrice.cpp

Code: Select all

#include <iostream>


#include "matrix.hpp"

using namespace std;

Matrix::Matrix()
{
   for(int i=0;i<16;i++)
      M[i]=150;
}

float* Matrix::p()
{
   return M;
}

void Matrix::info(int indice)
{
   for(int i=0;i<16;i++)
      if(i==indice || indice == -1) cout << i << " : " << M[i] << endl;
}


(Sorry for the comments in French)
This code crash on line 123, NewtonUpdate(nWorld, (device->getTimer()->getTime()-lasttick)/1000);

How to use Newton 2.21 ?

Thank you in advance
Cordially
Jagang

[Cannos]

I know this is a dumb question, but are you sure that these calls are not NULL?

device->getTimer()
device->getTimer()->getTime()

It might be worth computing the time to pass into NewtonUpdate on a different line to make sure you're passing in a valid time.

[Jagang]

I'm sure that these calls are not NULL
I changed this part :

Code: Select all

// calcule de la physique
      float tps = device->getTimer()->getTime();
      cout << tps << endl;
      if (tps > lasttick + 10)
      {   
         NewtonUpdate(nWorld, (tps - lasttick + 10)/1000);
         lasttick = device->getTimer()->getTime();
         
         NewtonBodyGetMatrix(body1,mat1.p());
         /*cube1->setRotation(vector3df(mat1[0]));
         cube1->setPosition(mat1.getTranslation());*/
         mat1.info();
      }

And the debugger crash on NewtonUpdate(nWorld, (tps - lasttick + 10)/1000);
The backtrace :

#0 100483AB NewtonCreateCompoundCollisionFromMesh() (G:\********\C++\teleportal\newton.dll:??)
#1 0022FE9C ??() (??:??)
#2 10049BF9 NewtonCreateCompoundCollisionFromMesh() (G:\********\C++\teleportal\newton.dll:??)
#3 00000001 ??() (/mingw/src/gccbf/mingw32/libstdc++-v3/include/ext/concurrence.h:75)
#4 00221C70 ??() (??:??)
#5 C2C80000 ??() (??:??)
#6 00000000 ??() (??:??)

CONFIG :
- Irrlicht 1.7.1
- Newton 2.21
- Code::Blocks 8.02 with GNU GCC 4.4.0 Compiler
- Windows XP SP1

[Julio Jerez]

what is this

Code: Select all

Matrix::Matrix()
{
   for(int i=0;i<16;i++)
      M[i]=150;
}

that will not initialize a normal transformantion matrix

[Jagang]

Sorry, it's for test. I forgot to change it. For me, the normal initialization is :

Code: Select all

Matrix::Matrix()
{
   for(int i=0;i<16;i++)
      M[i]=0;
}

Is it a normal initialization transformation matrix ?

[Cannos]

The identity matrix is:
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1

All 0s is an invalid matrix and will probably have undefined results. Not sure if this is the cause of the crash.

[Jagang]

Code: Select all

Matrix::Matrix()
{
   for(int i=0;i<16;i++)
      M[i]=0;
   M[0]=1;
   M[5]=1;
   M[10]=1;
   M[15]=1;
}

But, it crash always on NewtonUpdate(nWorld, (tps - lasttick + 10)/1000);

[Julio Jerez]

you maybe be using the wrong DLL
you are not using mesh function but the crash happens on a mesh function.

0 100483AB NewtonCreateCompoundCollisionFromMesh() (G:\********\C++\teleportal\newton.dll:??)

by reading the address of the function it looks like you are using a 64 bit library with and 32 by exe
make sure you are usin teh right library wit and teh right float mode.

[Jagang]

In fact, I don't known which .dll and .lib use.
I have Code::Blocks 8.02 with GNU GCC 4.4.0 Compiler but in the SDK all .lib and .dll are for VisualStudio.
I took .dll and .lib which were in this path : NewtonWin-2.21\sdk\x32\dll_double_vs7
But, I don't known if is the right path. (Windows XP SP1 x32)

[Jagang]

I tested with .dll and .lib in NewtonWin-2.21\sdk\x32\dll_vs9 and it don't crash !!
Thank you.

One other question. In the matrix, translations are in M[3][0]=X, M[3][1]=Y and M[3][2]=Z but, where are rotations ? In degrees or in radian ?

[Carli]

NewtonWin-2.21\sdk\x32\dll_double_vs7

you took the double precision library.
this is predestined to crash.

[Carli]

One other question. In the matrix, translations are in M[3][0]=X, M[3][1]=Y and M[3][2]=Z but, where are rotations ? In degrees or in radian ?

in the matrix.

the first row is the side vector, the second is the up vector and the third is the front vector.

[Jagang]

Thank you