//assumes that the Vectors are normalized
hsBool ThreePlaneIntersect(const NxVec3& norm0, const NxVec3& point0,
const NxVec3& norm1, const NxVec3& point1,
const NxVec3& norm2, const NxVec3& point2, NxVec3& loc)
{
//need to make sure these planes aren't parallel
hsBool suc=0;
NxVec3 cross=norm1.cross( norm2);
float denom=norm0.dot(cross);
if(abs(denom)<0.0001) return 0;//basically paralell
// if we are here there must be a point in 3 space
try{
float d1,d2,d3;
d1=norm0.dot(point0);
d2=norm1.dot(point1);
d3=norm2.dot(point2);
NxVec3 n1Xn2=norm1.cross(norm2);
NxVec3 n2Xn0=norm2.cross(norm0);
NxVec3 n0Xn1=norm0.cross(norm1);
NxVec3 pos=(d1*n1Xn2+ d2*n2Xn0 + d3*n0Xn1)/(denom);
loc.x=pos.x;
loc.y=pos.y;
loc.z=pos.z;
suc= 1;
}
catch(...)
{
suc=0;
}
return suc;
}
// -----------------------------------------------------------------------------------
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;
}
// 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;
}
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 );
}
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;
}
void pWheel2::_updateVirtoolsEntity(bool position,bool rotation)
{
CK3dEntity *ent = static_cast<CK3dEntity*>(GetPMan()->GetContext()->GetObject(getEntID()));
if (ent && position)
{
NxWheelShape *wShape = getWheelShape();
NxMat34 pose = wShape->getGlobalPose();
NxWheelContactData wcd;
NxShape* contactShape = wShape->getContact(wcd);
NxVec3 suspensionOffsetDirection;
pose.M.getColumn(1, suspensionOffsetDirection);
suspensionOffsetDirection =-suspensionOffsetDirection;
if (contactShape && wcd.contactForce > -1000)
{
NxVec3 toContact = wcd.contactPoint - pose.t;
double alongLength = suspensionOffsetDirection.dot(toContact);
NxVec3 across = toContact - alongLength * suspensionOffsetDirection;
double r = wShape->getRadius();
double pullBack = sqrt(r*r - across.dot(across));
pose.t += (alongLength - pullBack) * suspensionOffsetDirection;
} else {
pose.t += wShape->getSuspensionTravel() * suspensionOffsetDirection;
}
VxVector oPos = getFrom(pose.t);
ent->SetPosition(&oPos);
if (hasGroundContact())
{
NxWheelShape *wShape = getWheelShape();
NxMat34& wheelPose = wShape->getGlobalPose();
/* NxWheelContactData wcd;
NxShape* cShape = wShape->getContact(wcd);
NxReal stravel = wShape->getSuspensionTravel();
NxReal radius = wShape->getRadius();
VxVector gPos = getFrom(getWheelPose().t);
/*
if( cShape && wcd.contactPosition <= (stravel + radius) )
{
}*/
//////////////////////////////////////////////////////////////////////////
/*VxVector gPos = getFrom(getWheelPose().t);
//gPos*=-1.0f;
gPos -=getWheelPos();
V 3.
xVector gPos2 = getFrom(getWheelShape()->getLocalPose().t);
ent->SetPosition(&gPos2,getBody()->GetVT3DObject());
*/
}else
{
// VxVector gPos = getWheelPos();
// ent->SetPosition(&gPos,getBody()->GetVT3DObject());
}
}
if (ent && rotation)
{
//float rollAngle = getWheelRollAngle();
//rollAngle+=wShape->getAxleSpeed() * (dt* 0.01f);
VxQuaternion rot = pMath::getFrom( getWheelPose().M );
ent->SetQuaternion(&rot,NULL);
}
/*
NxWheelShape *wShape = getWheelShape();
while (rollAngle > NxTwoPi) //normally just 1x
rollAngle-= NxTwoPi;
while (rollAngle< -NxTwoPi) //normally just 1x
rollAngle+= NxTwoPi;
setWheelRollAngle(rollAngle);
NxMat34& wheelPose = wShape->getGlobalPose();
NxWheelContactData wcd;
NxShape* cShape = wShape->getContact(wcd);
NxReal stravel = wShape->getSuspensionTravel();
NxReal radius = wShape->getRadius();
//have ground contact?
if( cShape && wcd.contactPosition <= (stravel + radius) ) {
wheelPose.t = NxVec3( wheelPose.t.x, wcd.contactPoint.y + getRadius(), wheelPose.t.z );
}
else {
wheelPose.t = NxVec3( wheelPose.t.x, wheelPose.t.y - getSuspensionTravel(), wheelPose.t.z );
}
float rAngle = rollAngle;
float steer = wShape->getSteerAngle();
NxMat33 rot, axisRot, rollRot;
rot.rotY( wShape->getSteerAngle() );
axisRot.rotY(0);
rollRot.rotX(rollAngle);
wheelPose.M = rot * wheelPose.M * axisRot * rollRot;
setWheelPose(wheelPose);
*/
}