Can someone give a vehicle simulation in Detritus?

pizzazhang

05-11-2010 10:20:11

Hi guys:
I'm new to NxOgre. I've been looking for a vehicle simulation sample for a few days and now I'm still confused. I'm using Ogre1.7.x and Detritus of NxOgre. I have checked the NxOgre tutorials but still get no answer. What really confuses me is that how to put four wheels and the vehicle's body together in Detritus. I can get the shape of each wheel and the body.
I would really appreciate it if someone can help me.

betajaen

05-11-2010 10:36:41

Here are two vehicle tutorials which I haven't released yet, although these are for unicycles and bikes adding extra wheels is the same.

701

/** 

    

    NxOgre Tutorials - 701 - Wheel Shapes

    

    Copyright (c) 2009 Robin Southern, http://www.nxogre.org

    

    Permission is hereby granted, free of charge, to any person obtaining a copy

    of this software and associated documentation files (the "Software"), to deal

    in the Software without restriction, including without limitation the rights

    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

    copies of the Software, and to permit persons to whom the Software is

    furnished to do so, subject to the following conditions:

    

    The above copyright notice and this permission notice shall be included in

    all copies or substantial portions of the Software.

    

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

    THE SOFTWARE.

    

*/



#include "OGRE/SdkSample.h"

#include "OGRE/SamplePlugin.h"

#include "NxOgre.h"

#include "critter.h"



using namespace Ogre;

using namespace OgreBites;

using namespace NxOgre;

using namespace Critter;



class _OgreSampleClassExport NxOgre701 : public SdkSample

{

 

public:

 

 NxOgre::World*          mWorld;

 NxOgre::Scene*          mScene;

 Critter::RenderSystem*  mRenderSystem;

 

 Body*                   mUnicycle;

 Wheel*                  mWheel;

 

 // So we can identify with shape is which later.

 enum ShapeIds

 {

  Chassis      = 1,

  MiddleWheel  = 2 

 };

 

 void setupPhysics()

 {

  

  createWorldSceneEtc();

 

  Critter::BodyDescription bodyDescription;

  bodyDescription.mMass = 40.0f;

  

  // The body is going to have only one wheel (A unicycle) to prevent it falling over, we'll cheat physics and

  // freeze the rotations of this body only.

  bodyDescription.mDynamicRigidbodyFlags += DynamicRigidbodyFlags::FreezeRotationX;

  bodyDescription.mDynamicRigidbodyFlags += DynamicRigidbodyFlags::FreezeRotationZ;

  

  // A body with a wheel can't sleep. So we'll make the sleep counter to ~3 years!

  bodyDescription.mWakeUpCounter = 1E8;

  

  NxOgre::ShapeDescriptions shapes;

  

  // A wheel can't just be attached to a Actor/Body by itself, it needs a chassis for collisions.

  BoxDescription box_desc;

  box_desc.mSize.set(1,1,1);

  box_desc.mId = Chassis;

  

  // Wheels are like normal shapes, they are attached to the Actor/Body just like a Box or a Sphere

  WheelDescription wheel_desc;

  wheel_desc.mRadius = 0.5f;

  wheel_desc.mLocalPose = Vec3(0,-0.5,0); // This wheel is just going to be underneath the box.

  wheel_desc.mId = MiddleWheel;

  

  shapes.push_back(&box_desc);

  shapes.push_back(&wheel_desc);

  

  mUnicycle = mRenderSystem->createBody(shapes, Vec3(0,3,0), "cube.1m.mesh", bodyDescription);

  

  // Go through the shapes and find our wheel, via the Id that was just set earlier.

  // Remember we don't delete the shapes, the Actor/Body will for us. We're just borrowing them.

  

  mWheel = static_cast<Wheel*>(   mUnicycle->getShapeById(MiddleWheel)   );

  

  // Wheels's aren't normally rendered, but later tutorials will cover this with the Machine class

  // For now, turn on the VisualDebugger so you can see it.

  mRenderSystem->setVisualisationMode(NxOgre::Enums::VisualDebugger_ShowAll);

 }

 



 void createWorldSceneEtc()

 {

  // The usual suspects.

  mWorld = NxOgre::World::createWorld();

  NxOgre::ResourceSystem::getSingleton()->openProtocol(new Critter::OgreResourceProtocol());

  mWorld->getRemoteDebugger()->connect();

  NxOgre::SceneDescription scene_description;

  scene_description.mGravity = Constants::MEAN_EARTH_GRAVITY;

  scene_description.mUseHardware = false;

  mScene = mWorld->createScene(scene_description);

  mScene->createSceneGeometry(NxOgre::PlaneGeometryDescription());

  mRenderSystem = new Critter::RenderSystem(mScene, mSceneMgr);

  mScene->getMaterial(0)->setAll(0.1, 0.5,0.5);

 }



 Body* makeBox(const Matrix44& globalPose, const Vec3& initialVelocity = Vec3::ZERO, GroupIdentifier group = 0)

 {

  

  Critter::BodyDescription bodyDescription;

  bodyDescription.mMass = 40.0f;

  bodyDescription.mLinearVelocity = initialVelocity;



  BoxDescription box_desc;

  box_desc.mSize.set(1,1,1);

  box_desc.mGroup = group;

  

  Body* box = mRenderSystem->createBody(box_desc, globalPose, "cube.1m.mesh", bodyDescription);

  

  return box;

 }



 bool keyPressed(const OIS::KeyEvent& evt)

 {

  

  // Listen to the IJKL keys to rotate and turn the wheel.

  

  if (evt.key == OIS::KC_I)

   mWheel->setMotorTorque(100);   // Forward

  else if (evt.key == OIS::KC_K)

   mWheel->setMotorTorque(-100);  // Reverse

  else

   mWheel->setMotorTorque(0);     // Apply no torque if forward/reverse isn't down.

  

  if (evt.key == OIS::KC_J)

   mWheel->setSteeringAngle(mWheel->getSteeringAngle() + NxOgre::Radian(0.1)); // Turn left

  else if (evt.key == OIS::KC_L)

   mWheel->setSteeringAngle(mWheel->getSteeringAngle() - NxOgre::Radian(0.1)); // Turn right.

  

  return SdkSample::keyPressed(evt);

 }

 void stopPhysics()

 {

  NxOgre::World::destroyWorld();

 }

 

 void setupContent()

 {

  

  ColourValue background = ColourValue(16.f/255.f, 16.f/255.f, 16.f/255.f);

  mViewport->setBackgroundColour(background);

  mSceneMgr->setFog(Ogre::FOG_EXP, background, 0.001, 800, 1000);

  

  // set shadow properties

  mSceneMgr->setShadowTechnique(SHADOWTYPE_TEXTURE_MODULATIVE);

  mSceneMgr->setShadowColour(ColourValue(0.5, 0.5, 0.5));

  mSceneMgr->setShadowTextureSize(1024);

  mSceneMgr->setShadowTextureCount(1);



  // create a floor mesh resource

  Ogre::MeshManager::getSingleton().createPlane("floor", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,

  Plane(Vector3::UNIT_Y, 0), 1000, 1000, 1,1 , true, 1, 1, 1, Vector3::UNIT_Z);



  // create a floor entity, give it a material, and place it at the origin

  Entity* floor = mSceneMgr->createEntity("Floor", "floor");

  floor->setMaterialName("ground-from-nxogre.org");

  floor->setCastShadows(false);

  mSceneMgr->getRootSceneNode()->attachObject(floor);



  // use a small amount of ambient lighting

  mSceneMgr->setAmbientLight(ColourValue(0.3, 0.3, 0.3));



  // add a bright light above the scene

  Light* light = mSceneMgr->createLight();

  light->setType(Light::LT_POINT);

  light->setPosition(-10, 40, 20);

  light->setSpecularColour(ColourValue::White);

  

  mCamera->setPosition(10,10,10);

  mCamera->lookAt(0,0.5,0);

  mCamera->setNearClipDistance(0.02f);

  mCamera->setFarClipDistance(1000.0f);

  mCameraMan->setTopSpeed(7.5);



  setupPhysics();

 }

 

 void cleanupContent()

 {

  stopPhysics();

 }





 bool frameRenderingQueued(const FrameEvent& evt)

 {

  

  // Advance NxOgre.

  mWorld->advance(evt.timeSinceLastFrame);

  

  // Don't let the camera go underground.

  if (mCamera->getPosition().y < 0.5f)

  {

   Ogre::Vector3 pos = mCamera->getPosition();

   pos.y = 0.5f;

   mCamera->setPosition(pos);

  }



  return SdkSample::frameRenderingQueued(evt);

 }



 NxOgre701()

 {

  mInfo["Title"] = "NxOgre 701";

  mInfo["Description"] = "NxOgre 701 - Wheel Shapes";

  mInfo["Thumbnail"] = "thumb_skybox.png";

  mInfo["Category"] = "Physics";

  mInfo["Help"] = "Filtering collisions.";

 }



};



SamplePlugin* sp;

Sample* s;



extern "C" _OgreSampleExport void dllStartPlugin()

{

    s = new NxOgre701;

    sp = OGRE_NEW OgreBites::SamplePlugin(s->getInfo()["Title"] + " Sample");

    sp->addSample(s);

    Ogre::Root::getSingleton().installPlugin(sp);

}



extern "C" _OgreSampleExport void dllStopPlugin()

{

    Ogre::Root::getSingleton().uninstallPlugin(sp); 

    OGRE_DELETE sp;

    delete s;

}

702 - This one is unfinished.

/** 

    

    NxOgre Tutorials - 701 - Wheel Shapes

    

    Copyright (c) 2009 Robin Southern, http://www.nxogre.org

    

    Permission is hereby granted, free of charge, to any person obtaining a copy

    of this software and associated documentation files (the "Software"), to deal

    in the Software without restriction, including without limitation the rights

    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

    copies of the Software, and to permit persons to whom the Software is

    furnished to do so, subject to the following conditions:

    

    The above copyright notice and this permission notice shall be included in

    all copies or substantial portions of the Software.

    

    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

    FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

    AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

    LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

    OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN

    THE SOFTWARE.

    

*/



#include "OGRE/SdkSample.h"

#include "OGRE/SamplePlugin.h"

#include "NxOgre.h"

#include "critter.h"



using namespace Ogre;

using namespace OgreBites;

using namespace NxOgre;

using namespace Critter;



class _OgreSampleClassExport NxOgre701 : public SdkSample

{

 

public:

 

 NxOgre::World*          mWorld;

 NxOgre::Scene*          mScene;

 Critter::RenderSystem*  mRenderSystem;

 

 Body*                   mUnicycle;

 Wheel*                  mWheel;

 

 // So we can identify with shape is which later.

 enum ShapeIds

 {

  Chassis      = 1,

  MiddleWheel  = 2 

 };

 

 void setupPhysics()

 {

  

  createWorldSceneEtc();

 

  Critter::BodyDescription bodyDescription;

  bodyDescription.mMass = 40.0f;

  

  // The body is going to have only one wheel (A unicycle) to prevent it falling over, we'll cheat physics and

  // freeze the rotations of this body only.

  bodyDescription.mDynamicRigidbodyFlags += DynamicRigidbodyFlags::FreezeRotationX;

  bodyDescription.mDynamicRigidbodyFlags += DynamicRigidbodyFlags::FreezeRotationZ;

  

  // A body with a wheel can't sleep. So we'll make the sleep counter to ~3 years!

  bodyDescription.mWakeUpCounter = 1E8;

  

  NxOgre::ShapeDescriptions shapes;

  

  // A wheel can't just be attached to a Actor/Body by itself, it needs a chassis for collisions.

  BoxDescription box_desc;

  box_desc.mSize.set(1,1,1);

  box_desc.mId = Chassis;

  

  // Wheels are like normal shapes, they are attached to the Actor/Body just like a Box or a Sphere

  WheelDescription wheel_desc;

  wheel_desc.mRadius = 0.5f;

  wheel_desc.mLocalPose = Vec3(0,-0.5,0); // This wheel is just going to be underneath the box.

  wheel_desc.mId = MiddleWheel;

  

  shapes.push_back(&box_desc);

  shapes.push_back(&wheel_desc);

  

  mUnicycle = mRenderSystem->createBody(shapes, Vec3(0,3,0), "cube.1m.mesh", bodyDescription);

  

  // Go through the shapes and find our wheel, via the Id that was just set earlier.

  // Remember we don't delete the shapes, the Actor/Body will for us. We're just borrowing them.

  

  mWheel = static_cast<Wheel*>(   mUnicycle->getShapeById(MiddleWheel)   );

  

  // Wheels's aren't normally rendered, but later tutorials will cover this with the Machine class

  // For now, turn on the VisualDebugger so you can see it.

  mRenderSystem->setVisualisationMode(NxOgre::Enums::VisualDebugger_ShowAll);

 }

 



 void createWorldSceneEtc()

 {

  // The usual suspects.

  mWorld = NxOgre::World::createWorld();

  NxOgre::ResourceSystem::getSingleton()->openProtocol(new Critter::OgreResourceProtocol());

  mWorld->getRemoteDebugger()->connect();

  NxOgre::SceneDescription scene_description;

  scene_description.mGravity = Constants::MEAN_EARTH_GRAVITY;

  scene_description.mUseHardware = false;

  mScene = mWorld->createScene(scene_description);

  mScene->createSceneGeometry(NxOgre::PlaneGeometryDescription());

  mRenderSystem = new Critter::RenderSystem(mScene, mSceneMgr);

  mScene->getMaterial(0)->setAll(0.1, 0.5,0.5);

 }



 Body* makeBox(const Matrix44& globalPose, const Vec3& initialVelocity = Vec3::ZERO, GroupIdentifier group = 0)

 {

  

  Critter::BodyDescription bodyDescription;

  bodyDescription.mMass = 40.0f;

  bodyDescription.mLinearVelocity = initialVelocity;



  BoxDescription box_desc;

  box_desc.mSize.set(1,1,1);

  box_desc.mGroup = group;

  

  Body* box = mRenderSystem->createBody(box_desc, globalPose, "cube.1m.mesh", bodyDescription);

  

  return box;

 }



 bool keyPressed(const OIS::KeyEvent& evt)

 {

  

  // Listen to the IJKL keys to rotate and turn the wheel.

  

  if (evt.key == OIS::KC_I)

   mWheel->setMotorTorque(100);   // Forward

  else if (evt.key == OIS::KC_K)

   mWheel->setMotorTorque(-100);  // Reverse

  else

   mWheel->setMotorTorque(0);     // Apply no torque if forward/reverse isn't down.

  

  if (evt.key == OIS::KC_J)

   mWheel->setSteeringAngle(mWheel->getSteeringAngle() + NxOgre::Radian(0.1)); // Turn left

  else if (evt.key == OIS::KC_L)

   mWheel->setSteeringAngle(mWheel->getSteeringAngle() - NxOgre::Radian(0.1)); // Turn right.

  

  return SdkSample::keyPressed(evt);

 }

 void stopPhysics()

 {

  NxOgre::World::destroyWorld();

 }

 

 void setupContent()

 {

  

  ColourValue background = ColourValue(16.f/255.f, 16.f/255.f, 16.f/255.f);

  mViewport->setBackgroundColour(background);

  mSceneMgr->setFog(Ogre::FOG_EXP, background, 0.001, 800, 1000);

  

  // set shadow properties

  mSceneMgr->setShadowTechnique(SHADOWTYPE_TEXTURE_MODULATIVE);

  mSceneMgr->setShadowColour(ColourValue(0.5, 0.5, 0.5));

  mSceneMgr->setShadowTextureSize(1024);

  mSceneMgr->setShadowTextureCount(1);



  // create a floor mesh resource

  Ogre::MeshManager::getSingleton().createPlane("floor", ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,

  Plane(Vector3::UNIT_Y, 0), 1000, 1000, 1,1 , true, 1, 1, 1, Vector3::UNIT_Z);



  // create a floor entity, give it a material, and place it at the origin

  Entity* floor = mSceneMgr->createEntity("Floor", "floor");

  floor->setMaterialName("ground-from-nxogre.org");

  floor->setCastShadows(false);

  mSceneMgr->getRootSceneNode()->attachObject(floor);



  // use a small amount of ambient lighting

  mSceneMgr->setAmbientLight(ColourValue(0.3, 0.3, 0.3));



  // add a bright light above the scene

  Light* light = mSceneMgr->createLight();

  light->setType(Light::LT_POINT);

  light->setPosition(-10, 40, 20);

  light->setSpecularColour(ColourValue::White);

  

  mCamera->setPosition(10,10,10);

  mCamera->lookAt(0,0.5,0);

  mCamera->setNearClipDistance(0.02f);

  mCamera->setFarClipDistance(1000.0f);

  mCameraMan->setTopSpeed(7.5);



  setupPhysics();

 }

 

 void cleanupContent()

 {

  stopPhysics();

 }





 bool frameRenderingQueued(const FrameEvent& evt)

 {

  

  // Advance NxOgre.

  mWorld->advance(evt.timeSinceLastFrame);

  

  // Don't let the camera go underground.

  if (mCamera->getPosition().y < 0.5f)

  {

   Ogre::Vector3 pos = mCamera->getPosition();

   pos.y = 0.5f;

   mCamera->setPosition(pos);

  }



  return SdkSample::frameRenderingQueued(evt);

 }



 NxOgre701()

 {

  mInfo["Title"] = "NxOgre 701";

  mInfo["Description"] = "NxOgre 701 - Wheel Shapes";

  mInfo["Thumbnail"] = "thumb_skybox.png";

  mInfo["Category"] = "Physics";

  mInfo["Help"] = "Filtering collisions.";

 }



};



SamplePlugin* sp;

Sample* s;



extern "C" _OgreSampleExport void dllStartPlugin()

{

    s = new NxOgre701;

    sp = OGRE_NEW OgreBites::SamplePlugin(s->getInfo()["Title"] + " Sample");

    sp->addSample(s);

    Ogre::Root::getSingleton().installPlugin(sp);

}



extern "C" _OgreSampleExport void dllStopPlugin()

{

    Ogre::Root::getSingleton().uninstallPlugin(sp); 

    OGRE_DELETE sp;

    delete s;

}

pizzazhang

05-11-2010 12:04:12

To betajaen:
Thank you very much!Your reply is very rapid and helpful!

pizzazhang

05-11-2010 13:00:24

I just apply the sample to ogre-wiki-framework,and a little change. It seems function getShapeById(unsigned int index) has change to getShape(unsigned int index). After releasing,I tried the demo.I'm happy that it works well.

gameLife

11-11-2010 14:49:41

I tried the demo ,but I get a error, mWheel = static_cast<NxOgre::Wheel*>( mUnicycle->getShape(MiddleWheel ) ); mWheel always NULL, please give me same Tips ....

Chitation

13-11-2010 03:43:33

I tried putting this code into the samples and when I open up this sample in the sample browser, it loads fine, but when I try to move with the ijkl keys, the program crashes.

I also tried putting this code into my own project and it did the same thing but when it crashed, it stopped at the setmotortorque function.

Please let me know how I can fix this.

Thanks in advance!!

Paul

20-11-2010 04:00:41

I tried putting this code into the samples and when I open up this sample in the sample browser, it loads fine, but when I try to move with the ijkl keys, the program crashes.

I also tried putting this code into my own project and it did the same thing but when it crashed, it stopped at the setmotortorque function.

Please let me know how I can fix this.

Thanks in advance!!

I do have the same problem!

Gorgool

19-12-2010 19:04:36

The problem is in this string:
mWheel = static_cast<NxOgre::Wheel*>(mUnicycle->getShape(MiddleWheel));
Change on:
mWheel = static_cast<NxOgre::Wheel*>(mUnicycle->getShape(0));
and everything will be fine.

In shapes container exist 2 items - [0] and [1], no element with index = 2(MiddleWheel = 2).
[0] - wheel_desc;
[1] - box_desc;

Ivancho

03-01-2011 22:59:11

hi there, sorry for asking, but is there any sample with Machine() class?

[upd] found it there viewtopic.php?f=6&t=13730

[upd2] btw, i found, that wheels are going strange, like not render with machine at this moment, render later (youtube http://www.youtube.com/watch?v=bRYjfpXs-GI), thats my fix for that (maybe i not found correct fix, but that work ok :oops:

)
(NxOgreMachine.cpp)
void Machine::render(float user_deltaTime)
{
ActorMachinePart::render(user_deltaTime);
for (mMachinePartIterator = mMachineParts.elements(); mMachinePartIterator != mMachinePartIterator.end(); mMachinePartIterator++)
mMachinePartIterator->simulate(user_deltaTime); // there was render(), not simulate
}