void BasicRandom::unitRandomQuat(PxQuat& v)
{
v.x = randomFloat();
v.y = randomFloat();
v.z = randomFloat();
v.w = randomFloat();
v.normalize();
}
void SampleCustomGravityCameraController::update(Camera& camera, PxReal dtime)
{
const PxExtendedVec3& currentPos = mCCT.getPosition();
const PxVec3 curPos = toVec3(currentPos);
// Compute up vector for current CCT position
PxVec3 upVector;
mBase.mPlanet.getUpVector(upVector, curPos);
PX_ASSERT(upVector.isFinite());
// Update CCT
if(!mBase.isPaused())
{
if(1)
{
bool recordPos = true;
const PxU32 currentSize = mNbRecords;
if(currentSize)
{
const PxVec3 lastPos = mHistory[currentSize-1];
// const float limit = 0.1f;
const float limit = 0.5f;
if((curPos - lastPos).magnitude()<limit)
recordPos = false;
}
if(recordPos)
{
if(mNbRecords==POS_HISTORY_LIMIT)
{
for(PxU32 i=1;i<mNbRecords;i++)
mHistory[i-1] = mHistory[i];
mNbRecords--;
}
mHistory[mNbRecords++] = curPos;
}
}
// Subtract off the 'up' component of the view direction to get our forward motion vector.
PxVec3 viewDir = camera.getViewDir();
PxVec3 forward = (viewDir - upVector * upVector.dot(viewDir)).getNormalized();
// PxVec3 forward = mForward;
// Compute "right" vector
PxVec3 right = forward.cross(upVector);
right.normalize();
// PxVec3 right = mRightV;
PxVec3 targetKeyDisplacement(0);
if(mFwd) targetKeyDisplacement += forward;
if(mBwd) targetKeyDisplacement -= forward;
if(mRight) targetKeyDisplacement += right;
if(mLeft) targetKeyDisplacement -= right;
targetKeyDisplacement *= mKeyShiftDown ? mRunningSpeed : mWalkingSpeed;
// targetKeyDisplacement += PxVec3(0,-9.81,0);
targetKeyDisplacement *= dtime;
PxVec3 targetPadDisplacement(0);
targetPadDisplacement += forward * mGamepadForwardInc * mRunningSpeed;
targetPadDisplacement += right * mGamepadLateralInc * mRunningSpeed;
// targetPadDisplacement += PxVec3(0,-9.81,0);
targetPadDisplacement *= dtime;
const PxF32 heightDelta = gJump.getHeight(dtime);
// printf("%f\n", heightDelta);
PxVec3 upDisp = upVector;
if(heightDelta!=0.0f)
upDisp *= heightDelta;
else
upDisp *= -9.81f * dtime;
const PxVec3 disp = targetKeyDisplacement + targetPadDisplacement + upDisp;
//upDisp.normalize();
//printf("%f | %f | %f\n", upDisp.x, upDisp.y, upDisp.z);
// printf("%f | %f | %f\n", targetKeyDisplacement.x, targetKeyDisplacement.y, targetKeyDisplacement.z);
// printf("%f | %f | %f\n\n", targetPadDisplacement.x, targetPadDisplacement.y, targetPadDisplacement.z);
mCCT.setUpDirection(upVector);
const PxU32 flags = mCCT.move(disp, 0.001f, dtime, PxControllerFilters());
if(flags & PxControllerFlag::eCOLLISION_DOWN)
{
gJump.stopJump();
// printf("Stop jump\n");
}
}
// Update camera
if(1)
{
mTargetYaw += mGamepadYawInc * dtime;
mTargetPitch += mGamepadPitchInc * dtime;
// Clamp pitch
// if(mTargetPitch<mPitchMin) mTargetPitch = mPitchMin;
// if(mTargetPitch>mPitchMax) mTargetPitch = mPitchMax;
}
if(1)
{
PxVec3 up = upVector;
PxQuat localPitchQ(mTargetPitch, PxVec3(1.0f, 0.0f, 0.0f));
PX_ASSERT(localPitchQ.isSane());
PxMat33 localPitchM(localPitchQ);
const PxVec3 upRef(0.0f, 1.0f, 0.0f);
PxQuat localYawQ(mTargetYaw, upRef);
PX_ASSERT(localYawQ.isSane());
PxMat33 localYawM(localYawQ);
bool res;
PxQuat localToWorldQ = rotationArc(upRef, up, res);
static PxQuat memory(0,0,0,1);
if(!res)
{
localToWorldQ = memory;
}
else
{
memory = localToWorldQ;
}
PX_ASSERT(localToWorldQ.isSane());
PxMat33 localToWorld(localToWorldQ);
static PxVec3 previousUp(0.0f, 1.0f, 0.0f);
static PxQuat incLocalToWorldQ(0.0f, 0.0f, 0.0f, 1.0f);
PxQuat incQ = rotationArc(previousUp, up, res);
PX_ASSERT(incQ.isSane());
// incLocalToWorldQ = incLocalToWorldQ * incQ;
incLocalToWorldQ = incQ * incLocalToWorldQ;
PX_ASSERT(incLocalToWorldQ.isSane());
incLocalToWorldQ.normalize();
PxMat33 incLocalToWorldM(incLocalToWorldQ);
localToWorld = incLocalToWorldM;
previousUp = up;
mTest = localToWorld;
//mTest = localToWorld * localYawM;
// PxMat33 rot = localYawM * localToWorld;
PxMat33 rot = localToWorld * localYawM * localPitchM;
// PxMat33 rot = localToWorld * localYawM;
PX_ASSERT(rot.column0.isFinite());
PX_ASSERT(rot.column1.isFinite());
PX_ASSERT(rot.column2.isFinite());
////
PxMat44 view(rot.column0, rot.column1, rot.column2, PxVec3(0));
mForward = -rot.column2;
mRightV = rot.column0;
camera.setView(PxTransform(view));
PxVec3 viewDir = camera.getViewDir();
PX_ASSERT(viewDir.isFinite());
////
PxRigidActor* characterActor = mCCT.getActor();
PxShape* shape;
characterActor->getShapes(&shape,1);
PxCapsuleGeometry geom;
shape->getCapsuleGeometry(geom);
up *= geom.halfHeight+geom.radius;
const PxVec3 headPos = curPos + up;
const float distanceToTarget = 10.0f;
// const float distanceToTarget = 20.0f;
// const float distanceToTarget = 5.0f;
// const PxVec3 camPos = headPos - viewDir*distanceToTarget;
const PxVec3 camPos = headPos - mForward*distanceToTarget;// + up * 20.0f;
// view.t = camPos;
view.column3 = PxVec4(camPos,0);
// camera.setView(view);
camera.setView(PxTransform(view));
mTarget = headPos;
}
if(0)
{
PxControllerState cctState;
mCCT.getState(cctState);
printf("\nCCT state:\n");
printf("delta: %.02f | %.02f | %.02f\n", cctState.deltaXP.x, cctState.deltaXP.y, cctState.deltaXP.z);
printf("touchedShape: %p\n", cctState.touchedShape);
printf("touchedObstacle: %p\n", cctState.touchedObstacle);
printf("standOnAnotherCCT: %d\n", cctState.standOnAnotherCCT);
printf("standOnObstacle: %d\n", cctState.standOnObstacle);
printf("isMovingUp: %d\n", cctState.isMovingUp);
printf("collisionFlags: %d\n", cctState.collisionFlags);
}
}
