void plPhysicalControllerCore::MoveActorToSim()
{
// Get the current position of the physical
hsPoint3 curLocalPos;
hsPoint3 lastLocalPos;
GetPositionSim(curLocalPos);
MoveKinematicToController(curLocalPos);
lastLocalPos=GetLocalPosition();
fDisplacementThisStep= hsVector3(curLocalPos - lastLocalPos);
fLocalPosition = curLocalPos;
if(fSimLength>0.0f)
fAchievedLinearVelocity=fDisplacementThisStep/fSimLength;
else fAchievedLinearVelocity.Set(0.0f,0.0f,0.0f);
}
void plPhysicalControllerCore::IUpdate(int numSubSteps, float alpha)
{
if (fEnabled)
{
// Update local position and acheived velocity
fLastLocalPosition = fLocalPosition;
GetPositionSim(fLocalPosition);
hsVector3 displacement = (hsVector3)(fLocalPosition - fLastLocalPosition);
fAchievedLinearVelocity = displacement / fSimLength;
displacement /= (float)numSubSteps;
fLastLocalPosition = fLocalPosition - displacement;
hsPoint3 interpLocalPos = fLastLocalPosition + (displacement * alpha);
// Update global location
fLocalRotation.MakeMatrix(&fLastGlobalLoc);
fLastGlobalLoc.SetTranslate(&interpLocalPos);
const plCoordinateInterface* subworldCI = GetSubworldCI();
if (subworldCI)
{
const hsMatrix44& subL2W = subworldCI->GetLocalToWorld();
fLastGlobalLoc = subL2W * fLastGlobalLoc;
fPrevSubworldW2L = subworldCI->GetWorldToLocal();
}
fMovementStrategy->Update(fSimLength);
ISendCorrectionMessages(true);
}
else
{
fAchievedLinearVelocity.Set(0.0f, 0.0f, 0.0f);
// Update global location if in a subworld
const plCoordinateInterface* subworldCI = GetSubworldCI();
if (subworldCI)
{
hsMatrix44 l2s = fPrevSubworldW2L * fLastGlobalLoc;
const hsMatrix44& subL2W = subworldCI->GetLocalToWorld();
fLastGlobalLoc = subL2W * l2s;
fPrevSubworldW2L = subworldCI->GetWorldToLocal();
ISendCorrectionMessages();
}
}
if (fEnableChanged)
IHandleEnableChanged();
}
void plPXPhysicalControllerCore::UpdateControllerAndPhysicalRep()
{
if ( fKinematicActor)
{
if(this->fBehavingLikeAnimatedPhys)
{//this means we are moving the controller and then synchnig the kin
NxExtendedVec3 ControllerPos= fController->getPosition();
NxVec3 NewKinPos((NxReal)ControllerPos.x, (NxReal)ControllerPos.y, (NxReal)ControllerPos.z);
if (fKinematicActor->readBodyFlag(NX_BF_KINEMATIC))
{
if (plSimulationMgr::fExtraProfile)
SimLog("Moving kinematic to %f,%f,%f",NewKinPos.x, NewKinPos.y, NewKinPos.z );
// use the position
fKinematicActor->moveGlobalPosition(NewKinPos);
}
else
{
if (plSimulationMgr::fExtraProfile)
SimLog("Setting kinematic to %f,%f,%f", NewKinPos.x, NewKinPos.y, NewKinPos.z );
fKinematicActor->setGlobalPosition(NewKinPos);
}
}
else
{
NxVec3 KinPos= fKinematicActor->getGlobalPosition();
NxExtendedVec3 NewControllerPos(KinPos.x, KinPos.y, KinPos.z);
if (plSimulationMgr::fExtraProfile)
SimLog("Setting Controller to %f,%f,%f", NewControllerPos.x, NewControllerPos.y, NewControllerPos.z );
fController->setPosition(NewControllerPos);
}
hsPoint3 curLocalPos;
GetPositionSim(curLocalPos);
fLocalPosition = curLocalPos;
}
}
