TransformCallback not triggered

[roy844]

hi,

i tryed to find out why the transformation callback is not triggered. i used code from the tutorial that does work, but it is still a mystery why my code is not working. The object has a mass and the transformcallback is set.

the ForceAndTorqueCallback function is triggered and a force is added (gravity)
code below :

Code: Select all

   NewtonBodySetTransformCallback(body, SetTransformCallback); // register the transformation callback
   NewtonBodySetForceAndTorqueCallback (body, ApplyForceAndTorqueCallback);

// Transform callback to set the matrix of a the visual entity
void SetTransformCallback (const NewtonBody* body, const dFloat* matrix, int threadIndex)
{
   c_Object* ent;

   // Get the position from the matrix
   dVector posit (matrix[12], matrix[13], matrix[14], 1.0f);
   dQuaternion rotation;

   // we will ignore the Rotation part of matrix and use the quaternion rotation stored in the body
   NewtonBodyGetRotation(body, &rotation.m_q0);

   // get the entity associated with this rigid body
   ent = (c_Object*) NewtonBodyGetUserData(body);

   // since this tutorial run the physics and a different fps than the Graphics
   // we need to save the entity current transformation state before updating the new state.
   ent->m_prevPosition = ent->m_curPosition;
   ent->m_prevRotation = ent->m_curRotation;
   if (ent->m_curRotation.DotProduct (rotation) < 0.0f) {
      ent->m_prevRotation.Scale(-1.0f);
   }

   // set the new position and orientation for this entity
   ent->m_curPosition = posit;
   ent->m_curRotation = rotation;
}


// callback to apply external forces to body
void ApplyForceAndTorqueCallback (const NewtonBody* body, dFloat timestep, int threadIndex)
{
   dFloat Ixx;
   dFloat Iyy;
   dFloat Izz;
   dFloat mass;

   // for this tutorial the only external force in the Gravity
   NewtonBodyGetMassMatrix (body, &mass, &Ixx, &Iyy, &Izz);

   dVector gravityForce  (0.0f, mass * GRAVITY, 0.0f, 1.0f);
   NewtonBodySetForce(body, &gravityForce[0]);
}

[JernejL]

Is the body actually moving? you tried debug rendering to see if it moves?

[roy844]

i did debuged and noticed the body is not moving, but i did noticed a force vector is added 100 y direction.
mass(10) * gravity(10) = 100, but no movement and no transformation callback.

[Julio Jerez]

Is the body resting on the floor?
when the body is in equlibrium they do not get transform callback.

try making the body active by setting auto sleep off and see if it works.

[roy844]

the object is the only object so it can not rest on the floor.
could it be that it is outside of the newtonworld or so ?
and i did set the body to active with code below no result.

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NewtonBodySetFreezeState(box,0);

[Julio Jerez]

if you have there is not floor to rest then objects will fall for ever and it they will hit the world bounday. when that happen the body is forzed frozen.
if you set the NetwonOnBodyLeaveWorld callback you will see that the body hit a world edge, and after that not more transform updates.

you need to add a solid floor or make a weightless space when gravity is zero an dteh body will.

[roy844]

ok i am trying to set NewtonSetBodyLeaveWorldEvent but i get an error:

error C2664: 'NewtonSetBodyLeaveWorldEvent' : cannot convert parameter 2 from 'void (__cdecl *)(const NewtonBody *)' to 'NewtonBodyLeaveWorld'

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static void LeaveWorldCallback(const NewtonBody* body);

void LeaveWorldCallback(const NewtonBody* body)
{
 int test = 3;
}

NewtonSetBodyLeaveWorldEvent(world, LeaveWorldCallback);

[roy844]

i looked some more and i thought maybe these warnings is causing the problem ?

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Compiling...
CollisionShapeUtil.cpp
main.cpp
object.cpp
PhysicsEngine.cpp
RigidBodyUtil.cpp
SceneManager.cpp
stdafx.cpp
Generating Code...
Linking...
[b]LINK : C:\Documents and Settings\Ontwikkel\Mijn documenten\Visual Studio 2008\Projects\game\Debug\game.exe not found or not built by the last incremental link; performing full link
LINK : warning LNK4098: defaultlib 'LIBCMT' conflicts with use of other libs; use /NODEFAULTLIB:library
dMath.lib(dMatrix.obj) : warning LNK4204: 'C:\Documents and Settings\Ontwikkel\Mijn documenten\Visual Studio 2008\Projects\game\Debug\vc90.pdb' is missing debugging information for referencing module; linking object as if no debug info
dMath.lib(dQuaternion.obj) : warning LNK4204: 'C:\Documents and Settings\Ontwikkel\Mijn documenten\Visual Studio 2008\Projects\game\Debug\vc90.pdb' is missing debugging information for referencing module; linking object as if no debug info[/b]Embedding manifest...