mmmovania

//draw spring
glBegin(GL_LINES);
	glColor3f(0,0,1);
	g_pWorld->markForRead();
		for(size_t i=0;i<indices.size()-4;i+=4) { 
			int i0 = indices[i];
			int i1 = indices[i+1];
			int i2 = indices[i+2];
			int i3 = indices[i+3];
			hkVector4f p0 = masses[i0]->getTransform().getTranslation();

mmmovania

//draw boxes
glEnable(GL_LIGHTING); 

	for(size_t i=0;i<masses.size();++i) { 
		glColor3f(1,1,1); 
		if(wasHit && gSelectedActor == masses[i])
			glColor3f(1,0,0);
		
		DrawBox(masses[i], true);
	}

mmmovania

hkpStiffSpringConstraintData* spring= new hkpStiffSpringConstraintData(); 
for (l1 = 0; l1 < v; l1++)	// v
	for (l2 = 0; l2 < (u - 1); l2++) {
		int index0 = (l1 * u) + l2;
		int index1 = (l1 * u) + l2 + 1;
 		hkpRigidBody* r0 = masses[index0];
		hkpRigidBody* r1 = masses[index1];
		hkVector4f r0Pos = r0->getTransform().getTranslation();
		hkVector4f r1Pos = r1->getTransform().getTranslation();
		spring->setInWorldSpace(r0->getTransform(), r1->getTransform(), r0Pos, r1Pos);

mmmovania

	//add the falling movingBox 
	{
		hkVector4 halfExtents(boxSize,boxSize,boxSize);
		hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);

		hkpRigidBodyCinfo ci;
		ci.m_shape = boxShape;
		ci.m_position = pos2;
		

mmmovania

//create the static box where the smaller box will fall
{
	hkVector4 halfExtents(20.0f, 2.0f, 20.f);
	hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);
	hkpRigidBodyCinfo ci;
	ci.m_shape = boxShape;
	ci.m_position = hkVector4(0, -2, 0);
	ci.m_motionType = hkpMotion::MOTION_FIXED;
	boxShape->setRadius(0.001f);
	hkpRigidBody* rigidBody = new hkpRigidBody(ci);

mmmovania

//now add springs between adjacent boxes
hkpStiffSpringConstraintData* spring = new hkpStiffSpringConstraintData(); 
hkpStiffSpringConstraintData* spring2 = new hkpStiffSpringConstraintData(); 

	for(size_t i=0;i<boxes.size()-1;i++) {
		hkTransform b1 = boxes[i]->getTransform();
		hkTransform b2 = boxes[i+1]->getTransform();
		hkVector4f t1 = b1.getTranslation(); 
		hkVector4f t2 = b2.getTranslation();
		t1.add(hkVector4f(-0.5,0.5,0));

mmmovania

hkVector4 halfExtents(0.5f, 0.5f, 0.125f);
hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);
boxShape->setRadius(0.001f);
		
hkpRigidBodyCinfo ci;
ci.m_shape = boxShape;
ci.m_motionType = hkpMotion::MOTION_DYNAMIC;
const hkReal boxMass(10.0f);
hkMassProperties massProps;
hkpInertiaTensorComputer::computeShapeVolumeMassProperties(boxShape, boxMass, massProps);

mmmovania

void AddRigidBodies() {
	//add the falling box 
	{
	hkVector4 halfExtents(0.5f, 0.5f, 0.125f);
		hkpBoxShape* boxShape = new hkpBoxShape(halfExtents);
		boxShape->setRadius(0.001f);

		hkpRigidBodyCinfo ci;
		ci.m_shape = boxShape;
		ci.m_motionType = hkpMotion::MOTION_DYNAMIC;

mmmovania

//draw spring
	glBegin(GL_LINES);
		glColor3f(0,1,0);
		glVertex3f(pos1.getComponent(0), pos1.getComponent(1), pos1.getComponent(2));
		glVertex3f(pos2.getComponent(0), pos2.getComponent(1), pos2.getComponent(2));
	glEnd();

	//draw boxes
	glEnable(GL_LIGHTING); 
		glColor3f(1,1,1);

mmmovania

hkpStiffSpringConstraintData* spring = new hkpStiffSpringConstraintData(); 
// Create constraint
spring->setInWorldSpace(movingBox->getTransform(), fixedBox->getTransform(), pos2, pos1);
//	Create and add the constraint
{
	hkpConstraintInstance* constraint = new hkpConstraintInstance(movingBox, fixedBox, spring );
	g_pWorld->addConstraint(constraint);
	constraint->removeReference(); 
}		 
spring->removeReference();