dgCollisionCompound::SupportVertex error

[pHySiQuE]

This code is in dgCollisionCompound:

Code: Select all

dgVector dgCollisionCompound::SupportVertex (const dgVector& dir) const
{
   _ASSERTE (0);
   return dgVector (0,0,0,0);
/*

Are compound collisions never meant to be scaled, or is this just a work in progress?

[Julio Jerez]

compoudn general scale not, you scale the children.


but that function should be workd completer

[pHySiQuE]

Ah, I just scale the collisions before adding them to the compound collision, and then I recreate the compound collision any time the scale changes. It works great!

[Julio Jerez]

you do not have to recreate the compound collision you can simple iterate ove teh shapes and apply the scale, it will be cheaper

[pHySiQuE]

How do I get the compound shape's sub collision shapes?:

Code: Select all

void NewtonScaleCompoundCollision(NewtonCollision* const compoundCollision, const float& x, const float& y, const float& z)
{
   NewtonCollision* subcollision;
   void* node;
   
   node = NewtonCompoundCollisionGetFirstNode(compoundCollision);
   while (node!=NULL)
   {
      //-----------------------------------------------------------------------------------------
      subcollision = ???;/// what goes here?????????????????????????????????????
      //-----------------------------------------------------------------------------------------
      NewtonCollisionSetScale(subcollision, x, y, z);
      node = NewtonCompoundCollisionGetNextNode(compoundCollision, node);
   }
}

[Julio Jerez]

Code: Select all

   // show hwo to modify the chidren of a compound collision
   NewtonCompoundCollisionBeginAddRemove(compound);   
   for (void* node = NewtonCompoundCollisionGetFirstNode(compound); node; node = NewtonCompoundCollisionGetNextNode(compound, node)) {
      NewtonCollision* const collision = NewtonCompoundCollisionGetCollisionFromNode(compound, node);
      // you can scale, change the matrix, change the inertia, do anything you want with the change
      NewtonCollisionSetUserData(collision, NULL);
   }
   NewtonCompoundCollisionEndAddRemove(compound);   

[pHySiQuE]

Cool, here's my final working code to rescale any body, in case anyone else needs it:

Code: Select all

NewtonCollision* collision = NewtonBodyGetCollision(newtonBody);
NewtonCollisionInfoRecord collisionInfo;
 NewtonCollisionGetInfo(collision, &collisionInfo);
if (collisionInfo.m_collisionType==SERIALIZE_ID_COMPOUND || collisionInfo.m_collisionType==SERIALIZE_ID_COMPOUND_BREAKABLE)
{
      NewtonCompoundCollisionSetScale(collision,scale.x,scale.y,scale.z);
}
else
{
      NewtonCollisionSetScale(collision,scale.x,scale.y,scale.z);
}

Code: Select all

    void NewtonDynamicsBody::NewtonCompoundCollisionSetScale(NewtonCollision* const compoundCollision, const float& x, const float& y, const float& z)
    {
        NewtonCollision* subcollision;
        void* node;
       
        NewtonCompoundCollisionBeginAddRemove(compoundCollision);
        node = NewtonCompoundCollisionGetFirstNode(compoundCollision);
        while (node!=NULL)
        {
            subcollision = NewtonCompoundCollisionGetCollisionFromNode(compoundCollision, node);
            NewtonCollisionSetScale(subcollision, x, y, z);
            node = NewtonCompoundCollisionGetNextNode(compoundCollision, node);
        }
        NewtonCompoundCollisionEndAddRemove(compoundCollision);
    }