Entity angular velocity a.k.a. Omega

[Psychophanta]

How to set up an angular velocity to an entity?
I only find EntityVelocity(#Entity, x, y, z) to set up a rectilinear velocity, but not angular velocity.
SetEntityAttribute() is not valid for this.

[applePi]

Hi Psychophanta
long time haven't done physics tests, i suggest:
EntityAngularFactor
i haven't used it for natural rotating things but for rotating things fixed to a joint:
GenericJoint with EntityAngularFactor and then use: ApplyEntityTorque
i have found this example: not optimized but works:

Code: Select all

IncludeFile #PB_Compiler_Home + "examples/3d/Screen3DRequester.pb"

#CameraSpeed = 0.4

Define.f KeyX, KeyY, MouseX, MouseY

If InitEngine3D()
  
  InitSprite()
  InitKeyboard()
  InitMouse()
  
  If Screen3DRequester()
    
    Add3DArchive(#PB_Compiler_Home + "examples/3d/Data/"              , #PB_3DArchive_FileSystem)
    Add3DArchive(#PB_Compiler_Home + "examples/3d/Data/Textures"  , #PB_3DArchive_FileSystem)
    Add3DArchive(#PB_Compiler_Home + "examples/3d/Data/Models"    , #PB_3DArchive_FileSystem)
    Add3DArchive(#PB_Compiler_Home + "examples/3d/Data/Scripts"    , #PB_3DArchive_FileSystem)
    Add3DArchive(#PB_Compiler_Home + "examples/3d/Data/GUI"        , #PB_3DArchive_FileSystem)
    Parse3DScripts()
    
    ;WorldDebug(#PB_World_DebugBody)
        
    ;-------------------------------
    ; create  material
    CreateMaterial(1, LoadTexture(1, "Tire_tex.png"))
    ;RotateMaterial(1, -70, #PB_Material_Fixed)
    SetMaterialColor(1, #PB_Material_AmbientColor, #PB_Material_AmbientColors)
    ; 
    CreateMaterial(2, LoadTexture(2, "snow_1024.jpg"))
    SetMaterialColor(2, #PB_Material_AmbientColor, #PB_Material_AmbientColors)
    
    CreateMaterial(3, LoadTexture(3, "Geebee2.bmp"))
    SetMaterialColor(3, #PB_Material_AmbientColor, #PB_Material_AmbientColors)
    
    CreateMaterial(4, LoadTexture(4, "Wood.jpg"))
    
    ;-------------------------------

CreateCylinder(50, 1, 0.5)
CreateEntity(50, MeshID(50),MaterialID(1),  0, 0, 0)
axis = CreateEntity(#PB_Any, MeshID(50),MaterialID(4),  0, 0, 0)
ScaleEntity(axis, 0.15, 3, 0.15)
;RotateEntity(50, 90,0, 0, #PB_Absolute)
CreateCube(1, 1)

Global Compound = CreateEntity(#PB_Any,0,0)

AddSubEntity(Compound, 50, #PB_Entity_StaticBody) 
AddSubEntity(Compound, axis, #PB_Entity_StaticBody) 
CreateEntityBody(Compound, #PB_Entity_CompoundBody, 1, 0.4, 0.5)

;-----------------------------------------
    ;Ground
    ;
    Ground = CreateEntity(#PB_Any, MeshID(1), MaterialID(2), 0, -7, 0)
    ScaleEntity(Ground, 40, 0.4, 40)
    CreateEntityBody(Ground, #PB_Entity_StaticBody)
    
    GenericJoint(4,EntityID(Ground), 0, 5, 0,EntityID(Compound), 0, 0, 0)
    ;the following will make the wheel stop if we stop the angular force
    SetJointAttribute(4, #PB_Joint_EnableSpring, #True, 4)
    SetJointAttribute(4, #PB_Joint_Stiffness, 5, 4)
    SetJointAttribute(4, #PB_Joint_Damping, 0.0, 4)
    ;SetJointAttribute(4, #PB_Joint_NoLimit, 0, 4)
    EntityAngularFactor(Compound, 0, 1, 0)
    ;SetJointAttribute(4, #PB_Joint_LowerLimit, -70, 4)
    ;SetJointAttribute(4, #PB_Joint_UpperLimit, 70, 4)
    
     ; camera
    CreateCamera(0, 0, 0, 100, 100, #True)
    MoveCamera(0,0,0,2.5, #PB_Absolute)
    CameraLookAt(0,0,-2,0)
    
    ; GUI
    OpenWindow3D(0, 0, 0, 50 , 10 , "")
    HideWindow3D(0,1)
    ShowGUI(128, 1) ; Display the GUI, semi-transparent and display the mouse cursor
    SetWindowTitle(0, "PureBasic-3D Demos ...Z/X apply torque to the Wheel,..'space':to drop Cubes..Mouse to Pick objects")
    
  #stone = 30
  Global Dim stone(1000)
  CreateCube(#stone, 0.2)
  For i = 1 To 1000
    stone(i) = CreateEntity(#PB_Any, MeshID(#stone),MaterialID(3))
    HideEntity(stone(i), #True)
  Next

    Repeat
      Screen3DEvents()
      
      If ExamineMouse()
        MouseX = -MouseDeltaX() * #CameraSpeed * 0.1
        MouseY = -MouseDeltaY() * #CameraSpeed * 0.1
        InputEvent3D(MouseX(), MouseY(),0)
        BodyPick(CameraID(0), MouseButton(#PB_MouseButton_Left), MouseX(), MouseY(), 1)
      EndIf
    
      If ExamineKeyboard()
        
        If KeyboardPushed(#PB_Key_Z)
          ApplyEntityTorque(Compound, 0, 10, 0)
          ;ApplyEntityTorqueImpulse(Compound, 0, 0, 1)

          ElseIf KeyboardPushed(#PB_Key_X)
            ApplyEntityTorque(Compound, 0, -10, 0)
            
          EndIf
          
    If KeyboardReleased(#PB_Key_Space); throw cubes over the gear
      stn+1
      If stn > 1000: stn=1: EndIf
      MoveEntity(stone(stn), 0.3,-1,0)
      HideEntity(stone(stn), #False)
      CreateEntityBody(stone(stn),#PB_Entity_BoxBody,2,0.1,4)
    EndIf
        
        If KeyboardPushed(#PB_Key_Left)
          KeyX = -#CameraSpeed
        ElseIf KeyboardPushed(#PB_Key_Right)
          KeyX = #CameraSpeed
        Else
          KeyX = 0
        EndIf
        
        If KeyboardPushed(#PB_Key_Up)
          KeyY = -#CameraSpeed
        ElseIf KeyboardPushed(#PB_Key_Down)
          KeyY = #CameraSpeed
        Else
          KeyY = 0
        EndIf
        
      EndIf
      
      MoveCamera  (0, KeyX, 0, KeyY)
      RotateCamera(0,  MouseY, MouseX, 0, #PB_Relative)
      
      RenderWorld()
      
      FlipBuffers()
      
      
    Until KeyboardPushed(#PB_Key_Escape) Or Quit = 1
    
  EndIf
  
Else
  MessageRequester("Error", "The 3D Engine can't be initialized",0)
EndIf

End

also hinge joint for the wheel to attach a motor to it (EnableHingeJointAngularMotor)
look Rotational to Linear movement
viewtopic.php?f=36&t=66458&p=493487#p493487
viewtopic.php?f=36&t=66458&p=493487#p493342

EntityLinearFactor and EntityAngularFactor to fix or relief the blocks ,
is used in old example by Kelebrindae, also it is used in a commercial Billiards Game posted here somewhere

Code: Select all

;originally posted by Kelebrindae
; Window size
#SCREENWIDTH = 800
#SCREENHEIGHT = 500
Dim a(20)
;- initialization
InitEngine3D()
InitSprite()
InitKeyboard()

;- Window
OpenWindow(0, 0, 0, #SCREENWIDTH, #SCREENHEIGHT, "press space to move the hammer, press Z before space to free the cubes restrictions", #PB_Window_ScreenCentered|#PB_Window_SystemMenu|#PB_Window_MinimizeGadget)
OpenWindowedScreen(WindowID(0), 0, 0, #SCREENWIDTH,#SCREENHEIGHT, 0, 0, 0,#PB_Screen_SmartSynchronization)

;-Texture
Add3DArchive(".",#PB_3DArchive_FileSystem)
CreateImage(0,128, 128)
StartDrawing(ImageOutput(0))
  Box(0, 0, 128, 128, $FFFFFF)
StopDrawing()
SaveImage(0,"temp.bmp")
FreeImage(0)
LoadTexture(0,"temp.bmp")
DeleteFile("temp.bmp")

;-Material
CreateMaterial(1,TextureID(0))
;MaterialAmbientColor(1,#PB_Material_AmbientColors)
SetMaterialColor(1, #PB_Material_AmbientColor, RGB(100,100,100))
CreateMaterial(2,TextureID(0))
;MaterialAmbientColor(2,$FFFF00)
SetMaterialColor(2, #PB_Material_AmbientColor, $FFFF00)
CreateMaterial(3,TextureID(0))
;MaterialAmbientColor(3,$0077FF)
SetMaterialColor(3, #PB_Material_AmbientColor, $0077FF)
CreateMaterial(4,TextureID(0))
;MaterialAmbientColor(4,$FF00FF)
SetMaterialColor(4, #PB_Material_AmbientColor, $FF00FF)
CreateMaterial(5,TextureID(0))
;MaterialAmbientColor(5,$0055BB)
SetMaterialColor(5, #PB_Material_AmbientColor, $FF00FF)

;- Entities
CreatePlane(1,30,30,20,20,1,1)
sol  = CreateEntity(#PB_Any, MeshID(1), MaterialID(1))
CreateEntityBody(sol, #PB_Entity_StaticBody)   


; Ball and tee
CreateCube(2, 1.0)
socle = CreateEntity(#PB_Any,MeshID(2), MaterialID(1))
ScaleEntity(socle,0.5,1,0.5)
MoveEntity(socle,2.6,0.5,0)
CreateEntityBody(socle, #PB_Entity_StaticBody)

CreateSphere(3,0.5)
ball = CreateEntity(#PB_Any, MeshID(3), MaterialID(3))
MoveEntity(ball,2.6,1.5,0)
CreateEntityBody(ball, #PB_Entity_SphereBody,1,4,1)

; Targets
For i = 1 To 4
  temp = CreateEntity(#PB_Any, MeshID(2), MaterialID(4))
  r+1
  a(r) = temp ; store entities numbers
  MoveEntity(temp,-10,0.5,(i*1.1)-2.8)
  CreateEntityBody(temp, #PB_Entity_BoxBody, 0.25)
  EntityLinearFactor(temp,0,0,0)
  EntityAngularFactor(temp, 0, 0, 0)

Next i
For i = 1 To 3
  temp = CreateEntity(#PB_Any, MeshID(2), MaterialID(4))
  r+1
  a(r) = temp
  MoveEntity(temp,-10,1.5,(i*1.1)-2.3)
  CreateEntityBody(temp, #PB_Entity_BoxBody, 0.25)
  EntityLinearFactor(temp,0,0,0)
  EntityAngularFactor(temp, 0, 0, 0)
Next i
For i = 1 To 2
  temp = CreateEntity(#PB_Any, MeshID(2), MaterialID(4))
  r+1
  a(r) = temp
  MoveEntity(temp,-10,2.5,(i*1.1)-1.8)
  CreateEntityBody(temp, #PB_Entity_BoxBody, 0.25)
  EntityLinearFactor(temp,0,0,0)
  EntityAngularFactor(temp, 0, 0, 0)
Next i

; Mobile
Global hammerX.f = 5,hammerY.f = 8.5,hammerZ.f
CreateSphere(4,0.4)
axe = CreateEntity(#PB_Any, MeshID(4), MaterialID(2))
MoveEntity(axe,hammerX,hammerY,hammerZ)
CreateEntityBody(axe, #PB_Entity_StaticBody)

shaft = CreateEntity(#PB_Any, MeshID(2), MaterialID(5))
ScaleEntity(shaft,0.3,6,0.3)
MoveEntity(shaft,hammerX,hammerY - 3.5,hammerZ)
CreateEntityBody(shaft, #PB_Entity_BoxBody,0.1)

hammerhead = CreateEntity(#PB_Any,MeshID(2), MaterialID(2))
ScaleEntity(hammerhead,2,1,1)
MoveEntity(hammerhead,hammerX,hammerY - 7,hammerZ)
CreateEntityBody(hammerhead,#PB_Entity_BoxBody,20)

PointJoint(0,EntityID(shaft),0,-3.1 ,0, EntityID(hammerhead),0,0.5,0) ; Attach the hammerhead to the shaft
; Attach the hammer to axis.
HingeJoint(1,EntityID(axe),0,0,0, #False,#False,#True, EntityID(shaft),0,3.5,0, #False,#False,#True)
HingeJoint(2,EntityID(axe),0,0,0, #False,#False,#True, EntityID(hammerhead),0,7,0, #False,#False,#True)


;- Camera
CreateCamera(0, 0, 0, 100, 100)
MoveCamera(0,-2,8,18)
CameraLookAt(0,-2,5,0)

;-Light
AmbientColor($666666)
CreateLight(0,RGB(160,160,255),200,400,200)
WorldShadows(#PB_Shadow_Additive)

KeyboardMode(#PB_Keyboard_International)

;- Main loop
Repeat
  Delay(1)
  While WindowEvent() : Wend

  ;- F1, F2, F3 : Change view
  If ExamineKeyboard()
    If KeyboardReleased(#PB_Key_Z) ; to free cubes from restrictions
      For i=1 To 9
     EntityLinearFactor(a(i),1,1,1)
     EntityAngularFactor(a(i), 1, 1, 1) 
     Next
   EndIf
   
    If KeyboardReleased(#PB_Key_F1)
      MoveCamera(0,-18,2,0)
      CameraLookAt(0,0,3,0)
    EndIf
    If KeyboardReleased(#PB_Key_F2)
      MoveCamera(0,0,12,20)
      CameraLookAt(0,0,5,0)
    EndIf
    If KeyboardReleased(#PB_Key_F3)
      MoveCamera(0,1,5,10)
      CameraLookAt(0,-3,3,0)
    EndIf
   
    ;- [Space] : Throw hammer
    If KeyboardPushed(#PB_Key_Space)
      ApplyEntityImpulse(hammerhead,  5, 0, 0)
    EndIf
    ;- R : Reset ball's position (doesn't work)
    If KeyboardReleased(#PB_Key_R)
      FreeEntity(ball)
    EndIf
   
    ;- Return : Display FPS
    If KeyboardReleased(#PB_Key_Return)
      ;MessageRequester("Infos","FPS = " + Str(Engine3DFrameRate(#PB_Engine3D_Average)))
      MessageRequester("Infos","FPS = " + StrF(Engine3DStatus(#PB_Engine3D_CurrentFPS )))
    EndIf

  EndIf

  ; Render
  RenderWorld()
  FlipBuffers()

  If Not IsEntity(ball)
      ball = CreateEntity(#PB_Any, MeshID(3), MaterialID(3))
      MoveEntity(ball,2.6,1.5,0)
      CreateEntityBody(ball, #PB_Entity_SphereBody,1,4,1)
  EndIf

Until KeyboardPushed(#PB_Key_Escape)

End

[Psychophanta]

Hi applePi, long time.

Well, i have done the workaroud using ApplyEntityTorqueImpulse() , but that is not as it should be done, because there is needed a command to just set up an angular speed to a body.

GetEntityAttribute()

The attribute To get. The following attributes are available:
#PB_Entity_Friction : Get the friction value.
#PB_Entity_Restitution : Get the restitution value.
#PB_Entity_LinearVelocity : Get the current linear velocity (all axis).
#PB_Entity_LinearVelocityX : Get the current linear velocity on 'x' axis.
#PB_Entity_LinearVelocityY : Get the current linear velocity on 'y' axis.
#PB_Entity_LinearVelocityZ : Get the current linear velocity on 'z' axis.
#PB_Entity_MassCenterX : Get the mass center 'x' position.
#PB_Entity_MassCenterY : Get the mass center 'y' position.
#PB_Entity_MassCenterZ : Get the mass center 'z' position.
#PB_Entity_NbSubEntities : Get the number of sub-entities.
#PB_Entity_LinearSleeping : Get the minimum linear velocity value under which the entity will be sleeping.
#PB_Entity_AngularSleeping : Get the minimum angular velocity value under which the entity will be sleeping.
#PB_Entity_DeactivationTime: Get the time To wait (in milliseconds) before putting the entity in sleep mode when the above conditions are met.
#PB_Entity_IsActive : Get If an entity body is active (Not sleeping).
#PB_Entity_AngularVelocityX: Get the current angular velocity on 'x' axis.
#PB_Entity_AngularVelocityY: Get the current angular velocity on 'y' axis.
#PB_Entity_AngularVelocityZ: Get the current angular velocity on 'z' axis.
#PB_Entity_AngularVelocity : Get the current angular velocity (all axis).
#PB_Entity_HasContactResponse: Check If the entity body has contacts.
#PB_Entity_ScaleX : Get the current entity scale on 'x' axis.
#PB_Entity_ScaleY : Get the current entity scale on 'y' axis.
#PB_Entity_ScaleZ : Get the current entity scale on 'z' axis.

SetEntityAttribute()

The attribute To set. The following attributes are available:
#PB_Entity_Friction : Change the friction value.
#PB_Entity_Restitution : Change the restitution value.
#PB_Entity_MinVelocity : Set the minimum linear velocity of the entity. As this value isn't stored,
it needs To be called every time the entity is moved.
#PB_Entity_MaxVelocity : Set the maximum linear velocity of the entity. As this value isn't stored,
it needs To be called every time the entity is moved.
#PB_Entity_ForceVelocity : Set the linear velocity of the entity. As this value isn't stored,
it needs To be called every time the entity is moved.
#PB_Entity_LinearSleeping : Change the minimum linear velocity value under which the entity will be sleeping.
#PB_Entity_AngularSleeping : Change the minimum angular velocity value under which the entity will be sleeping.
#PB_Entity_DeactivationTime: Time To wait (in milliseconds) before putting the entity in sleep mode when the above conditions are met.
#PB_Entity_DisableContactResponse: Disable Or enable the physic contacts For this entity. Value can be #True Or #False.

However,
to setup a velocity vector there is:
EntityVelocity()
But in GetEntityAttribute() function this attribute is not called #PB_Entity_Velocity, but #PB_Entity_LinearVelocity. ??

Related to this issue, perhaps there is interesting to add this Structure native; as is now there it is PB_MeshVertex for example:

Code: Select all

Structure PB_3DVector
  x.f
  y.f
  z.f
EndStructure

And then use GetEntityAttribute() and SetEntityAttribute() using a reference to it for some attributes like Velocity and also for AngularVelocity because an angular velocity is completely given with a vector.