Irrlicht and Newton ConvexHull

[Colin]

hi there, thanks for replies, ok so i got up this morning, checked all my libs and realised i had downloaded newton 2.29 but not extracted it .... ok so how silly i am i was still using 2.24 anyways i updated the dll, and now nothing collides correctly, so i moved back to trying to get boxes to collide.

i found 1 strange thing in my box.init procedure if i change the

CreateNewtonBody matrix to the const vPosition value i pass to the procedure it creates the boxes and all is drawn correct and seems to work, only everything is created in 1 place, not the values of vPosition_ and the debug seems has larger scale ( i have tried several things to fix with no success)

if i create from a seperate vector3df then it does not work, draws boxes elsewhere and physics debug is elsewhere also.

the code:

debug rendering:

procedure RenderDebugCollision(body: Pointer; vertexCount: Integer; const FaceArray: PFloat; faceId: Integer); cdecl;
var
  i: Integer;
  p0: Vector3df;
  p1: Vector3df;
  irr_p1: Vector3df;
  irr_p2: Vector3df;
  active: Integer;
  color: PSColorf;
begin
  active := NewtonBodyGetSleepState(body);

  case active of
    0: color := getSColorfp(255,0,255,0); //getSColorfp(255,0,255,0);
    1: color := getSColorfp(255,255,255,0);
  end;

  i := vertexcount - 1;

  {$POINTERMATH ON}
  p0.x := FaceArray[i * 3 + 0];
  p0.y := FaceArray[i * 3 + 1];
  p0.z := FaceArray[i * 3 + 2];

  for i := 0 to vertexcount-1 do begin
    p1.x := FaceArray[i * 3 + 0];
    p1.y := FaceArray[i * 3 + 1];
    p1.z := FaceArray[i * 3 + 2];

    Driver.draw3DLine(@p0.x, @p1.x, color.toSColor);

    p0 := p1;
  end;
  {$POINTERMATH OFF}
end;

procedure DebugCallback(const body : PNewtonBody); cdecl;
var
  m: matrix4;
begin
  NewtonBodyGetMatrix(body, @m.M[0]);
  NewtonCollisionForEachPolygonDo(NewtonBodyGetCollision(body), @m.M[0], RenderDebugCollision, Pointer(body));
end;

the loop

  lastFPS := -1;
  while device.run do begin
    driver.beginScene(True, True, getSColor(255, 100, 101, 140), DefEVD, nil);

    smgr.drawAll;
    gui.drawAll;

    DebugCallback(box1.newtonBody);
    DebugCallback(box2.newtonBody);
    DebugCallback(level.newtonBody);

    driver.endScene;
    //  fps
    fps := driver.getFPS;
    if (lastFPS <> fps) then begin
      device.setWindowCaption(PWideChar(WideString('FPS: ' + str(fps))));
      lastFPS := fps;
    end;

    NewtonUpdate(nWorld, 1.0 / fps);
    //NewtonUpdate(nWorld, 0.01);
  end;

before the loop i create my game objects (custom records)

    box1.Init(nWorld, smgr, 1, nil, -1, getvector3dfp(0,500,0),getvector3dfp(0,0,0),getvector3dfp(50,50,50), 10);
    setMaterialFlag(box1.node, EMF_LIGHTING, false);
    setMaterialTexture(box1.node, 0, getTexture(driver, 'models/crate.jpg'));

    box2.Init(nWorld, smgr, 1, nil, -1, getvector3dfp(0,650,0),getvector3dfp(0,0,0),getvector3dfp(50,50,50), 10);
    setMaterialFlag(box2.node, EMF_LIGHTING, false);
    setMaterialTexture(box2.node, 0, getTexture(driver, 'models/crate.jpg'));

for now i just made them static records (no pointer) which then does the following:

procedure TBox.Init(nWorld: PNewtonWorld; smgr: ISceneManager; vSize: Single; vParent: PISceneNode; vId: Integer; const vPosition_: Pvector3dF; const vRotation_: Pvector3dF; const vScale_: Pvector3dF; pMass : Single);
var
  Inertia   : Vector3df;
  Collision : PNewtonCollision;

  offset: matrix4;
begin
  offset.makeIdentity();
  node := smgr.addCubeSceneNode(vSize, vParent, vId, vPosition_,vRotation_,vScale_);

  Collision  := NewtonCreateBox(nWorld, vScale_.x, vScale_.y, vScale_.z, 0, offset.pointer);
  // Create the rigid body
  newtonBody := CreateNewtonBody(nWorld, Collision, @vPosition_.x);
  NewtonReleaseCollision(nWorld, Collision);

	NewtonBodySetUserData(newtonBody, node);

  Inertia.x := pMass * (vScale_.y * vScale_.y + vScale_.z * vScale_.z) / 12;
  Inertia.y := pMass * (vScale_.x * vScale_.x + vScale_.z * vScale_.z) / 12;
  Inertia.z := pMass * (vScale_.x * vScale_.x + vScale_.y * vScale_.y) / 12;

  // Set the bodies mass and moment of inertia
  NewtonBodySetMassMatrix(newtonBody, pMass, Inertia.x, Inertia.y, Inertia.z);

  // Finally set the callback in which the forces on this body will be applied
  NewtonBodySetForceAndTorqueCallBack(newtonBody, ForceAndTorqueCallBack);
	NewtonBodySetTransformCallback(newtonBody, SetTransformCallback);
end;

callbacks:

procedure SetTransformCallback(const body: PNewtonBody; const matr: PFloat; threadIndex: Integer); cdecl;
var
  node: ISceneNode;
  irrMat: matrix4;
  pos: Vector3df;
  rot: Vector3df;
begin
  node := NewtonBodyGetUserData(body);

	if assigned(node) then begin
    CopyMemory(irrMat.pointer(), matr, sizeof(Float)*16);

    pos := irrMat.getTranslation^;
    rot := irrMat.getRotationDegrees();

    node.setPosition(@pos.x);
    node.setRotation(@rot.x);
  end;
end;


procedure ForceAndTorqueCallback(const body: PNewtonBody; timestep: float; threadindex: integer); cdecl;
var
  Mass    : Single;
  Inertia : Vector3df;
  Force   : Vector3df;
begin
  NewtonBodyGetMassMatrix(body, @Mass, @Inertia.x, @Inertia.y, @Inertia.z);

  Force := getvector3df(0, -9.8 * Mass, 0); // earth? :)
  NewtonBodyAddForce(body, @Force.x);
end;

example app:

download here

thanks hope you can help.


EDIT:
note to mods, there seems to be a glitch in [ code] it keeps adding extra tabs to my code.