void DrawForce(NxActor* actor, NxVec3& forceVec, const NxVec3& color)
{
// Draw only if the force is large enough
NxReal force = forceVec.magnitude();
if (force < 0.1) return;
forceVec = 3*forceVec/force;
NxVec3 pos = actor->getCMassGlobalPosition();
DrawArrow(pos, pos + forceVec, color);
}
// ----------------------------------------------------------------------
void ObjMesh::updateNormals()
{
mNormals.resize(mVertices.size());
int i;
for (i = 0; i < (int)mNormals.size(); i++)
mNormals[i].zero();
NxVec3 n;
for (i = 0; i < (int)mTriangles.size(); i++) {
ObjMeshTriangle &mt = mTriangles[i];
mt.normalNr[0] = mt.vertexNr[0];
mt.normalNr[1] = mt.vertexNr[1];
mt.normalNr[2] = mt.vertexNr[2];
n.cross(mVertices[mt.vertexNr[1]] - mVertices[mt.vertexNr[0]],
mVertices[mt.vertexNr[2]] - mVertices[mt.vertexNr[0]]);
mNormals[mt.normalNr[0]] += n;
mNormals[mt.normalNr[1]] += n;
mNormals[mt.normalNr[2]] += n;
}
for (i = 0; i < (int)mNormals.size(); i++)
mNormals[i].normalize();
}
void SetupGLMatrix(const NxVec3& pos, const NxMat33& orient)
{
float glmat[16]; //4x4 column major matrix for OpenGL.
orient.getColumnMajorStride4(&(glmat[0]));
pos.get(&(glmat[12]));
//clear the elements we don't need:
glmat[3] = glmat[7] = glmat[11] = 0.0f;
glmat[15] = 1.0f;
glMultMatrixf(&(glmat[0]));
}
void DynamicImage::update()
{
if (!sleep)
{
NxVec3 towardsVector = tarPos - curPos;
switch (mode)
{
case 0: //Linear
if (towardsVector.magnitude() < LINEAR_VELOCITY)
{
curPos = tarPos;
sleep = true;
}
else
{
towardsVector.normalize();
curPos = curPos + (towardsVector * LINEAR_VELOCITY);
}
break;
case 1: //Halfling
if (towardsVector.magnitude() < THRESHOLD)
{
curPos = tarPos;
sleep = true;
}
else
{
curPos = curPos + (towardsVector * 0.033f);
}
break;
}
}
}
void Jumper::CanopyOpening::updatePhysics(void)
{
// velocity of base jumper's body
NxVec3 velocity = _phActor->getLinearVelocity();
// local coordinate system of base jumper
NxMat34 pose = _phActor->getGlobalPose();
NxVec3 x = pose.M.getColumn(0);
NxVec3 y = pose.M.getColumn(1);
NxVec3 z = pose.M.getColumn(2);
// air resistance force
float AR = _jumper->getVirtues()->getTrackingAirResistance();
// terminal velocity
float Vt = sqrt( 9.8f * _phActor->getMass() / AR );
float It = velocity.magnitude() / Vt;
// air resistance force
NxVec3 Far = NxVec3(0,1,0) * getAirResistancePower( velocity.magnitude() / Vt ) * _phActor->getMass() * 9.8f;
// finalize motion equation
_phActor->addForce( Far );
// linear damping is function of jumper velocity
// this is prevents calculation errors due to high speed rates
float minVel = 50.0f;
float minDamping = _initialLD;
float maxVel = 70.0f;
float maxDamping = 2.5f;
float factor = ( velocity.magnitude() - minVel ) / ( maxVel - minVel );
factor = factor < 0 ? 0 : ( factor > 1 ? 1 : factor );
float damping = minDamping * ( factor - 1 ) + maxDamping * ( factor );
_phActor->setLinearDamping( damping );
// shallow brake setting
_canopy->setLeftDeep( 0.0f );
_canopy->setRightDeep( 0.0f );
}
void Jumper::RunningJump::update(float dt)
{
updateAnimation( dt );
_clump->getFrame()->getLTM();
if( _actionTime < _blendTime )
{
Vector3f dir = _clump->getFrame()->getAt();
dir.normalize();
_clump->getFrame()->setPos( _clump->getFrame()->getPos() + dir * dt * _vel );
return;
}
if( _phActor->isSleeping() )
{
// setup physics
Matrix4f sampleLTM = Jumper::getCollisionFF( _clump )->getFrame()->getLTM();
_phActor->setGlobalPose( wrap( sampleLTM ) );
_phActor->wakeUp();
NxVec3 velH = wrap( _clump->getFrame()->getAt() );
velH.normalize();
velH *= _vel * 0.01f;
NxVec3 velV = wrap( _clump->getFrame()->getUp() );
velV.normalize();
velV *= 1.5f;
_phActor->setLinearVelocity( velH + velV + wrap(_clump->getFrame()->getAt() * 600.0f * dt)) ;
_jumper->initOverburdenCalculator( velH + velV );
}
else
{
_clump->getFrame()->setMatrix( _matrixConversion->convert( wrap( _phActor->getGlobalPose() ) ) );
}
if( _clump->getAnimationController()->isEndOfAnimation( 0 ) )
{
_endOfAction = true;
}
}
void PxSingleActor::applyCorrection( const MatrixF& mat, const NxVec3& linVel, const NxVec3& angVel )
{
// Sometimes the actor hasn't been
// created yet during the call from unpackUpdate.
if ( !mActor || !mWorld )
return;
mWorld->releaseWriteLock();
NxVec3 newPos = mat.getPosition();
NxVec3 currPos = getPosition();
NxVec3 offset = newPos - currPos;
// If the difference isn't large enough,
// just set the new transform, no correction.
if ( offset.magnitude() > 0.3f )
{
// If we're going to set the linear or angular velocity,
// we do it before we add a corrective force, since it would be overwritten otherwise.
NxVec3 currLinVel, currAngVel;
currLinVel = mActor->getLinearVelocity();
currAngVel = mActor->getAngularVelocity();
// Scale the corrective force by half,
// otherwise it will over correct and oscillate.
NxVec3 massCent = mActor->getCMassGlobalPosition();
mActor->addForceAtPos( offset, massCent, NX_VELOCITY_CHANGE );
// If the linear velocity is divergent enough, change to server linear velocity.
if ( (linVel - currLinVel).magnitude() > 0.3f )
mActor->setLinearVelocity( linVel );
// Same for angular.
if ( (angVel - currAngVel).magnitude() > 0.3f )
mActor->setAngularVelocity( angVel );
}
Parent::setTransform( mat );
}
// ray-sphere intersection test from Graphics Gems p.388
// **NOTE** There is a bug in this Graphics Gem. If the origin
// of the ray is *inside* the sphere being tested, it reports the
// wrong intersection location. This code has a fix for the bug.
bool SBM_rayIntersectsSphere(const float *point,const float *direction,const float *_center,float radius,float &t)
{
bool ret = false;
NxVec3 rayOrigin(point);
NxVec3 dir(direction);
NxVec3 center(_center);
// notation:
// point E = rayOrigin
// point O = sphere center
NxVec3 EO = center - rayOrigin;
NxVec3 V = dir;
float dist2 = EO.x*EO.x + EO.y*EO.y + EO.z * EO.z;
float r2 = radius*radius;
// Bug Fix For Gem, if origin is *inside* the sphere, invert the
// direction vector so that we get a valid intersection location.
if ( dist2 < r2 )
V*=-1;
float v = EO.dot(V);
float disc = r2 - (EO.magnitudeSquared() - v*v);
if (disc > 0.0f)
{
t = sqrtf(disc);
ret = true;
}
return ret;
}
void DrawForceAtShape(NxActor* actor, NxShape* shape, NxVec3& forceVec, const NxVec3& color)
{
// Draw only if the force is large enough
NxReal force = forceVec.magnitude();
if (force < 0.1f) return;
forceVec = 3*forceVec/force;
NxVec3 pos;
if (bShapeSelectMode && bForceMode)
pos = shape->getGlobalPosition();
else
pos = actor->getCMassGlobalPosition();
DrawArrow(pos, pos + forceVec, color);
}
void CreateExperiment()
{
switch (gExperimentType)
{
case LANDER:
{
gScene->releaseActor(*groundPlane); groundPlane=NULL; // will be recreated with the container cell
CreateExperimentMaterials();
CreateContainerCell(gCellSize);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES,0);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS,0);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES,1);
gPhysicsSDK->setParameter(NX_VISUALIZE_WORLD_AXES,0);
//gLander=CreateLander(NxVec3(0.0f,0.0f,0.0f));
gLander=CreateLander(NxVec3(0.0f,gCellSize/2.0f,0.0f));
IdentifyGravitators();
if (gLander) {
ReOrientActor(gLander);
SpinActor(gLander,gLandingRoughness*sqrt(gCellSize*gDefaultGravity.magnitude()/(gLander->getMassSpaceInertiaTensor().magnitude())));
LaunchActor(gLander,gLandingRoughness*sqrt(gCellSize*gDefaultGravity.magnitude()));
gSelectedActor=gLander;
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES,gLanderSize.magnitude());
isRunning=true;
}
else {
printf("Error: Unable to create lander\a\n");
isRunning=false;
}
break;
}
case LAY_SUBSTRATE:
{
gScene->releaseActor(*groundPlane); groundPlane=NULL; // will be recreated with the container cell
CreateExperimentMaterials();
CreateContainerCell(gCellSize);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES,0);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_FNORMALS,0);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES,1);
gPhysicsSDK->setParameter(NX_VISUALIZE_WORLD_AXES,0);
//ThrowStone();
isRunning=true;
break;
}
default:
{printf("Error: unimplemented experiment type\a\n"); isRunning=false; break;}
}
}
// -----------------------------------------------------------------------------------
bool ObjMesh::rayTriangleIntersection(const NxVec3 &orig, const NxVec3 &dir,
const ObjMeshTriangle &triangle,
NxReal &t, NxReal &u, NxReal &v) const
{
const NxVec3 &a = mVertices[triangle.vertexNr[0]];
const NxVec3 &b = mVertices[triangle.vertexNr[0]];
const NxVec3 &c = mVertices[triangle.vertexNr[0]];
NxVec3 edge1, edge2, tvec, pvec, qvec;
NxReal det,inv_det;
edge1 = b - a;
edge2 = c - a;
pvec.cross(dir, edge2);
/* if determinant is near zero, ray lies in plane of triangle */
det = edge1.dot(pvec);
if (det == 0.0f)
return false;
inv_det = 1.0f / det;
/* calculate distance from vert0 to ray origin */
tvec = orig - a;
/* calculate U parameter and test bounds */
u = tvec.dot(pvec) * inv_det;
if (u < 0.0f || u > 1.0f)
return false;
/* prepare to test V parameter */
qvec.cross(tvec, edge1);
/* calculate V parameter and test bounds */
v = dir.dot(qvec) * inv_det;
if (v < 0.0f || u + v > 1.0f)
return false;
/* calculate t, ray intersects triangle */
t = edge2.dot(qvec) * inv_det;
return true;
}
void ViewUnProject(int xi, int yi, float depth, NxVec3 &v)
{
//We cannot do picking easily on the xbox/PS3 anyway
#if defined(_XBOX)||defined(__CELLOS_LV2__)
v=NxVec3(0,0,0);
#else
GLint viewPort[4];
GLdouble modelMatrix[16];
GLdouble projMatrix[16];
glGetIntegerv(GL_VIEWPORT, viewPort);
glGetDoublev(GL_MODELVIEW_MATRIX, modelMatrix);
glGetDoublev(GL_PROJECTION_MATRIX, projMatrix);
yi = viewPort[3] - yi - 1;
GLdouble wx, wy, wz;
gluUnProject((GLdouble) xi, (GLdouble) yi, (GLdouble) depth,
modelMatrix, projMatrix, viewPort, &wx, &wy, &wz);
v.set((NxReal)wx, (NxReal)wy, (NxReal)wz);
#endif
}
void WindPointer::onEvent(Actor* initiator, unsigned int eventId, void* eventData)
{
if( eventId == EVENT_CAMERA_IS_ACTUAL )
{
// current wind
NxVec3 wind = _scene->getWindAtPoint( NxVec3( 0,0,0 ) );
// make signature worldspace position
Matrix4f cameraPose = _scene->getCamera()->getPose();
Vector3f cameraPos( cameraPose[3][0], cameraPose[3][1], cameraPose[3][2] );
Vector3f pos( wind.x, wind.y, wind.z );
pos.normalize();
pos *= 10000.0f;
pos += cameraPos;
// update signature window
Vector3f screenPos = Gameplay::iEngine->getDefaultCamera()->projectPosition( pos );
if( screenPos[2] > 1 )
{
_signature->getPanel()->setVisible( false );
return;
}
else
{
_signature->getPanel()->setVisible( true );
gui::Rect oldRect = _signature->getPanel()->getRect();
gui::Rect newRect(
int( screenPos[0] ), int( screenPos[1] ),
int( screenPos[0] ) + oldRect.getWidth(),
int( screenPos[1] ) + oldRect.getHeight()
);
_signature->getPanel()->setRect( newRect );
_windSpeed->getStaticText()->setText( wstrformat( Gameplay::iLanguage->getUnicodeString(295), wind.magnitude() ).c_str() );
}
}
}
void GetPos(NxVec3 &maxPos, NxVec3 &minPos, NxCloth *cloth)
{
NxVec3 vetex[2000];
ofstream outFile("vetex");
NxReal maxX = -999.0f, minX = 999.0f;
NxReal maxY = -999.0f, minY = 999.0f;
NxReal maxZ = -999.0f, minZ = 999.0f;
memset(vetex, 0, 2000 * sizeof(NxVec3));
cloth->getPositions(vetex);
for (int i = 0; i < 2000; i++)
{
if (vetex[i].x == 0 && vetex[i].y == 0 || vetex[i].z == 0)
{
//printf("i = %d\n", i);
break;
}
else
{
if (vetex[i].x > maxX) maxX = vetex[i].x;
if (vetex[i].y > maxY) maxY = vetex[i].y;
if (vetex[i].z > maxZ) maxZ = vetex[i].z;
if (vetex[i].x < minX) minX = vetex[i].x;
if (vetex[i].y < minY) minY = vetex[i].y;
if (vetex[i].z < minZ) minZ = vetex[i].z;
//printf("vetex %f %f %f\n", vetex[i].x, vetex[i].y, vetex[i].z);
//outFile << vetex[i].x << "\t" << vetex[i].y << "\t" << vetex[i].z << endl;
}
}
minPos.setx(minX);
minPos.sety(minY);
minPos.setz(minZ);
maxPos.setx(maxX);
maxPos.sety(maxY);
maxPos.setz(maxZ);
outFile << maxX << endl;
outFile.close();
}
void PxSingleActor::sweepTest( MatrixF *mat )
{
NxVec3 nxCurrPos = getPosition();
// If the position is zero,
// the parent hasn't been updated yet
// and we don't even need to do the sweep test.
// This is a fix for a problem that was happening
// where on the add of the PxSingleActor, it would
// set the position to a very small value because it would be getting a hit
// even though the current position was 0.
if ( nxCurrPos.isZero() )
return;
// Set up the flags and the query structure.
NxU32 flags = NX_SF_STATICS | NX_SF_DYNAMICS;
NxSweepQueryHit sweepResult;
dMemset( &sweepResult, 0, sizeof( sweepResult ) );
NxVec3 nxNewPos = mat->getPosition();
// Get the velocity which will be our sweep direction and distance.
NxVec3 nxDir = nxNewPos - nxCurrPos;
if ( nxDir.isZero() )
return;
// Get the scene and do the sweep.
mActor->wakeUp();
mActor->linearSweep( nxDir, flags, NULL, 1, &sweepResult, NULL );
if ( sweepResult.hitShape && sweepResult.t < nxDir.magnitude() )
{
nxDir.normalize();
nxDir *= sweepResult.t;
nxCurrPos += nxDir;
mat->setPosition( Point3F( nxCurrPos.x, nxCurrPos.y, nxCurrPos.z ) );
}
}
NxFluid* CreateFluid(const NxVec3& pos, NxU32 sideNum, NxReal distance, NxScene* scene)
{
float rad = sideNum*distance*0.5;
for (unsigned i=0; i<sideNum; i++)
for (unsigned j=0; j<sideNum; j++)
for (unsigned k=0; k<sideNum; k++)
{
NxVec3 p = NxVec3(i*distance,j*distance,k*distance);
if (p.distance(NxVec3(rad,rad,rad)) < rad)
{
p += pos;
if(gParticleBufferNum< MAX_PARTICLES)
gParticleBuffer[gParticleBufferNum++] = p;
}
}
NxParticleData particles;
//particles.maxParticles = gParticleBufferCap;
particles.numParticlesPtr = &gParticleBufferNum;
particles.bufferPos = &gParticleBuffer[0].x;
particles.bufferPosByteStride = sizeof(NxVec3);
//Create a fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = MAX_PARTICLES;
fluidDesc.flags |= NX_FF_COLLISION_TWOWAY;
fluidDesc.simulationMethod = NX_F_SPH;
fluidDesc.restParticlesPerMeter = 5.0f;
fluidDesc.motionLimitMultiplier = 10.0f;
fluidDesc.restDensity = 1000.0f;
fluidDesc.kernelRadiusMultiplier = 1.6f;
fluidDesc.stiffness = 10.0f;
fluidDesc.viscosity = 50.0f;
fluidDesc.damping = 0.5f;
fluidDesc.packetSizeMultiplier = 16;
fluidDesc.name = "fluid";
fluidDesc.kernelRadiusMultiplier = KERNEL_RADIUS_MULTIPLIER;
fluidDesc.restParticlesPerMeter = REST_PARTICLES_PER_METER;
fluidDesc.motionLimitMultiplier = MOTION_LIMIT_MULTIPLIER;
fluidDesc.packetSizeMultiplier = PACKET_SIZE_MULTIPLIER;
fluidDesc.stiffness = 40; // 50
fluidDesc.viscosity = 22;
fluidDesc.restDensity = 1000;
fluidDesc.damping = 0;
// There are some API changes since 280 version, Fluid collision coefficients have been renamed,
// E.g. NxFluidDesc::dynamicCollisionAdhesion is named NxFluidDesc::dynamicFrictionForDynamicShapes.
#if NX_SDK_VERSION_NUMBER < 280
fluidDesc.staticCollisionRestitution = 0.162f;
fluidDesc.staticCollisionAdhesion = 0.146f;
fluidDesc.dynamicCollisionRestitution = 0.5f;
fluidDesc.dynamicCollisionAdhesion = 0.5f;
#else
fluidDesc.restitutionForStaticShapes = 0.162f;
fluidDesc.dynamicFrictionForStaticShapes = 0.146f;
fluidDesc.restitutionForDynamicShapes = 0.5f;
fluidDesc.dynamicFrictionForDynamicShapes = 0.5f;
#endif
fluidDesc.simulationMethod = NX_F_SPH; //NX_F_NO_PARTICLE_INTERACTION;
fluidDesc.initialParticleData = particles;
fluidDesc.particlesWriteData = particles;
if(!bHardwareFluid)
fluidDesc.flags &= ~NX_FF_HARDWARE;
fluid = gScene->createFluid(fluidDesc);
if(!fluid)
{
fluidDesc.flags &= ~NX_FF_HARDWARE;
bHardwareFluid = false;
fluid = gScene->createFluid(fluidDesc);
}
assert(fluid != NULL);
return fluid;
}
void NxVehicle::updateVehicle(NxReal lastTimeStepSize)
{
//printf("updating %x\n", this);
NxReal distanceSteeringAxisCarTurnAxis = _steeringSteerPoint.x - _steeringTurnPoint.x;
NX_ASSERT(_steeringSteerPoint.z == _steeringTurnPoint.z);
NxReal distance2 = 0;
if (NxMath::abs(_steeringWheelState) > 0.01f)
distance2 = distanceSteeringAxisCarTurnAxis / NxMath::tan(_steeringWheelState * _steeringMaxAngleRad);
//printf("d1 = %2.3f, d2 = %2.3f, a1 = %2.3f, a2 = %2.3f\n",
// distanceSteeringAxisCarTurnAxis, distance2,
// _steeringWheelState, _steeringWheelState * _steeringMaxAngleRad);
_lastTrailTime += lastTimeStepSize;
if(_lastTrailTime > TRAIL_FREQUENCY)
{
_lastTrailTime = 0.0f;
}
NxU32 nbTouching = 0;
NxU32 nbNotTouching = 0;
NxU32 nbHandBrake = 0;
for(NxU32 i = 0; i < _wheels.size(); i++)
{
NxWheel* wheel = _wheels[i];
if (_lastTrailTime == 0.0f)
{
if(_wheels[i]->hasGroundContact())
{
if (++_nextTrailSlot >= NUM_TRAIL_POINTS)
_nextTrailSlot = 0;
_trailBuffer[_nextTrailSlot] = _bodyActor->getGlobalPose() * _wheels[i]->getGroundContactPos();
}
}
if(wheel->getWheelFlag(NX_WF_STEERABLE_INPUT))
{
if(distance2 != 0)
{
NxReal xPos = wheel->getWheelPos().x;
NxReal zPos = wheel->getWheelPos().z;
NxReal dz = -zPos + distance2;
NxReal dx = xPos - _steeringTurnPoint.x;
wheel->setAngle(NxMath::atan(dx/dz));
} else {
wheel->setAngle(0.f);
}
//printf("%2.3f\n", wheel->getAngle());
} else if(wheel->getWheelFlag(NX_WF_STEERABLE_AUTO))
{
NxVec3 localVelocity = _bodyActor->getLocalPointVelocity(wheel->getWheelPos());
NxQuat local2Global = _bodyActor->getGlobalOrientationQuat();
local2Global.inverseRotate(localVelocity);
// printf("%2.3f %2.3f %2.3f\n", wheel->getWheelPos().x,wheel->getWheelPos().y,wheel->getWheelPos().z);
localVelocity.y = 0;
if(localVelocity.magnitudeSquared() < 0.01f)
{
wheel->setAngle(0.0f);
} else {
localVelocity.normalize();
// printf("localVelocity: %2.3f %2.3f\n", localVelocity.x, localVelocity.z);
if(localVelocity.x < 0)
localVelocity = -localVelocity;
NxReal angle = NxMath::clamp((NxReal)atan(localVelocity.z / localVelocity.x), 0.3f, -0.3f);
wheel->setAngle(angle);
}
}
// now the acceleration part
if(!wheel->getWheelFlag(NX_WF_ACCELERATED))
continue;
if(_handBrake && wheel->getWheelFlag(NX_WF_AFFECTED_BY_HANDBRAKE))
{
nbHandBrake++;
} else {
if (!wheel->hasGroundContact())
{
nbNotTouching++;
} else {
nbTouching++;
}
}
}
NxReal motorTorque = 0.0f;
if(nbTouching && NxMath::abs(_accelerationPedal) > 0.01f)
{
NxReal axisTorque = _computeAxisTorque();
NxReal wheelTorque = axisTorque / (NxReal)(_wheels.size() - nbHandBrake);
NxReal wheelTorqueNotTouching = nbNotTouching>0?wheelTorque*(NxMath::pow(0.5f, (NxReal)nbNotTouching)):0;
NxReal wheelTorqueTouching = wheelTorque - wheelTorqueNotTouching;
motorTorque = wheelTorqueTouching / (NxReal)nbTouching;
} else {
_updateRpms();
}
//printf("wt: %f %f\n", motorTorque, _brakePedal);
for(NxU32 i = 0; i < _wheels.size(); i++)
{
NxWheel* wheel = _wheels[i];
wheel->tick(_handBrake, motorTorque, _brakePedal, lastTimeStepSize);
}
//printf("---\n");
}
void Cloth::generateRegularMeshDesc(NxClothMeshDesc &desc, NxReal w, NxReal h, NxReal d, bool
texCoords)
{
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
desc.numVertices = (numX+1) * (numY+1);
desc.numTriangles = numX*numY*2;
desc.pointStrideBytes = sizeof(NxVec3);
desc.triangleStrideBytes = 3*sizeof(NxU32);
desc.vertexMassStrideBytes = sizeof(NxReal);
desc.vertexFlagStrideBytes = sizeof(NxU32);
desc.points = (NxVec3*)malloc(sizeof(NxVec3)*desc.numVertices);
desc.triangles = (NxU32*)malloc(sizeof(NxU32)*desc.numTriangles*3);
desc.vertexMasses = 0;
desc.vertexFlags = 0;
desc.flags = 0;
mMaxVertices = TEAR_MEMORY_FACTOR * desc.numVertices;
mMaxIndices = 3 * desc.numTriangles;
_geo_cloth = new osg::Geode;
int i,j;
// create particles - POINTS
{
osg::Geometry* pointsGeom = new osg::Geometry();
osg::Vec3Array* vertices = new osg::Vec3Array;
NxVec3 *p = (NxVec3*)desc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(d*j, 0.0f, d*i);
vertices->push_back(osg::Vec3f(d*j, d*i, 0.0f));
p++;
}
}
pointsGeom->setVertexArray(vertices);
osg::Vec4Array* colors = new osg::Vec4Array;
colors->push_back(osg::Vec4(1.0f,1.0f,0.0f,0.8f));
pointsGeom->setColorArray(colors);
pointsGeom->setColorBinding(osg::Geometry::BIND_OVERALL);
// set the normal in the same way color.
osg::Vec3Array* normals = new osg::Vec3Array;
normals->push_back(osg::Vec3(0.0f,-1.0f,0.0f));
pointsGeom->setNormalArray(normals);
pointsGeom->setNormalBinding(osg::Geometry::BIND_OVERALL);
osg::StateSet* stateSet = new osg::StateSet();
pointsGeom->setStateSet(stateSet);
pointsGeom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS,0,vertices->size()));
osg::Point* point = new osg::Point;
point->setDistanceAttenuation(osg::Vec3(0.0,0.0000,0.05f));
point->setSize(20.0f);
stateSet->setAttribute(point);
osg::PointSprite *sprite = new osg::PointSprite();
stateSet->setTextureAttributeAndModes(0, sprite, osg::StateAttribute::ON);
// add the points geometry to the geode.
_geo_cloth->addDrawable(pointsGeom);
}
if (texCoords) {
mTempTexCoords = (float *)malloc(sizeof(float)*2*TEAR_MEMORY_FACTOR*desc.numVertices);
float *f = mTempTexCoords;
float dx = 1.0f; if (numX > 0) dx /= numX;
float dy = 1.0f; if (numY > 0) dy /= numY;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
*f++ = j*dx;
*f++ = i*dy;
}
}
mNumTempTexCoords = desc.numVertices;
}
else
{
mNumTempTexCoords = 0;
mTempTexCoords = NULL;
}
NxU32 *id = (NxU32*)desc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX+1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX+1);
NxU32 i3 = i2 + 1;
if ((j+i)%2) {
*id++ = i0; *id++ = i2; *id++ = i1;
*id++ = i1; *id++ = i2; *id++ = i3;
}
else {
*id++ = i0; *id++ = i2; *id++ = i3;
*id++ = i0; *id++ = i3; *id++ = i1;
}
}
}
}
void Jumper::Flight::updatePhysics(void)
{
SpinalCord* spinalCord = _jumper->getSpinalCord();
Virtues* virtues = _jumper->getVirtues();
CanopySimulator* canopy = _jumper->getDominantCanopy();
// velocity of base jumper's body
NxVec3 velocity = _phActor->getLinearVelocity();
// horizontal velocity (including wind)
NxVec3 velocityH = velocity;
velocityH += _jumper->getScene()->getWindAtPoint( _phActor->getGlobalPosition() );
velocityH.y = 0;
// shock penalty
float penalty = _jumper->getVirtues()->getControlPenalty( _jumper->getShock() );
penalty = ( 1 - penalty );
// update canopy controls
// modifier to 50% input
if (spinalCord->modifier) {
float dt = _jumper->getDeltaTime();
if (spinalCord->left > 0.5f && Gameplay::iGameplay->getActionChannel(iaLeft)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaLeft)->downAmplitude(dt, 0.5f);
if (spinalCord->right > 0.5f && Gameplay::iGameplay->getActionChannel(iaRight)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaRight)->downAmplitude(dt, 0.5f);
if (spinalCord->leftWarp > 0.5f && Gameplay::iGameplay->getActionChannel(iaLeftWarp)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaLeftWarp)->downAmplitude(dt, 0.5f);
if (spinalCord->rightWarp > 0.5f && Gameplay::iGameplay->getActionChannel(iaRightWarp)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaRightWarp)->downAmplitude(dt, 0.5f);
if (spinalCord->leftRearRiser > 0.5f && Gameplay::iGameplay->getActionChannel(iaLeftRearRiser)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaLeftRearRiser)->downAmplitude(dt, 0.5f);
if (spinalCord->rightRearRiser > 0.5f && Gameplay::iGameplay->getActionChannel(iaRightRearRiser)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaRightRearRiser)->downAmplitude(dt, 0.5f);
if (spinalCord->leftReserve > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveLeft)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveLeft)->downAmplitude(dt, 0.5f);
if (spinalCord->rightReserve > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveRight)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveRight)->downAmplitude(dt, 0.5f);
if (spinalCord->leftReserveWarp > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveLeftWarp)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveLeftWarp)->downAmplitude(dt, 0.5f);
if (spinalCord->rightReserveWarp > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveRightWarp)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveRightWarp)->downAmplitude(dt, 0.5f);
if (spinalCord->leftReserveRearRiser > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveLeftRearRiser)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveLeftRearRiser)->downAmplitude(dt, 0.5f);
if (spinalCord->rightReserveRearRiser > 0.5f && Gameplay::iGameplay->getActionChannel(iaReserveRightRearRiser)->getTrigger()) Gameplay::iGameplay->getActionChannel(iaReserveRightRearRiser)->downAmplitude(dt, 0.5f);
}
// set risers
canopy->setLeftWarpDeep( spinalCord->leftWarp * penalty );
canopy->setRightWarpDeep( spinalCord->rightWarp * penalty );
canopy->setLeftRearRiser( spinalCord->leftRearRiser * penalty );
canopy->setRightRearRiser( spinalCord->rightRearRiser * penalty );
canopy->setWLOToggles( spinalCord->trigger_wlo );
canopy->setHookKnife( spinalCord->trigger_hook );
// update reserve canopy controls
if (_jumper->isPlayer() &&
_jumper->getCanopyReserveSimulator() &&
_jumper->getDominantCanopy() != _jumper->getCanopyReserveSimulator() &&
_jumper->getCanopyReserveSimulator()->isOpened()) {
// set toggles
CanopySimulator *reserve_canopy = _jumper->getCanopyReserveSimulator();
reserve_canopy->setLeftDeep( spinalCord->leftReserve * penalty );
reserve_canopy->setRightDeep( spinalCord->rightReserve * penalty );
// set risers
reserve_canopy->setLeftWarpDeep( spinalCord->leftReserveWarp * penalty );
reserve_canopy->setRightWarpDeep( spinalCord->rightReserveWarp * penalty );
reserve_canopy->setLeftRearRiser( spinalCord->leftReserveRearRiser * penalty );
reserve_canopy->setRightRearRiser( spinalCord->rightReserveRearRiser * penalty );
reserve_canopy->setWLOToggles( spinalCord->trigger_wlo );
reserve_canopy->setHookKnife( spinalCord->trigger_hook );
}
// determine animation sequence to be played
_targetSequence = &passiveFlightSequence;
// get total left and right input
float totalInputLeft = 0.0f;
float totalInputRight = 0.0f;
float toggleLeft = spinalCord->left;
float toggleRight = spinalCord->right;
if (canopy->getLeftForcedDeep() != -1.0f) toggleLeft = 0.0f;
if (canopy->getRightForcedDeep() != -1.0f) toggleRight = 0.0f;
// hard toggle input if unstowing
if (canopy->getLeftStowed() && spinalCord->trigger_left) {
toggleLeft = 0.75f;
}
if (canopy->getRightStowed() && spinalCord->trigger_right) {
toggleRight = 0.75f;
}
// set toggles
canopy->setLeftDeep( spinalCord->left * penalty );
canopy->setRightDeep( spinalCord->right * penalty );
if (toggleLeft > spinalCord->leftRearRiser && toggleLeft > spinalCord->leftWarp) {
totalInputLeft = toggleLeft;
} else if (spinalCord->leftRearRiser > toggleLeft && spinalCord->leftRearRiser > spinalCord->leftWarp) {
totalInputLeft = spinalCord->leftRearRiser;
} else {
totalInputLeft = spinalCord->leftWarp;
}
if (toggleRight > spinalCord->rightRearRiser && toggleRight > spinalCord->rightWarp) {
totalInputRight = toggleRight;
} else if (spinalCord->rightRearRiser > toggleRight && spinalCord->rightRearRiser > spinalCord->rightWarp) {
totalInputRight = spinalCord->rightRearRiser;
} else {
totalInputRight = spinalCord->rightWarp;
}
if( totalInputLeft != 0 && totalInputRight == 0 ) {
if (canopy->getLeftStowed() && spinalCord->trigger_left) {
_targetSequence = &unstowLeftSequence;
} else if (spinalCord->modifier) {
_targetSequence = &steerLeftSequenceHalf;
} else {
_targetSequence = &steerLeftSequence;
}
}
if( totalInputRight != 0 && totalInputLeft == 0 ) {
if (canopy->getRightStowed() && spinalCord->trigger_right) {
_targetSequence = &unstowRightSequence;
} else if (spinalCord->modifier) {
_targetSequence = &steerRightSequenceHalf;
} else {
_targetSequence = &steerRightSequence;
}
}
if( totalInputLeft != 0 && totalInputRight != 0 ) {
if (canopy->getLeftStowed() || canopy->getRightStowed()) {
_targetSequence = &groupingUnstowSequence;
} else if (spinalCord->modifier) {
_targetSequence = &groupingSequenceHalf;
} else {
_targetSequence = &groupingSequence;
}
}
// unstow toggles
if (spinalCord->left > 0.1f) {
canopy->setLeftStowed(false);
}
if (spinalCord->right > 0.1f) {
canopy->setRightStowed(false);
}
// local coordinate system of base jumper
NxMat34 pose = _phActor->getGlobalPose();
NxVec3 x = pose.M.getColumn(0);
NxVec3 y = pose.M.getColumn(1);
NxVec3 z = pose.M.getColumn(2);
// altitude [m]
//NxVec3 pos = _phActor->getGlobalPosition();
//const float altitude = pos.y;
//const float arch_pose_area = 1.9f;
//// air density: converted to linear from barometric equation [0:10] km altitude
//// http://www.denysschen.com/catalogue/density.aspx
//const float AirDensityOld = altitude <= 10000.0f ? (1.196f - 0.0000826f * altitude) : (0.27f);
//// add drag force
//float Cd = 0.4f; // altitude suit = 0.4f
//const float mTracking = database::Suit::getRecord( _jumper->getVirtues()->equipment.suit.id )->mTracking;
//Cd *= mTracking;
//// Drag force vector
//NxVec3 VecFd = -_phActor->getLinearVelocity();
//VecFd.normalize();
//float Fd = 0.5f * AirDensityOld * velocity.magnitudeSquared() * Cd * arch_pose_area * getCore()->getRandToolkit()->getUniform(0.94f, 1.06f);
//_phActor->addForceAtLocalPos(Fd*VecFd, NxVec3(0, -3.0f, 0));
// air resistance coefficient
const float ARmult = 2.5f;
float AR = ARmult * virtues->getTrackingAirResistance();
if( database::Suit::getRecord( virtues->equipment.suit.id )->wingsuit )
{
AR = ARmult * virtues->getFrogAirResistance();
}
// terminal velocity
const float Vt = sqrt( 9.8f * _phActor->getMass() / AR );
const float It = velocity.magnitude() / Vt;
NxVec3 dir = velocity * -1;
dir.normalize();
// air resistance force
const NxVec3 Far = dir * getAirResistancePower( velocity.magnitude() / Vt ) * _phActor->getMass() * 9.8f;
// finalize motion equation
_phActor->addForce( Far );
}
// -----------------------------------------------------------------------
void MyCloth::generateRegularMeshDesc(NxClothMeshDesc &desc, NxReal w, NxReal h, NxReal d, bool texCoords)
{
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
desc.numVertices = (numX+1) * (numY+1);
desc.numTriangles = numX*numY*2;
desc.pointStrideBytes = sizeof(NxVec3);
desc.triangleStrideBytes = 3*sizeof(NxU32);
desc.vertexMassStrideBytes = sizeof(NxReal);
desc.vertexFlagStrideBytes = sizeof(NxU32);
desc.points = (NxVec3*)malloc(sizeof(NxVec3)*desc.numVertices);
desc.triangles = (NxU32*)malloc(sizeof(NxU32)*desc.numTriangles*3);
desc.vertexMasses = 0;
desc.vertexFlags = 0;
desc.flags = 0;
mMaxVertices = desc.numVertices;
mMaxIndices = 3 * desc.numTriangles;
int i,j;
NxVec3 *p = (NxVec3*)desc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(d*j, 0.0f, d*i);
p++;
}
}
if (texCoords) {
mTempTexCoords = (GLfloat *)malloc(sizeof(GLfloat)*2*desc.numVertices);
GLfloat *f = mTempTexCoords;
GLfloat dx = 1.0f; if (numX > 0) dx /= numX;
GLfloat dy = 1.0f; if (numY > 0) dy /= numY;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
*f++ = j*dx;
*f++ = i*dy;
}
}
mNumTempTexCoords = desc.numVertices;
}
else
{
mNumTempTexCoords = 0;
mTempTexCoords = NULL;
}
NxU32 *id = (NxU32*)desc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX+1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX+1);
NxU32 i3 = i2 + 1;
if ((j+i)%2) {
*id++ = i0; *id++ = i2; *id++ = i1;
*id++ = i1; *id++ = i2; *id++ = i3;
}
else {
*id++ = i0; *id++ = i2; *id++ = i3;
*id++ = i0; *id++ = i3; *id++ = i1;
}
}
}
}
void PxCloth::_initClothMesh()
{
// Make sure we can change the world.
mWorld->releaseWriteLock();
_releaseMesh();
// Must have at least 2 verts.
mPatchVerts.x = getMax( 2, mPatchVerts.x );
mPatchVerts.y = getMax( 2, mPatchVerts.y );
// Generate a uniform cloth patch,
// w and h are the width and height,
// d is the distance between vertices.
mNumVertices = mPatchVerts.x * mPatchVerts.y;
mNumIndices = (mPatchVerts.x-1) * (mPatchVerts.y-1) * 2;
NxClothMeshDesc desc;
desc.numVertices = mNumVertices;
desc.numTriangles = mNumIndices;
desc.pointStrideBytes = sizeof(NxVec3);
desc.triangleStrideBytes = 3*sizeof(NxU32);
desc.points = (NxVec3*)dMalloc(sizeof(NxVec3)*desc.numVertices);
desc.triangles = (NxU32*)dMalloc(sizeof(NxU32)*desc.numTriangles*3);
desc.flags = 0;
U32 i,j;
NxVec3 *p = (NxVec3*)desc.points;
F32 patchWidth = mPatchSize.x / (F32)( mPatchVerts.x - 1 );
F32 patchHeight = mPatchSize.y / (F32)( mPatchVerts.y - 1 );
for (i = 0; i < mPatchVerts.y; i++)
{
for (j = 0; j < mPatchVerts.x; j++)
{
p->set( patchWidth * j, 0.0f, patchHeight * i );
p++;
}
}
NxU32 *id = (NxU32*)desc.triangles;
for (i = 0; i < mPatchVerts.y-1; i++)
{
for (j = 0; j < mPatchVerts.x-1; j++)
{
NxU32 i0 = i * mPatchVerts.x + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + mPatchVerts.x;
NxU32 i3 = i2 + 1;
if ( (j+i) % 2 )
{
*id++ = i0;
*id++ = i2;
*id++ = i1;
*id++ = i1;
*id++ = i2;
*id++ = i3;
}
else
{
*id++ = i0;
*id++ = i2;
*id++ = i3;
*id++ = i0;
*id++ = i3;
*id++ = i1;
}
}
}
NxCookingInterface *cooker = PxWorld::getCooking();
cooker->NxInitCooking();
// Ok... cook the mesh!
NxCookingParams params;
params.targetPlatform = PLATFORM_PC;
params.skinWidth = 0.01f;
params.hintCollisionSpeed = false;
cooker->NxSetCookingParams( params );
PxMemStream cooked;
if ( cooker->NxCookClothMesh( desc, cooked ) )
{
cooked.resetPosition();
mClothMesh = gPhysicsSDK->createClothMesh( cooked );
}
cooker->NxCloseCooking();
NxVec3 *ppoints = (NxVec3*)desc.points;
NxU32 *triangs = (NxU32*)desc.triangles;
dFree( ppoints );
dFree( triangs );
if ( mClothMesh )
_initReceiveBuffers();
}
// Using swept code & direct position update (no physics engine)
// This function is the generic character controller logic, valid for all swept volumes
void SweepTest::MoveCharacter(
void* user_data,
void* user_data2,
SweptVolume& volume,
const NxVec3& direction,
NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
NxU32 groups, float min_dist,
NxU32& collision_flags,
const NxGroupsMask* groupsMask,
bool constrainedClimbingMode
)
{
mHitNonWalkable = false;
NxU32 CollisionFlags = 0;
const NxU32 MaxIter = mMaxIter; // 1 for "collide and stop"
const NxU32 MaxIterUp = MaxIter;
const NxU32 MaxIterSides = MaxIter;
// const NxU32 MaxIterDown = gWalkExperiment ? MaxIter : 1;
const NxU32 MaxIterDown = 1;
// ### this causes the artificial gap on top of chars
float StepOffset = mStepOffset; // Default step offset can be cancelled in some cases.
// Save initial height
Extended OriginalHeight = volume.mCenter[mUpDirection];
Extended OriginalBottomPoint = OriginalHeight - volume.mHalfHeight; // UBI
// TEST! Disable auto-step when flying. Not sure this is really useful.
if(direction[mUpDirection]>0.0f)
StepOffset = 0.0f;
// Decompose motion into 3 independent motions: up, side, down
// - if the motion is purely down (gravity only), the up part is needed to fight accuracy issues. For example if the
// character is already touching the geometry a bit, the down sweep test might have troubles. If we first move it above
// the geometry, the problems disappear.
// - if the motion is lateral (character moving forward under normal gravity) the decomposition provides the autostep feature
// - if the motion is purely up, the down part can be skipped
NxVec3 UpVector(0.0f, 0.0f, 0.0f);
NxVec3 DownVector(0.0f, 0.0f, 0.0f);
if(direction[mUpDirection]<0.0f) DownVector[mUpDirection] = direction[mUpDirection];
else UpVector[mUpDirection] = direction[mUpDirection];
NxVec3 SideVector = direction;
SideVector[mUpDirection] = 0.0f;
// If the side motion is zero, i.e. if the character is not really moving, disable auto-step.
if(!SideVector.isZero())
UpVector[mUpDirection] += StepOffset;
// ==========[ Initial volume query ]===========================
if(1)
{
NxVec3 MotionExtents = UpVector;
MotionExtents.max(SideVector);
MotionExtents.max(DownVector);
NxExtendedBounds3 TemporalBox;
volume.ComputeTemporalBox(*this, TemporalBox, volume.mCenter, MotionExtents);
// Gather touched geoms
UpdateTouchedGeoms(user_data, volume,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
groups, TemporalBox, groupsMask);
}
// ==========[ UP PASS ]===========================
mCachedTriIndexIndex = 0;
const bool PerformUpPass = true;
NxU32 NbCollisions=0;
if(PerformUpPass)
{
// Prevent user callback for up motion. This up displacement is artificial, and only needed for auto-stepping.
// If we call the user for this, we might eventually apply upward forces to objects resting on top of us, even
// if we visually don't move. This produces weird-looking motions.
mValidateCallback = false;
// In the walk-experiment we explicitely want to ban any up motions, to avoid characters climbing slopes they shouldn't climb.
// So let's bypass the whole up pass.
if(!mWalkExperiment)
{
// ### MaxIter here seems to "solve" the V bug
if(DoSweepTest(user_data,
user_data2,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
volume, UpVector, MaxIterUp, &NbCollisions, groups, min_dist, groupsMask))
{
if(NbCollisions)
{
CollisionFlags |= NXCC_COLLISION_UP;
// Clamp step offset to make sure we don't undo more than what we did
Extended Delta = volume.mCenter[mUpDirection] - OriginalHeight;
if(Delta<StepOffset)
{
StepOffset=float(Delta);
}
}
}
}
}
// ==========[ SIDE PASS ]===========================
mCachedTriIndexIndex = 1;
mValidateCallback = true;
const bool PerformSidePass = true;
if(PerformSidePass)
{
NbCollisions=0;
if(DoSweepTest(user_data,
user_data2,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
volume, SideVector, MaxIterSides, &NbCollisions, groups, min_dist, groupsMask))
{
if(NbCollisions) CollisionFlags |= NXCC_COLLISION_SIDES;
}
}
// ==========[ DOWN PASS ]===========================
mCachedTriIndexIndex = 2;
const bool PerformDownPass = true;
if(PerformDownPass)
{
NbCollisions=0;
if(!SideVector.isZero()) // We disabled that before so we don't have to undo it in that case
DownVector[mUpDirection] -= StepOffset; // Undo our artificial up motion
mValidTri = false;
// min_dist actually makes a big difference :(
// AAARRRGGH: if we get culled because of min_dist here, mValidTri never becomes valid!
if(DoSweepTest(user_data,
user_data2,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
volume, DownVector, MaxIterDown, &NbCollisions, groups, min_dist, groupsMask, true))
{
if(NbCollisions)
{
CollisionFlags |= NXCC_COLLISION_DOWN;
if(mHandleSlope) // PT: I think the following fix shouldn't be performed when mHandleSlope is false.
{
// PT: the following code is responsible for a weird capsule behaviour,
// when colliding against a highly tesselated terrain:
// - with a large direction vector, the capsule gets stuck against some part of the terrain
// - with a slower direction vector (but in the same direction!) the capsule manages to move
// I will keep that code nonetheless, since it seems to be useful for them.
// constrainedClimbingMode
if ( constrainedClimbingMode && mContactPointHeight > OriginalBottomPoint + StepOffset)
{
mHitNonWalkable = true;
if(!mWalkExperiment)
return;
}
//~constrainedClimbingMode
}
}
}
// TEST: do another down pass if we're on a non-walkable poly
// ### kind of works but still not perfect
// ### could it be because we zero the Y impulse later?
// ### also check clamped response vectors
if(mHandleSlope && mValidTri && direction[mUpDirection]<0.0f)
{
NxVec3 Normal;
#ifdef USE_CONTACT_NORMAL_FOR_SLOPE_TEST
Normal = mCN;
#else
mTouched.normal(Normal);
#endif
// if(fabsf(Normal|NxVec3(0.0f, 1.0f, 0.0f))<cosf(45.0f*DEGTORAD))
if(Normal[mUpDirection]>=0.0f && Normal[mUpDirection]<mSlopeLimit)
{
mHitNonWalkable = true;
// Early exit if we're going to run this again anyway...
if(!mWalkExperiment) return;
/* CatchScene()->GetRenderer()->AddLine(mTouched.mVerts[0], mTouched.mVerts[1], ARGB_YELLOW);
CatchScene()->GetRenderer()->AddLine(mTouched.mVerts[0], mTouched.mVerts[2], ARGB_YELLOW);
CatchScene()->GetRenderer()->AddLine(mTouched.mVerts[1], mTouched.mVerts[2], ARGB_YELLOW);
*/
// ==========[ WALK EXPERIMENT ]===========================
mNormalizeResponse=true;
Extended Delta = volume.mCenter[mUpDirection] > OriginalHeight ? volume.mCenter[mUpDirection] - OriginalHeight : 0.0f;
Delta += fabsf(direction[mUpDirection]);
Extended Recover = Delta;
NbCollisions=0;
const Extended MD = Recover < min_dist ? Recover/float(MaxIter) : min_dist;
NxVec3 RecoverPoint(0,0,0);
RecoverPoint[mUpDirection]=-float(Recover);
if(DoSweepTest(user_data,
user_data2,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
volume, RecoverPoint, MaxIter, &NbCollisions, groups, float(MD), groupsMask))
{
// if(NbCollisions) CollisionFlags |= COLLISION_Y_DOWN;
// PT: why did we do this ? Removed for now. It creates a bug (non registered event) when we land on a steep poly.
// However this might have been needed when we were sliding on those polygons, and we didn't want the land anim to
// start while we were sliding.
// if(NbCollisions) CollisionFlags &= ~NXCC_COLLISION_DOWN;
}
mNormalizeResponse=false;
}
}
}
// Setup new collision flags
collision_flags = CollisionFlags;
}
// This is the generic sweep test for all swept volumes, but not character-controller specific
bool SweepTest::DoSweepTest(void* user_data,
void* user_data2,
NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
SweptVolume& swept_volume,
const NxVec3& direction, NxU32 max_iter, NxU32* nb_collisions,
NxU32 group_flags, float min_dist, const NxGroupsMask* groupsMask, bool down_pass)
{
// Early exit when motion is zero. Since the motion is decomposed into several vectors
// and this function is called for each of them, it actually happens quite often.
if(direction.isZero())
return false;
bool HasMoved = false;
mValidTri = false;
NxExtendedVec3 CurrentPosition = swept_volume.mCenter;
NxExtendedVec3 TargetPosition = swept_volume.mCenter;
TargetPosition += direction;
NxU32 NbCollisions = 0;
while(max_iter--)
{
gNbIters++;
// Compute current direction
NxVec3 CurrentDirection = TargetPosition - CurrentPosition;
// Make sure the new TBV is still valid
{
// Compute temporal bounding box. We could use a capsule or an OBB instead:
// - the volume would be smaller
// - but the query would be slower
// Overall it's unclear whether it's worth it or not.
// TODO: optimize this part ?
NxExtendedBounds3 TemporalBox;
swept_volume.ComputeTemporalBox(*this, TemporalBox, CurrentPosition, CurrentDirection);
// Gather touched geoms
UpdateTouchedGeoms(user_data, swept_volume,
nb_boxes, boxes, box_user_data,
nb_capsules, capsules, capsule_user_data,
group_flags, TemporalBox, groupsMask);
}
const float Length = CurrentDirection.magnitude();
if(Length<min_dist) break;
CurrentDirection /= Length;
// From Quake2: "if velocity is against the original velocity, stop dead to avoid tiny occilations in sloping corners"
if((CurrentDirection|direction) <= 0.0f) break;
// From this point, we're going to update the position at least once
HasMoved = true;
// Find closest collision
SweptContact C;
C.mDistance = Length + mSkinWidth;
if(!CollideGeoms(this, swept_volume, mGeomStream, CurrentPosition, CurrentDirection, C))
{
// no collision found => move to desired position
CurrentPosition = TargetPosition;
break;
}
ASSERT(C.mGeom); // If we reach this point, we must have touched a geom
if(C.mGeom->mType==TOUCHED_USER_BOX || C.mGeom->mType==TOUCHED_USER_CAPSULE)
{
// We touched a user object, typically another CCT
if(mValidateCallback) UserHitCallback(user_data2, C, CurrentDirection, Length);
// Trying to solve the following problem:
// - by default, the CCT "friction" is infinite, i.e. a CCT will not slide on a slope (this is by design)
// - this produces bad results when a capsule CCT stands on top of another capsule CCT, without sliding. Visually it looks
// like the character is standing on the other character's head, it looks bad. So, here, we would like to let the CCT
// slide away, i.e. we don't want friction.
// So here we simply increase the number of iterations (== let the CCT slide) when the first down collision is with another CCT.
if(down_pass && !NbCollisions)
max_iter += 9;
}
else
{
// We touched a normal object
#ifdef USE_CONTACT_NORMAL_FOR_SLOPE_TEST
mValidTri = true;
mCN = C.mWorldNormal;
#else
if(C.mIndex!=INVALID_ID)
{
mValidTri = true;
mTouched = mWorldTriangles[C.mIndex];
}
#endif
{
if(mValidateCallback) ShapeHitCallback(user_data2, C, CurrentDirection, Length);
}
}
NbCollisions++;
mContactPointHeight = (float)C.mWorldPos[mUpDirection]; // UBI
const float DynSkin = mSkinWidth;
if(C.mDistance>DynSkin/*+0.01f*/)
CurrentPosition += CurrentDirection*(C.mDistance-DynSkin);
NxVec3 WorldNormal = C.mWorldNormal;
if(mWalkExperiment)
{
// Make sure the auto-step doesn't bypass this !
WorldNormal[mUpDirection]=0.0f;
WorldNormal.normalize();
}
const float Bump = 0.0f; // ### doesn't work when !=0 because of Quake2 hack!
const float Friction = 1.0f;
CollisionResponse(TargetPosition, CurrentPosition, CurrentDirection, WorldNormal, Bump, Friction, mNormalizeResponse);
}
if(nb_collisions) *nb_collisions = NbCollisions;
// Final box position that should be reflected in the graphics engine
swept_volume.mCenter = CurrentPosition;
// If we didn't move, don't update the box position at all (keeping possible lazy-evaluated structures valid)
return HasMoved;
}
hsVectorStream* plPhysXCooking::IMakePolytope(const plMaxMeshExtractor::NeutralMesh& inMesh)
{
hsBool success=0;
std::vector<hsPoint3> outCloud;
hsPoint3 offset;
int numPlanes=26;
float planeMax[26];
int indexMax[26];
hsPoint3 AABBMin(FLT_MAX,FLT_MAX,FLT_MAX);
hsPoint3 AABBMax(-FLT_MAX,-FLT_MAX,-FLT_MAX);
//prep
NxVec3* vectors = new NxVec3[26];
int curvec=0;
for(int xcomp= -1;xcomp<2;xcomp++)
{
for(int ycomp= -1;ycomp<2;ycomp++)
{
for(int zcomp= -1;zcomp<2;zcomp++)
{
if(!((xcomp==0)&&(ycomp==0)&&(zcomp==0)))
{
vectors[curvec].set((float)(xcomp),(float)(ycomp),(float)(zcomp));
vectors[curvec].normalize();
planeMax[curvec]=(-FLT_MAX);
//indexMax[curvec]=0;
curvec++;
}
}
}
}
/*
for(int i=0;i<26;i++)
{//make your max and mins
planeMax[i]=(-FLT_MAX);
}
*/
hsPoint3 centroid(0.0f,0.0f,0.0f);
for(int i=0;i<inMesh.fNumVerts;i++) centroid+=inMesh.fVerts[i];
centroid=centroid/(float)inMesh.fNumVerts;
//temp
NxVec3* nxLocs=new NxVec3[inMesh.fNumVerts];
NxVec3* nxLocs2=new NxVec3[inMesh.fNumVerts];
for(int i=0;i<inMesh.fNumVerts;i++)
{
hsPoint3 temppt=inMesh.fVerts[i] - centroid;
nxLocs[i]=plPXConvert::Point(temppt);
}
NxMat33 rot;
NxVec3 eigen;
PCA(nxLocs,inMesh.fNumVerts,rot);
NxMat33 invrot;
rot.getInverse(invrot);
for(int i=0; i<inMesh.fNumVerts;i++)
{
nxLocs2[i]=invrot*nxLocs[i];
}
for(int i=0;i<inMesh.fNumVerts;i++)
{
for(int plane=0;plane<26;plane++)
{
float dist=nxLocs2[i].dot(vectors[plane]);
if(dist>=planeMax[plane])
{
planeMax[plane]=dist;
indexMax[plane]=i;
}
}
}
for(int i=0;i<inMesh.fNumVerts;i++)
{
AABBMin.fX = hsMinimum(nxLocs2[i].x, AABBMin.fX);
AABBMin.fY = hsMinimum(nxLocs2[i].y, AABBMin.fY);
AABBMin.fZ = hsMinimum(nxLocs2[i].z, AABBMin.fZ);
AABBMax.fX = hsMaximum(nxLocs2[i].x, AABBMax.fX);
AABBMax.fY = hsMaximum(nxLocs2[i].y, AABBMax.fY);
AABBMax.fZ = hsMaximum(nxLocs2[i].z, AABBMax.fZ);
}
int resultingPoints=0;
for(int i=0;i<26;i++)
{
for(int j=0;j<26;j++)
{
for(int k=0;k<26;k++)
{
NxVec3 res;
if(ThreePlaneIntersect(vectors[i],nxLocs2[indexMax[i]],vectors[j],nxLocs2[indexMax[j]], vectors[k],nxLocs2[indexMax[k]],res))
{
//check it is within all slabs
bool within=true;
int curplane=0;
do
{
float intersecdist=res.dot(vectors[curplane]);
if((intersecdist-planeMax[curplane])>0.0001)
{
within=false;
}
curplane++;
}
while((curplane<26)&&within);
if(within)
// if((res.x>=AABBMin.fX)&&(res.x<=AABBMax.fX)&&
// (res.y>=AABBMin.fY)&&(res.y<=AABBMax.fY)&&
// (res.z>=AABBMin.fZ)&&(res.z<=AABBMax.fZ))
{
NxVec3 reverted;
reverted=rot*res;
reverted.x=reverted.x +centroid.fX;
reverted.y=reverted.y +centroid.fY;
reverted.z=reverted.z +centroid.fZ;
hsPoint3 out;
out=plPXConvert::Point(reverted);
outCloud.push_back(out);
}
}
}
}
}
//planes discovered
//this is'nt right
//cleanup
offset=centroid;
delete[] vectors;
hsPoint3* pointages=new hsPoint3[outCloud.size()];
for(int x=0;x<outCloud.size();x++)pointages[x]=outCloud[x];
hsVectorStream* vectorstrm;
vectorstrm= CookHull(outCloud.size(),pointages,true);
delete[] pointages;
delete[] nxLocs;
delete[] nxLocs2;
return vectorstrm;
}
// ----------------------------------------------------------------------
bool ObjMesh::loadFromObjFile(char *filename)
{
FILE *f = fopen(filename, "r");
if (!f) return false;
clear();
ObjMeshString s, subs[maxVerticesPerFace];
ObjMeshString mtllib, matName;
mHasTextureCoords = false;
mHasNormals = false;
strcpy(mtllib, "");
int materialNr = -1;
int i,j;
NxVec3 v;
ObjMeshTriangle t;
TexCoord tc;
std::vector<NxVec3> centermVertices;
std::vector<TexCoord> centermTexCoords;
std::vector<NxVec3> centerNormals;
extractPath(filename);
while (!feof(f)) {
if (fgets(s, OBJ_MESH_STRING_LEN, f) == NULL) break;
if (strncmp(s, "mtllib", 6) == 0) { // material library
sscanf(&s[7], "%s", mtllib);
importMtlFile(mtllib);
}
else if (strncmp(s, "usemtl", 6) == 0) { // use material
sscanf(&s[7], "%s", matName);
materialNr = 0;
int numMaterials = (int)mMaterials.size();
while (materialNr < numMaterials &&
strcasecmp(mMaterials[materialNr].name, matName) != 0)
materialNr++;
if (materialNr >= numMaterials)
materialNr = -1;
}
else if (strncmp(s, "v ", 2) == 0) { // vertex
sscanf(s, "v %f %f %f", &v.x, &v.y, &v.z);
mVertices.push_back(v);
}
else if (strncmp(s, "vn ", 3) == 0) { // normal
sscanf(s, "vn %f %f %f", &v.x, &v.y, &v.z);
mNormals.push_back(v);
}
else if (strncmp(s, "vt ", 3) == 0) { // texture coords
sscanf(s, "vt %f %f", &tc.u, &tc.v);
mTexCoords.push_back(tc);
}
else if (strncmp(s, "f ", 2) == 0) { // face
int nr;
nr = sscanf(s, "f %s %s %s %s %s %s %s %s %s %s %s %s %s %s %s",
subs[0], subs[1], subs[2], subs[3], subs[4],
subs[5], subs[6], subs[7], subs[8], subs[9],
subs[10], subs[11], subs[12],subs[13], subs[14]);
int vertNr[maxVerticesPerFace], texNr[maxVerticesPerFace];
int normalNr[maxVerticesPerFace];
for (i = 0; i < nr; i++) {
int refs[3];
parseRef(subs[i], refs);
vertNr[i] = refs[0]-1;
texNr[i] = refs[1]-1;
normalNr[i] = refs[2]-1;
}
if (nr <= 4) { // simple non-singular triangle or quad
if (vertNr[0] != vertNr[1] && vertNr[1] != vertNr[2] && vertNr[2] != vertNr[0]) {
t.init();
t.vertexNr[0] = vertNr[0];
t.vertexNr[1] = vertNr[1];
t.vertexNr[2] = vertNr[2];
t.normalNr[0] = normalNr[0];
t.normalNr[1] = normalNr[1];
t.normalNr[2] = normalNr[2];
t.texCoordNr[0] = texNr[0];
t.texCoordNr[1] = texNr[1];
t.texCoordNr[2] = texNr[2];
t.materialNr = materialNr;
mTriangles.push_back(t);
}
if (nr == 4) { // non-singular quad -> generate a second triangle
if (vertNr[2] != vertNr[3] && vertNr[3] != vertNr[0] && vertNr[0] != vertNr[2]) {
t.init();
t.vertexNr[0] = vertNr[2];
t.vertexNr[1] = vertNr[3];
t.vertexNr[2] = vertNr[0];
t.normalNr[0] = normalNr[2];
t.normalNr[1] = normalNr[3];
t.normalNr[2] = normalNr[0];
t.texCoordNr[0] = texNr[0];
t.texCoordNr[1] = texNr[1];
t.texCoordNr[2] = texNr[2];
t.materialNr = materialNr;
mTriangles.push_back(t);
}
}
}
else { // polygonal face
// compute center properties
NxVec3 centerPos(0.0f, 0.0f, 0.0f);
TexCoord centerTex; centerTex.zero();
for (i = 0; i < nr; i++) {
centerPos += mVertices[vertNr[i]];
if (texNr[i] >= 0) centerTex += mTexCoords[texNr[i]];
}
centerPos /= (float)nr;
centerTex /= (float)nr;
NxVec3 d1 = centerPos - mVertices[vertNr[0]];
NxVec3 d2 = centerPos - mVertices[vertNr[1]];
NxVec3 centerNormal = d1.cross(d2); centerNormal.normalize();
// add center vertex
centermVertices.push_back(centerPos);
centermTexCoords.push_back(centerTex);
centerNormals.push_back(centerNormal);
// add surrounding elements
for (i = 0; i < nr; i++) {
j = i+1; if (j >= nr) j = 0;
t.init();
t.vertexNr[0] = mVertices.size() + centermVertices.size()-1;
t.vertexNr[1] = vertNr[i];
t.vertexNr[2] = vertNr[j];
t.normalNr[0] = mNormals.size() + centerNormals.size()-1;
t.normalNr[1] = normalNr[i];
t.normalNr[2] = normalNr[j];
t.texCoordNr[0] = mTexCoords.size() + centermTexCoords.size()-1;
t.texCoordNr[1] = texNr[i];
t.texCoordNr[2] = texNr[j];
t.materialNr = materialNr;
mTriangles.push_back(t);
}
}
}
}
fclose(f);
// new center mVertices are inserted here.
// If they were inserted when generated, the vertex numbering would be corrupted
for (i = 0; i < (int)centermVertices.size(); i++)
mVertices.push_back(centermVertices[i]);
for (i = 0; i < (int)centerNormals.size(); i++)
mNormals.push_back(centerNormals[i]);
for (i = 0; i < (int)centermTexCoords.size(); i++)
mTexCoords.push_back(centermTexCoords[i]);
if (mTexCoords.size() > 0) mHasTextureCoords = true;
if (mNormals.size() > 0)
mHasNormals = true;
else
updateNormals();
updateBounds();
return true;
}
Jumper::CanopyOpening::CanopyOpening(Jumper* jumper, NxActor* phFreeFall, NxActor* phFlight, MatrixConversion* mcFlight, PilotchuteSimulator* pc, CanopySimulator* c, NxVec3 fla, NxVec3 fra, NxVec3 rla, NxVec3 rra) :
JumperAction( jumper )
{
// set action properties
_actionTime = 0.0f;
_blendTime = 0.2f;
_endOfAction = false;
_phActor = phFlight;
_matrixConversion = mcFlight;
_pilotchute = pc;
_canopy = c;
_frontLeftAnchor = fla;
_frontRightAnchor = fra;
_rearLeftAnchor = rla;
_rearRightAnchor = rra;
_initialLD = phFlight->getLinearDamping();
// activate jumper body simulator
Matrix4f sampleLTM = Jumper::getCollisionFC( _clump )->getFrame()->getLTM();
phFlight->setGlobalPose( wrap( sampleLTM ) );
phFlight->wakeUp();
phFlight->setLinearVelocity( phFreeFall->getLinearVelocity() );
phFlight->setAngularVelocity( phFreeFall->getAngularVelocity() );
// connect & open canopy
_canopy->connect(
_phActor,
_frontLeftAnchor,
_frontRightAnchor,
_rearLeftAnchor,
_rearRightAnchor,
Jumper::getFrontLeftRiser( _clump ),
Jumper::getFrontRightRiser( _clump ),
Jumper::getRearLeftRiser( _clump ),
Jumper::getRearRightRiser( _clump )
);
// age
if (_jumper->getCanopyReserveSimulator() && _jumper->getCanopyReserveSimulator() == _canopy) {
++jumper->getVirtues()->equipment.reserve.age;
} else {
++jumper->getVirtues()->equipment.canopy.age;
}
// retrieve pilotchute velocity
float pcVel = pc->getPhActor()->getLinearVelocity().magnitude();
float anglVel = phFreeFall->getAngularVelocity().magnitude();
// retrieve pilotchute reference velocity
database::Canopy* canopyInfo = _canopy->getGearRecord();
database::Pilotchute* pcInfo;
if (_jumper->getCanopyReserveSimulator() == _canopy) {
pcInfo = canopyInfo->pilots;
} else {
assert( canopyInfo->numPilots > _jumper->getVirtues()->equipment.pilotchute );
pcInfo = canopyInfo->pilots + _jumper->getVirtues()->equipment.pilotchute;
}
// probability of lineover
float lineoverProb = _jumper->getVirtues()->getLineoverProbability( pcVel / pcInfo->Vrec );
// no slider has not smaller probability
if (_jumper->getVirtues()->equipment.sliderOption != soRemoved) {
lineoverProb *= 0.3f;
}
// reserves have 70% less lineover probability
if (_jumper->getCanopyReserveSimulator() == _canopy) {
lineoverProb *= 0.3f;
}
bool leftLineover = ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
bool rightLineover = !leftLineover && ( getCore()->getRandToolkit()->getUniform( 0, 1 ) < lineoverProb );
float leftLOW = leftLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;
float rightLOW = rightLineover ? getCore()->getRandToolkit()->getUniform( 0.5, 1.0f ) : 0;
// probability of linetwists
// add probability if spinning
//if( _jumper->isPlayer() ) getCore()->logMessage( "angular velocity component on deployment: %2.10f", anglVel * 0.13f );
float linetwistsProb = _jumper->getVirtues()->getLinetwistsProbability( pcVel ) + anglVel * 0.13f;
float linetwistsDice = getCore()->getRandToolkit()->getUniform( 0.0f, 1.0f );
// probability of linetwists because of incorrect body position
NxVec3 motionDir = _jumper->getFreefallActor()->getLinearVelocity(); motionDir.normalize();
NxVec3 canopyDown = _jumper->getFreefallActor()->getGlobalPose().M.getColumn(2); canopyDown.normalize();
float relativity = 1.0f + fabs(canopyDown.dot( motionDir ));
linetwistsProb *= relativity;
// reserves have 50% less linetwist probability
if (_jumper->getCanopyReserveSimulator() == _canopy) {
linetwistsProb *= 0.5f;
}
// base canopies gave 40% less linetwist probability
else if (!canopyInfo->skydiving) {
linetwistsProb *= 0.4f;
}
bool linetwists = ( linetwistsDice <= linetwistsProb );
//if( _jumper->isPlayer() ) {
//getCore()->logMessage( "linetwists prob: %3.5f", linetwistsProb );
//getCore()->logMessage( "linetwists dice: %3.5f", linetwistsDice );
//} else {
//getCore()->logMessage( "linetwists prob BOT: %3.5f", linetwistsProb );
//getCore()->logMessage( "linetwists dice BOT: %3.5f", linetwistsDice );
//}
// generate linetwists (positive is righttwist, negative is lefttwist)
// the smaller the canopy, the heavier the linetwist
float sq = canopyInfo->square * 2.0f;
// 300 canopy: 120; 840
// 200 canopy: 320; 1040
// 100 canopy: 520; 1240
float linetwistsAngle = getCore()->getRandToolkit()->getUniform( 720 - sq, 1540 - sq );
if (linetwistsAngle > 1080.0f) {
linetwistsAngle = 1440.0f;
} else if (linetwistsAngle < 320.0f) {
linetwistsAngle = 180.0f;
}
float sign = getCore()->getRandToolkit()->getUniform( -1, 1 );
sign = sign < 0.0f ? -1.0f : ( sign > 0.0f ? 1.0f : 0.0f );
linetwistsAngle *= sign;
if( !linetwists ) linetwistsAngle = 0.0f;
// test, force linetwist
//if (!_jumper->isPlayer() && _jumper->getCanopyReserveSimulator() != _canopy) {
// linetwists = true;
// linetwistsAngle = 1440.0f;
//}
// offheading : canopy turns by specified angle
float minTurn = 30.0f; // rigging skill = 0.0
float maxTurn = 10.0f; // rigging skill = 1.0
float rigging = _jumper->getVirtues()->getRiggingSkill(); assert( rigging >= 0 && rigging <= 1 );
float turn = minTurn * ( 1 - rigging ) + maxTurn * rigging;
float angle = getCore()->getRandToolkit()->getUniform( -turn, turn );
//if( _jumper->isPlayer() ) getCore()->logMessage( "additional turn (offheading): %2.1f", angle );
//if( !_jumper->isPlayer() ) angle = 0;
Vector3f sampleX( sampleLTM[0][0], sampleLTM[0][1], sampleLTM[0][2] );
Vector3f sampleY( sampleLTM[1][0], sampleLTM[1][1], sampleLTM[1][2] );
Vector3f sampleZ( sampleLTM[2][0], sampleLTM[2][1], sampleLTM[2][2] );
Vector3f sampleP( sampleLTM[3][0], sampleLTM[3][1], sampleLTM[3][2] );
// orient canopy towards jumper velocity
sampleZ = wrap( phFlight->getLinearVelocity() );
sampleZ *= -1;
sampleZ.normalize();
sampleY = _jumper->getClump()->getFrame()->getAt() * -1;
sampleX.cross( sampleY, sampleZ );
sampleX.normalize();
sampleY.cross( sampleZ, sampleX );
sampleY.normalize();
sampleLTM.set(
sampleX[0], sampleX[1], sampleX[2], 0.0f,
sampleY[0], sampleY[1], sampleY[2], 0.0f,
sampleZ[0], sampleZ[1], sampleZ[2], 0.0f,
0.0f, 0.0f, 0.0f, 1.0f
);
// turn canopy by random angle
sampleLTM = Gameplay::iEngine->rotateMatrix( sampleLTM, sampleZ, angle );
// move clump behind jumper
sampleP -= sampleZ * 80.0f;
sampleLTM[3][0] = sampleP[0];
sampleLTM[3][1] = sampleP[1];
sampleLTM[3][2] = sampleP[2];
_canopy->open( wrap( sampleLTM ), _phActor->getLinearVelocity(), leftLOW, rightLOW, linetwistsAngle );
// reconnect pilotchute to canopy
_canopy->getClump()->getFrame()->getLTM();
_pilotchute->connect(
_canopy->getNxActor(),
CanopySimulator::getPilotCordJoint( _canopy->getClump() ),
_canopy->getPilotAnchor()
);
//_pilotchute->setFreebag(_canopy == _jumper->getCanopyReserveSimulator()); set in jumper constructor and jumper::fireReserveCanopy()
// put to sleep freefall simulator
phFreeFall->putToSleep();
phFreeFall->raiseActorFlag( NX_AF_DISABLE_COLLISION );
// show risers
Jumper::getRisers( _clump )->setFlags( engine::afRender );
// animation controller
engine::IAnimationController* animCtrl = _clump->getAnimationController();
// capture blend source
animCtrl->captureBlendSrc();
// reset animation mixer
for( unsigned int i=0; i<engine::maxAnimationTracks; i++ )
{
if( animCtrl->getTrackAnimation( i ) ) animCtrl->setTrackActivity( i, false );
}
// setup animation
animCtrl->setTrackAnimation( 0, &openingSequence );
animCtrl->setTrackActivity( 0, true );
animCtrl->setTrackSpeed( 0, 0.75f );
animCtrl->setTrackWeight( 0, 1.0f );
animCtrl->resetTrackTime( 0 );
animCtrl->advance( 0.0f );
// capture blend destination
animCtrl->captureBlendDst();
animCtrl->blend( 0.0f );
}
int main(int argc, char **argv)
{
//init and PVD
bool initialized = false;
NxPhysicsSDK *physicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!physicsSDK)
return 0;
else
physicsSDK->getFoundationSDK().getRemoteDebugger()->connect("localhost", 5425);
physicsSDK->setParameter(NX_CONTINUOUS_CD, true);
initialized = true;
//create a scene
bool sceneInit = false;
NxSceneDesc sceneDesc;
sceneDesc.gravity.set(0, -9.81f, 0);
gScene = physicsSDK->createScene(sceneDesc);
if (gScene != NULL)
sceneInit = true;
//create a plane
{
NxActorDesc actorDesc;
NxPlaneShapeDesc planeDesc;
//planeDesc.normal = NxVec3(0, 0, 1);
//planeDesc.d = -10.0f;
actorDesc.shapes.pushBack(&planeDesc);
gScene->createActor(actorDesc);
}
//create material
NxMaterial *defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.3f);
defaultMaterial->setStaticFriction(0.5f);
defaultMaterial->setDynamicFriction(0.5f);
//create a box
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.angularDamping = 0.5;
bodyDesc.linearVelocity = NxVec3(1, 0, 0);
actorDesc.body = &bodyDesc;
NxBoxShapeDesc boxDesc;
boxDesc.dimensions = NxVec3(2.0f, 3.0f, 4.0f);
actorDesc.shapes.pushBack(&boxDesc);
actorDesc.density = 10.0f;
actorDesc.globalPose.t = NxVec3(10.0f, 10.0f, 10.0f);
gScene->createActor(actorDesc)->userData = NULL;
}
//create a cloth
{
// Create the objects in the scene
NxActor* sphere1 = CreateSphere(NxVec3(-1, 0, -0.5), 1, 10);
NxActor* box1 = CreateBox(NxVec3(1, 0, -1), NxVec3(1, 1, 1), 10);
NxActor* box2 = CreateBox(NxVec3(0, 6.5, 0), NxVec3(5, 0.5, 0.5), 10);
NxActor* box3 = CreateBox(NxVec3(0, 6.5, -7), NxVec3(5, 0.5, 0.5), 10);
box2->setLinearDamping(5);
box3->setLinearDamping(5);
NxD6JointDesc d6Desc;
d6Desc.actor[0] = NULL;
d6Desc.actor[1] = box2;
NxVec3 globalAnchor(0, 7, 0);
d6Desc.localAnchor[0] = globalAnchor;
box2->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
box3->getGlobalPose().multiplyByInverseRT(globalAnchor, d6Desc.localAnchor[1]);
box3->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
d6Desc.localAxis[0] = NxVec3(1, 0, 0);
d6Desc.localNormal[0] = NxVec3(0, 1, 0);
d6Desc.localAxis[1] = NxVec3(1, 0, 0);
d6Desc.localNormal[1] = NxVec3(0, 1, 0);
d6Desc.twistMotion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing1Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.swing2Motion = NX_D6JOINT_MOTION_LOCKED;
d6Desc.xMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.yMotion = NX_D6JOINT_MOTION_FREE;
d6Desc.zMotion = NX_D6JOINT_MOTION_FREE;
NxJoint* d6Joint = gScene->createJoint(d6Desc);
NxClothDesc clothDesc;
clothDesc.globalPose.t = NxVec3(4, 7, 0);
clothDesc.thickness = 0.2;
//clothDesc.density = 1;
clothDesc.bendingStiffness = 0.5;
clothDesc.stretchingStiffness = 1;
//clothDesc.dampingCoefficient = 0.5;
clothDesc.friction = 0.5;
//clothDesc.collisionResponseCoefficient = 1;
//clothDesc.attachmentResponseCoefficient = 1;
//clothDesc.solverIterations = 5;
//clothDesc.flags |= NX_CLF_STATIC;
//clothDesc.flags |= NX_CLF_DISABLE_COLLISION;
//clothDesc.flags |= NX_CLF_VISUALIZATION;
//clothDesc.flags |= NX_CLF_GRAVITY;
clothDesc.flags |= NX_CLF_BENDING;
//clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING;
//clothDesc.flags |= NX_CLF_COMDAMPING;
clothDesc.flags |= NX_CLF_COLLISION_TWOWAY;
clothDesc.flags &= ~NX_CLF_HARDWARE;
clothDesc.flags |= NX_CLF_FLUID_COLLISION;
clothDesc.selfCollisionThickness = 10.0f;
NxReal w = 8;
NxReal h = 7;
NxReal d = 0.05;
NxClothMeshDesc meshDesc;
bool mInitDone = false;
int numX = (int)(w / d) + 1;
int numY = (int)(h / d) + 1;
meshDesc.numVertices = (numX + 1) * (numY + 1);
meshDesc.numTriangles = numX*numY * 2;
meshDesc.pointStrideBytes = sizeof(NxVec3);
meshDesc.triangleStrideBytes = 3 * sizeof(NxU32);
meshDesc.vertexMassStrideBytes = sizeof(NxReal);
meshDesc.vertexFlagStrideBytes = sizeof(NxU32);
meshDesc.points = (NxVec3*)malloc(sizeof(NxVec3)*meshDesc.numVertices);
meshDesc.triangles = (NxU32*)malloc(sizeof(NxU32)*meshDesc.numTriangles * 3);
meshDesc.vertexMasses = 0;
meshDesc.vertexFlags = 0;
meshDesc.flags = 0;
int i, j;
NxVec3 *p = (NxVec3*)meshDesc.points;
for (i = 0; i <= numY; i++) {
for (j = 0; j <= numX; j++) {
p->set(-d*j, 0.0f, -d*i);
p++;
}
}
NxU32 *id = (NxU32*)meshDesc.triangles;
for (i = 0; i < numY; i++) {
for (j = 0; j < numX; j++) {
NxU32 i0 = i * (numX + 1) + j;
NxU32 i1 = i0 + 1;
NxU32 i2 = i0 + (numX + 1);
NxU32 i3 = i2 + 1;
if ((j + i) % 2) {
*id++ = i0;
*id++ = i2;
*id++ = i1;
*id++ = i1;
*id++ = i2;
*id++ = i3;
}
else {
*id++ = i0;
*id++ = i2;
*id++ = i3;
*id++ = i0;
*id++ = i3;
*id++ = i1;
}
}
}
// if we want tearing we must tell the cooker
// this way it will generate some space for particles that will be generated during tearing
if (meshDesc.flags & NX_CLF_TEARABLE)
meshDesc.flags |= NX_CLOTH_MESH_TEARABLE;
//cooking
static NxCookingInterface *gCooking = 0;
gCooking = NxGetCookingLib(NX_PHYSICS_SDK_VERSION);
gCooking->NxInitCooking();
gCooking->NxCookClothMesh(meshDesc, UserStream("e:\\cooked.bin", false));
//Meshdata Buffers
NxMeshData mReceiveBuffers;
// here we setup the buffers through which the SDK returns the dynamic cloth data
// we reserve more memory for vertices than the initial mesh takes
// because tearing creates new vertices
// the SDK only tears cloth as long as there is room in these buffers
NxU32 numVertices = meshDesc.numVertices;
NxU32 numTriangles = meshDesc.numTriangles;
NxU32 maxVertices = 2 * numVertices;
mReceiveBuffers.verticesPosBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesNormalBegin = (NxVec3*)malloc(sizeof(NxVec3)*maxVertices);
mReceiveBuffers.verticesPosByteStride = sizeof(NxVec3);
mReceiveBuffers.verticesNormalByteStride = sizeof(NxVec3);
mReceiveBuffers.maxVertices = maxVertices;
mReceiveBuffers.numVerticesPtr = (NxU32*)malloc(sizeof(NxU32));
// the number of triangles is constant, even if the cloth is torn
NxU32 maxIndices = 3 * numTriangles;
mReceiveBuffers.indicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxIndices);
mReceiveBuffers.indicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxIndices = maxIndices;
mReceiveBuffers.numIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// the parent index information would be needed if we used textured cloth
NxU32 maxParentIndices = maxVertices;
mReceiveBuffers.parentIndicesBegin = (NxU32*)malloc(sizeof(NxU32)*maxParentIndices);
mReceiveBuffers.parentIndicesByteStride = sizeof(NxU32);
mReceiveBuffers.maxParentIndices = maxParentIndices;
mReceiveBuffers.numParentIndicesPtr = (NxU32*)malloc(sizeof(NxU32));
// init the buffers in case we want to draw the mesh
// before the SDK as filled in the correct values
*mReceiveBuffers.numVerticesPtr = 0;
*mReceiveBuffers.numIndicesPtr = 0;
clothDesc.clothMesh = physicsSDK->createClothMesh(UserStream("e:\\cooked.bin", true));
clothDesc.meshData = mReceiveBuffers;
NxCloth *mCloth;
mCloth = gScene->createCloth(clothDesc);
mCloth->attachToShape(*box2->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
mCloth->attachToShape(*box3->getShapes(), NX_CLOTH_ATTACHMENT_TWOWAY);
}
//create fluid 1
{
//fluid = CreateFluid(NxVec3(0, 12, -3.5), 15, 0.1, gScene);
}
//create fluid 2
{
//Create a set of initial particles
ParticleSDK* initParticles = new ParticleSDK[max_particles];
unsigned initParticlesNum = 0;
//Create particle filled sphere in buffer.
NxVec3 fluidPos(0, 2, 0);
NxVec3 offsetPos(0, 12, -3.5);
float distance = 0.1f;
//#ifdef __PPCGEKKO__
// unsigned sideNum = 12;
//#else
unsigned sideNum = 16;
//#endif
//Setup structure to pass initial particles.
NxParticleData initParticleData;
initParticlesNum = 0;
initParticleData.numParticlesPtr = &initParticlesNum;
initParticleData.bufferPos = &initParticles[0].position.x;
initParticleData.bufferPosByteStride = sizeof(ParticleSDK);
initParticleData.bufferVel = &initParticles[0].velocity.x;
initParticleData.bufferVelByteStride = sizeof(ParticleSDK);
CreateParticleSphere(initParticleData, max_particles, false, offsetPos, NxVec3(0, 0, 0), 0.0f, distance, sideNum);
//Setup fluid descriptor
NxFluidDesc fluidDesc;
fluidDesc.maxParticles = max_particles;
fluidDesc.kernelRadiusMultiplier = 2.0f;
fluidDesc.restParticlesPerMeter = 10.0f;
fluidDesc.motionLimitMultiplier = 3.0f;
fluidDesc.packetSizeMultiplier = 8;
fluidDesc.collisionDistanceMultiplier = 0.1;
fluidDesc.stiffness = 50.0f;
fluidDesc.viscosity = 40.0f;
fluidDesc.restDensity = 1000.0f;
fluidDesc.damping = 0.0f;
fluidDesc.restitutionForStaticShapes = 0.0f;
fluidDesc.dynamicFrictionForStaticShapes = 0.05f;
fluidDesc.simulationMethod = NX_F_SPH;
fluidDesc.flags &= ~NX_FF_HARDWARE;
//Add initial particles to fluid creation.
fluidDesc.initialParticleData = initParticleData;
//Create user fluid.
//- create NxFluid in NxScene
//- setup the buffers to read from data from the SDK
//- set NxFluid::userData field to MyFluid instance
bool trackUserData = false;
bool provideCollisionNormals = false;
MyFluid* fluid = new MyFluid(gScene, fluidDesc, trackUserData, provideCollisionNormals, NxVec3(0.4f, 0.5f, 0.9f), 0.03f);
assert(fluid);
gMyFluids.pushBack(fluid);
}
//simulate
for (int i = 0; i < 3000; i++)
{
gScene->simulate(1.0f / 60.f);
gScene->flushStream();
//GetPhysicsResults
gScene->fetchResults(NX_RIGID_BODY_FINISHED, true);
// update fluid status
if (i == 400)
{
MyFluid* fluid = gMyFluids[0];
const ParticleSDK* particles = fluid->getParticles();
unsigned particlesNum = fluid->getParticlesNum();
if (!gUpdates)
{
gUpdates = new ParticleUpdateSDK[max_particles];
}
for (unsigned i = 0; i < particlesNum; i++)
{
ParticleUpdateSDK& update = gUpdates[i];
NxVec3& force = update.force;
force.set(0, 0, 0);
NxU32& flags = update.flags;
if (i >= particlesNum/2)
{
flags = 0;
flags |= NX_FP_DELETE;
}
else
{
flags = 0;
}
}
//在这里更改粒子的属性
NxParticleUpdateData updateData;
updateData.bufferFlag = &gUpdates[0].flags;
updateData.bufferFlagByteStride = sizeof(ParticleUpdateSDK);
fluid->getNxFluid()->updateParticles(updateData);
}
}
//release
if (physicsSDK != NULL)
{
if (gScene != NULL)
physicsSDK->releaseScene(*gScene);
gScene = NULL;
NxReleasePhysicsSDK(physicsSDK);
physicsSDK = NULL;
}
return 1;
}
void Jumper::AirplaneJump::update(float dt)
{
updateAnimation( dt );
bool useWingsuit = database::Suit::getRecord( _jumper->getVirtues()->equipment.suit.id )->wingsuit;
float phaseTime = useWingsuit ? trackInvSpeed * ( FRAMETIME(2113) - FRAMETIME(2104) ) : trackInvSpeed * ( FRAMETIME(1673) - FRAMETIME(1669) );
if( _actionTime > _blendTime + phaseTime )
{
if( _phActor->isSleeping() )
{
// place jumper to airplane exit
Matrix4f clumpLTM = _clump->getFrame()->getLTM();
Vector3f clumpScale = calcScale( clumpLTM );
Matrix4f exitLTM = _jumper->getAirplaneExit()->getLTM();
orthoNormalize( exitLTM );
exitLTM[0][0] *= clumpScale[0], exitLTM[0][1] *= clumpScale[0], exitLTM[0][2] *= clumpScale[0];
exitLTM[1][0] *= clumpScale[1], exitLTM[1][1] *= clumpScale[1], exitLTM[1][2] *= clumpScale[1];
exitLTM[2][0] *= clumpScale[2], exitLTM[2][1] *= clumpScale[2], exitLTM[2][2] *= clumpScale[2];
_clump->getFrame()->setMatrix( exitLTM );
_clump->getFrame()->getLTM();
Matrix4f sampleLTM = Jumper::getCollisionFF( _clump )->getFrame()->getLTM();
_phActor->setGlobalPose( wrap( sampleLTM ) );
_phActor->wakeUp();
NxVec3 velH = wrap( _clump->getFrame()->getAt() );
velH.normalize();
velH *= 3.0f;
NxVec3 velV = wrap( _clump->getFrame()->getUp() );
velV.normalize();
velV *= 0.25f;
NxVec3 velA = wrap( _jumper->getAirplane()->getVel() );
_phActor->setLinearVelocity( velH + velV + velA );
_jumper->initOverburdenCalculator( velH + velV + velA );
// modified exits (only fixed wing, not heli)
bool helicopter = strcmp(_jumper->getAirplane()->getDesc()->templateClump->getName(), "Helicopter01") == 0;
if (!helicopter) {
if (_jumper->getSpinalCord()->left) {
_phActor->addLocalTorque(NxVec3(0,5700.0f,0));
//_phActor->setAngularDamping(2.0f);
} else if (_jumper->getSpinalCord()->right) {
_phActor->addLocalTorque(NxVec3(0,-5700.0f,0));
//_phActor->setAngularDamping(2.0f);
}
if (_jumper->getSpinalCord()->up) { // headdown exit
_phActor->addLocalTorque(NxVec3(5700.0f,0,0));
} else if (_jumper->getSpinalCord()->down) { // sitfly exit
_phActor->addLocalTorque(NxVec3(-8700.0f,0,0));
_phActor->addLocalForce(NxVec3(0,0,10000.0f));
}
_phActor->setAngularDamping(2.0f);
}
}
else
{
if (_jumper->getSpinalCord()->left) {
_phActor->addLocalTorque(NxVec3(0,2000.0f*dt,0));
} else if (_jumper->getSpinalCord()->right) {
_phActor->addLocalTorque(NxVec3(0,-2000.0f*dt,0));
}
_clump->getFrame()->setMatrix( _matrixConversion->convert( wrap( _phActor->getGlobalPose() ) ) );
}
}
else
{
// place jumper to airplane exit
Matrix4f clumpLTM = _clump->getFrame()->getLTM();
Vector3f clumpScale = calcScale( clumpLTM );
Matrix4f exitLTM = _jumper->getAirplaneExit()->getLTM();
Vector3f pos = _jumper->getAirplaneExit()->getPos();
getCore()->logMessage("exit pos: %2.2f %2.2f %2.2f", pos[0], pos[1], pos[2]);
orthoNormalize( exitLTM );
exitLTM[0][0] *= clumpScale[0], exitLTM[0][1] *= clumpScale[0], exitLTM[0][2] *= clumpScale[0];
exitLTM[1][0] *= clumpScale[1], exitLTM[1][1] *= clumpScale[1], exitLTM[1][2] *= clumpScale[1];
exitLTM[2][0] *= clumpScale[2], exitLTM[2][1] *= clumpScale[2], exitLTM[2][2] *= clumpScale[2];
_clump->getFrame()->setMatrix( exitLTM );
}
if( _clump->getAnimationController()->isEndOfAnimation( 0 )) // || (_jumper->getSpinalCord()->modifier && _jumper->isPlayer() && _actionTime > _blendTime + phaseTime ))
{
_endOfAction = true;
}
}
void Controller::move(SweptVolume& volume, const NxVec3& disp, NxU32 activeGroups, NxF32 minDist, NxU32& collisionFlags, NxF32 sharpness, const NxGroupsMask* groupsMask, bool constrainedClimbingMode)
{
// Dynamic-load the utility library
if(!gUtilLib)
gUtilLib = NxGetUtilLib();
assert(gUtilLib);
if(!gUtilLib) return;
SweepTest* ST = &cctModule;
// Init CCT with per-controller settings
ST->debugData = manager->debugData;
ST->mSkinWidth = skinWidth;
ST->mStepOffset = stepOffset;
ST->mUpDirection = upDirection;
ST->mHandleSlope = handleSlope;
ST->mSlopeLimit = slopeLimit;
ST->mFirstUpdate = true;
///////////
Controller** boxUserData = NULL;
NxExtendedBounds3* boxes = NULL;
NxU32 nbBoxes = 0;
Controller** capsuleUserData = NULL;
NxExtendedCapsule* capsules = NULL;
NxU32 nbCapsules = 0;
if(1)
{
// Experiment - to do better
NxU32 nbControllers = manager->getNbControllers();
Controller** controllers = manager->getControllers();
boxes = (NxExtendedBounds3*)NxAlloca(nbControllers*sizeof(NxExtendedBounds3));
capsules = (NxExtendedCapsule*)NxAlloca(nbControllers*sizeof(NxExtendedCapsule)); // It's evil to waste that ram
boxUserData = (Controller**)NxAlloca(nbControllers*sizeof(Controller*));
capsuleUserData = (Controller**)NxAlloca(nbControllers*sizeof(Controller*));
while(nbControllers--)
{
Controller* currentController = *controllers++;
if(currentController==this) continue;
NxActor* pActor = currentController->getActor();
int nbShapes = pActor->getNbShapes();
NX_ASSERT( nbShapes == 1 );
NxShape* pCurrentShape= pActor->getShapes()[0];
// Depending on user settings the current controller can be:
// - discarded
// - always kept
// - or tested against filtering flags
NxCCTInteractionFlag interactionFlag = currentController->getInteraction();
bool keepController = true;
if(interactionFlag==NXIF_INTERACTION_EXCLUDE) keepController = false;
else if(interactionFlag==NXIF_INTERACTION_USE_FILTER) keepController = (activeGroups & ( 1 << pCurrentShape->getGroup()))!=0;
if(keepController)
{
if(currentController->type==NX_CONTROLLER_BOX)
{
currentController->getWorldBox(boxes[nbBoxes]);
boxUserData[nbBoxes++] = currentController;
}
else if(currentController->type==NX_CONTROLLER_CAPSULE)
{
CapsuleController* CC = static_cast<CapsuleController*>(currentController);
NxExtendedVec3 p0 = CC->position;
NxExtendedVec3 p1 = CC->position;
p0[ST->mUpDirection] -= CC->height*0.5f;
p1[ST->mUpDirection] += CC->height*0.5f;
capsules[nbCapsules].p0 = p0;
capsules[nbCapsules].p1 = p1;
capsules[nbCapsules].radius = CC->radius;
capsuleUserData[nbCapsules++] = currentController;
}
else ASSERT(0);
}
}
}
///////////
ST->mWalkExperiment = false;
NxExtendedVec3 Backup = volume.mCenter;
ST->MoveCharacter(scene,
(Controller*)this,
volume, disp,
nbBoxes, nbBoxes ? boxes : NULL, nbBoxes ? (const void**)boxUserData : NULL,
nbCapsules, nbCapsules ? capsules : NULL, nbCapsules ? (const void**)capsuleUserData : NULL,
activeGroups, minDist, collisionFlags, groupsMask, constrainedClimbingMode);
if(ST->mHitNonWalkable)
{
// A bit slow, but everything else I tried was less convincing...
ST->mWalkExperiment = true;
volume.mCenter = Backup;
ST->MoveCharacter(scene,
(Controller*)this,
volume, disp,
nbBoxes, nbBoxes ? boxes : NULL, nbBoxes ? (const void**)boxUserData : NULL,
nbCapsules, nbCapsules ? capsules : NULL, nbCapsules ? (const void**)capsuleUserData : NULL,
activeGroups, minDist, collisionFlags, groupsMask, constrainedClimbingMode);
ST->mWalkExperiment = false;
}
if(sharpness<0.0f)
volume.mCenter = Backup;
// Copy results back
position = volume.mCenter;
NxVec3 Delta = Backup - volume.mCenter;
NxF32 deltaM2 = Delta.magnitudeSquared();
if(deltaM2!=0.0f)
{
// Update kinematic actor
if(kineActor)
kineActor->moveGlobalPosition(NxVec3((float)position.x, (float)position.y, (float)position.z));
}
filteredPosition = position;
sharpness = fabsf(sharpness);
// Apply feedback filter if needed
if(sharpness<1.0f)
filteredPosition[upDirection] = feedbackFilter(position[upDirection], memory, sharpness);
// if(manager->debugData)
// manager->debugData->addAABB(cctModule.mCachedTBV, NX_ARGB_YELLOW);
}
float * NovodexPhysicSystem::getGravity() const
{
static NxVec3 g(0,0,0);
m_scene->getGravity(g);
return g.get();
}