vec3f PhysActor_PhysX::GetAngularVelocity()
{
if (!impl->physActor)
{
LOG("Cannot get angular velocity from actor because actor ptr is null!");
return vec3f(0.0f, 0.0f, 0.0f);
}
PxRigidBody* actor = nullptr;
if (impl->physActor->isRigidDynamic() || impl->physActor->isRigidBody())
actor = (PxRigidBody*)impl->physActor;
else
{
LOG("Cannot get angular velocity from actor because actor is not a Rigid Dynamic or Rigid Body actor.");
return vec3f(0.0f, 0.0f, 0.0f);
}
if (!actor)
return vec3f(0.0f, 0.0f, 0.0f);
PxVec3 velocity = actor->getAngularVelocity();
vec3f vConv(velocity.x, velocity.y, velocity.z);
return vConv;
}
Vector2dVec DepthMap::getPointVec(const std::vector<int> & idxVec) const
{
Vector2dVec result;
result.reserve(idxVec.size());
for (auto & idx : idxVec)
{
const int idxh = idx % hStep; //FIXME
result.emplace_back(uConv(idxh % xMax), vConv(idxh / xMax));
}
return result;
}
Vector2dVec DepthMap::getPointVec() const
{
Vector2dVec result;
result.reserve(xMax * yMax);
for (int y = 0; y < yMax; y++)
{
for (int x = 0; x < xMax; x++)
{
result.emplace_back(uConv(x), vConv(y));
}
}
return result;
}
void DepthMap::applyMask(const Mat8u & mask)
{
for (int y = 0; y < yMax; y++)
{
for (int x = 0; x < xMax; x++)
{
if ( not mask(vConv(y), uConv(x)) )
{
for (int h = 0; h < hMax; h++)
{
at(x, y, h) = 0;
}
}
}
}
}