void PhysXShape::setLocalOrintation(const math::quaternion&v)
{
NxMat33 nm;
NxQuat q;
q.setWXYZ(v.w,v.x,v.y,v.z);
nm.fromQuat(q);
m_nxShape->setLocalOrientation(nm);
}
void Vehicle::resetCarPos()
{
NxVec3 vec3(mOriginalPos.x, mOriginalPos.y, mOriginalPos.z);
NxQuat quat;
quat.setWXYZ(mOriginalQuat.w, mOriginalQuat.x, mOriginalQuat.y, mOriginalQuat.z);
mActor->setGlobalPose(NxMat34(quat, vec3));
vec3.zero();
mActor->setLinearVelocity(vec3);
mActor->setAngularVelocity(vec3);
}
void Vehicle::loadScene(const std::string &fileName)
{
//车的父节点
mBaseCarNode = mSceneMgr->getRootSceneNode()->createChildSceneNode(fileName + "BaseCarNode");
//DotSceneLoader* dsl = new DotSceneLoader();//rel
//dsl->parseDotScene(fileName + ".scene", Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, mSceneMgr, mBaseCarNode);
mVehicleRenderable = new VehicleRenderable(mSceneMgr, mBaseCarNode);
mVehicleRenderable->load(fileName + ".vrf");
//车身节点
mBodyNode = static_cast<Ogre::SceneNode*>(mBaseCarNode->getChild(fileName + "Body"));
//轮子节点
mWheels[TOP_LEFT].mSceneNode = static_cast<Ogre::SceneNode*>(mBaseCarNode->getChild(fileName + "LTWheel"));
mWheels[TOP_LEFT].mName = fileName + "LTWheel";
mWheels[TOP_RIGHT].mSceneNode = static_cast<Ogre::SceneNode*>(mBaseCarNode->getChild(fileName + "RTWheel"));
mWheels[TOP_RIGHT].mName = fileName + "RTWheel";
mWheels[Bottom_LEFT].mSceneNode = static_cast<Ogre::SceneNode*>(mBaseCarNode->getChild(fileName + "LBWheel"));
mWheels[Bottom_LEFT].mName = fileName + "LBWheel";
mWheels[Bottom_RIGHT].mSceneNode = static_cast<Ogre::SceneNode*> (mBaseCarNode->getChild(fileName + "RBWheel"));
mWheels[Bottom_RIGHT].mName = fileName + "RBWheel";
//设置整体参数
NxBodyDesc bodyDes;
//bodyDes.wakeUpCounter = 1E8;
bodyDes.mass = 12000;//mVehicleInfo.gMass;
//bodyDes.massLocalPose.t = NxVec3(mVehicleInfo.gMassLocalPose.x, mVehicleInfo.gMassLocalPose.y, mVehicleInfo.gMassLocalPose.z);
bodyDes.angularDamping = 0.03f;
bodyDes.linearDamping = 0.08f;
//写入车身的shapeDesc
mBoundingBox = mBodyNode->getAttachedObject(0)->getBoundingBox();
NxBoxShapeDesc boxDes;
NxVec3 dimen (mBoundingBox.getHalfSize().x, mBoundingBox.getHalfSize().y, mBoundingBox.getHalfSize().z);
NxVec3 localPos (mBodyNode->getPosition().x, mBodyNode->getPosition().y, mBodyNode->getPosition().z);
////车身到轮子的距离
//NxReal d1 = NxMath::abs(mBodyNode->getPosition().y - mWheels[0].mSceneNode->getPosition().y);
////包围盒半径之和
//NxReal d2 = mBoundingBox.getHalfSize().y + mWheels[0].mSceneNode->getAttachedObject(0)->getBoundingBox().getHalfSize().y;
////判断轮子是否与车身的包围盒重叠
//if(d1 < d2)
//{
// //设置为最大适合高度
// dimen.y = (mBoundingBox.getSize().y - (d2 - d1)) / 2.0f;
//}
boxDes.dimensions.set(dimen);
boxDes.localPose.t = localPos;
NxActorDesc actorDesc;
actorDesc.body = &bodyDes;
actorDesc.globalPose.t = NxVec3(mOriginalPos.x, mOriginalPos.y, mOriginalPos.z);
NxQuat quat;
quat.setWXYZ(mOriginalQuat.w, mOriginalQuat.x, mOriginalQuat.y, mOriginalQuat.z);
actorDesc.globalPose.M.fromQuat(quat);
actorDesc.shapes.pushBack(&boxDes);
mActor = mNxScene->createActor(actorDesc);
mActor->setCMassOffsetLocalPosition(NxVec3(0, -mBoundingBox.getSize().y, 0));
mBodyShape = static_cast<NxBoxShape*>(mActor->getShapes()[0]);
//写入轮子的shapeDesc
createWheelShapeDesc(&mWheels[TOP_LEFT], true);
createWheelShapeDesc(&mWheels[TOP_RIGHT], true);
createWheelShapeDesc(&mWheels[Bottom_LEFT], false);
createWheelShapeDesc(&mWheels[Bottom_RIGHT], false);
//mWheels[TOP_LEFT].mWheelDesc.localPose.t = NxVec3(mBoundingBox.getHalfSize().x, 2, 0);
//mWheels[TOP_RIGHT].mWheelDesc.localPose.t = NxVec3(-mBoundingBox.getHalfSize().x, 2, 0);
//mWheels[Bottom_LEFT].mWheelDesc.localPose.t = NxVec3(mBoundingBox.getHalfSize().x, -mBoundingBox.getHalfSize().y, 0);
//mWheels[Bottom_RIGHT].mWheelDesc.localPose.t = NxVec3(-mBoundingBox.getHalfSize().x, -mBoundingBox.getHalfSize().y, 0);
//创建轮子
mWheels[TOP_LEFT].mWheel = static_cast<NxWheelShape*>(mActor->createShape(mWheels[TOP_LEFT].mWheelDesc));
mWheels[TOP_RIGHT].mWheel = static_cast<NxWheelShape*>(mActor->createShape(mWheels[TOP_RIGHT].mWheelDesc));
mWheels[Bottom_LEFT].mWheel = static_cast<NxWheelShape*>(mActor->createShape(mWheels[Bottom_LEFT].mWheelDesc));
mWheels[Bottom_RIGHT].mWheel = static_cast<NxWheelShape*>(mActor->createShape(mWheels[Bottom_RIGHT].mWheelDesc));
NxMaterial* mat = mNxScene->getMaterialFromIndex(0);
mat->setFrictionCombineMode(NX_CM_MULTIPLY);
mat->setStaticFriction(300.2f);
mat->setDynamicFriction(100.5f);
}