[DirectX9 VC++] Problem implementing Newton

[Ripiz]

I'm trying to implement Newton's to my project, however I'm having some issues. I'm not sure if I have done everything right. For some reason shape remains illegal pointer after calling NewtonCreateConvexHull(), and then it throws errors in CreateRigidBody() as it pass illegal pointer. Could anyone help me please?

Code: Select all

//top of main.cpp
#include "physics/Newton.h"
#include "physics/JointLibrary.h"

static NewtonWorld* g_world;

//WinMain
   g_world = NewtonCreate (AllocMemory, FreeMemory);
   NewtonSetPlatformArchitecture (g_world, 0);
   Vector minSize (-1000.0f, -1000.0f, -1000.0f);
   Vector maxSize ( 1000.0f,  1000.0f,  1000.0f);
   NewtonSetWorldSize (g_world, &minSize[0], &maxSize[0]);
   NewtonSetSolverModel (g_world, 1);

   NewtonCollision* shape;
   test=new Model(p_Device,"Jin.x",Vector(0,0,0),Vector(0,0,0),Vector(1,1,1));
   test->Load();
   float f=test->Mesh->GetNumVertices()*3.0f*sizeof(float);
   shape = NewtonCreateConvexHull(g_world, test->Mesh->GetNumVertices(),&f, 3 * sizeof (float), 0.1f, 0, NULL);
   CreateRigidBody (g_world, test, shape, 10.0f);
   NewtonReleaseCollision (g_world, shape);

//other stuff
void* AllocMemory (int sizeInBytes){
   return malloc (sizeInBytes);
}
void FreeMemory (void *ptr, int sizeInBytes){
   free (ptr);
}
void DestroyBodyCallback (const NewtonBody* body){
}
void ApplyForceAndTorqueCallback (const NewtonBody* body, float timestep, int threadIndex){
   float Ixx;
   float Iyy;
   float Izz;
   float mass;
   NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
   D3DXVECTOR4 gravityForce  (0.0f, mass * -10.0f, 0.0f, 1.0f);
   NewtonBodySetForce(body, &gravityForce[0]);
}
void SetTransformCallback (const NewtonBody* body, const float* matrix, int threadIndex){
   Model* ent;
   D3DXVECTOR4 posit (matrix[12], matrix[13], matrix[14], 1.0f);
   NewtonBodyGetRotation(body, NULL);
   ent = (Model*) NewtonBodyGetUserData(body);
}
NewtonBody* CreateRigidBody (NewtonWorld* world, Model* ent, NewtonCollision* collision, float mass){
   Vector minBox;
   Vector maxBox;
   Vector origin;
   Vector inertia;
   NewtonBody* body;
   body = NewtonCreateBody (world, collision);
   NewtonBodySetDestructorCallback (body, DestroyBodyCallback);
   NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
   NewtonBodySetMassMatrix (body, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
   NewtonBodySetCentreOfMass (body, &origin[0]);
   NewtonBodySetForceAndTorqueCallback (body, ApplyForceAndTorqueCallback);
   NewtonBodySetTransformCallback (body, SetTransformCallback);
   return body;
}


Edit: I'm using Newton 2.10 for Windows

[Julio Jerez]

I do not think that in this
float f=test->Mesh->GetNumVertices()*3.0f*sizeof(float);
&f

f is no a pointer, you need to pass the pointer to the array of floats of teh mesh not just a pointe to one float.

[Ripiz]

Array of float? And what to store there? Or empty one?

[Julio Jerez]

there must be a funtion the get teh pointer to teh vertex array in your mesh.

you can not just past a printe to one float

when you do

float f = ...
&f
is just teh adress to one float on the stack.

[JernejL]

Array of float? And what to store there? Or empty one?

A cloud of points to build the convex hull.

[Ripiz]

I'm getting error =/ Marked like where it happens. Any ideas?

Code: Select all

#include "physics/Newton.h"
#include "physics/JointLibrary.h"
static NewtonWorld* g_world;

typedef  D3DXVECTOR3 Vector;
typedef  D3DXMATRIX Matrix;

struct D3DVERTEX {
    D3DXVECTOR3 p;
    D3DXVECTOR3 n;
    FLOAT tu, tv;
    static const DWORD FVF;
};

void* AllocMemory (int sizeInBytes){
   return malloc (sizeInBytes);
}
void FreeMemory (void *ptr, int sizeInBytes){
   free (ptr);
}
void DestroyBodyCallback (const NewtonBody* body){
}
void ApplyForceAndTorqueCallback (const NewtonBody* body, float timestep, int threadIndex){
   float Ixx;
   float Iyy;
   float Izz;
   float mass;
   NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);
   D3DXVECTOR4 gravityForce  (0.0f, mass * -10.0f, 0.0f, 1.0f);
   NewtonBodySetForce(body, &gravityForce[0]);
}
void SetTransformCallback (const NewtonBody* body, const float* matrix, int threadIndex){
   Model* ent;
   Vector posit (matrix[12], matrix[13], matrix[14]);
   ent = (Model*) NewtonBodyGetUserData(body); //-------------------------------ERROR------------------------------------
   ent->vecPos=posit;
}
NewtonBody* CreateRigidBody (NewtonWorld* world, Model* ent, NewtonCollision* collision, float mass){
   Vector minBox;
   Vector maxBox;
   Vector origin;
   Vector inertia;
   NewtonBody* body;
   body = NewtonCreateBody (world, collision);
   NewtonBodySetDestructorCallback (body, DestroyBodyCallback);
   NewtonConvexCollisionCalculateInertialMatrix (collision, &inertia[0], &origin[0]);
   NewtonBodySetMassMatrix (body, mass, mass * inertia.x, mass * inertia.y, mass * inertia.z);
   NewtonBodySetCentreOfMass (body, &origin[0]);
   NewtonBodySetForceAndTorqueCallback (body, ApplyForceAndTorqueCallback);
   NewtonBodySetTransformCallback (body, SetTransformCallback);
   return body;
}
NewtonCollision* CreateNewtonConvex (NewtonWorld* world, Model *ent, int shapeId){
   NewtonCollision* collision;
   float* tmpArray = new float [ent->Mesh->GetNumVertices()*3];
   LPDIRECT3DVERTEXBUFFER9 pVertices;
   ent->Mesh->GetVertexBuffer( &pVertices );
   D3DVERTEX *pVerticesW;
   pVertices->Lock( 0, 0, ( void** )&pVerticesW, 0 );
   for(unsigned int i=0;i<ent->Mesh->GetNumVertices();i++){
      tmpArray[i*3+0]=pVerticesW[i].p.x;
      tmpArray[i*3+1]=pVerticesW[i].p.y;
      tmpArray[i*3+2]=pVerticesW[i].p.z;
   }
   collision = NewtonCreateConvexHull(world, ent->Mesh->GetNumVertices(), (float*)tmpArray, sizeof (Vector), 0.1f, shapeId, NULL);
   delete tmpArray;
   return collision;
}

//WinMain
   g_world = NewtonCreate (AllocMemory, FreeMemory);
   NewtonSetPlatformArchitecture (g_world, 0);
   Vector minSize (-1000.0f, -1000.0f, -1000.0f);
   Vector maxSize ( 1000.0f,  1000.0f,  1000.0f);
   NewtonSetWorldSize (g_world, &minSize[0], &maxSize[0]);
   NewtonSetSolverModel (g_world, 1);

   NewtonCollision* shape;
   test=new Model(p_Device,"Jin.x",Vector(0,5,10),Vector(0,0,0),Vector(1,1,1));
   test->Load();
   shape=CreateNewtonConvex (g_world, test, 0);
   CreateRigidBody (g_world, test, shape, 10.0f);
   NewtonReleaseCollision (g_world, shape);

// loop
         NewtonUpdate (g_world,elapsedTime); (elapsedTime is float in seconds, so values low)

Thank you in advance

[Julio Jerez]

you need to sav ethe pointer to teh visual mesh with the body

see the tutorial in the wiki
http://newtondynamics.com/wiki/index.php5?title=Tutorials

[Ripiz]

Found it.. Somehow this line disappeared, added NewtonBodySetUserData (body, ent); and error disappeared. However my model is falling to the right, if that can be called fall, not downwards, why?

Edit: Nevermind, found that one too, I wonder how to delete own post...