void SampleSubmarine::onSubstep(float dtime)
{
// user input -> forces
handleInput();
// change current every 0.01s
static PxReal sElapsedTime = 0.0f;
sElapsedTime += mPause ? 0 : dtime;
if(sElapsedTime > 0.01f)
{
static PxReal angle = 0;
angle += sElapsedTime*0.01f;
angle = angle < (PxTwoPi) ? angle : angle - PxTwoPi;
sElapsedTime = 0;
gBuoyancy.z = 0.15f * PxSin(angle * 50);
PxQuat yRot = PxQuat(angle, PxVec3(0,1,0));
gBuoyancy = yRot.rotate(gBuoyancy);
// apply external forces to seamines
const size_t nbSeamines = mSeamines.size();
for(PxU32 i = 0; i < nbSeamines; i++)
{
Seamine* mine = mSeamines[i];
mine->mMineHead->addForce(gBuoyancy, PxForceMode::eACCELERATION);
const size_t nbLinks = mine->mLinks.size();
for(PxU32 j = 0; j < nbLinks; j++)
{
mine->mLinks[j]->addForce(gBuoyancy, PxForceMode::eACCELERATION);
}
}
}
if(mSubmarineActor)
{
//convert forces from submarine the submarine's body local space to global space
PxQuat submarineOrientation = mSubmarineActor->getGlobalPose().q;
gForce = submarineOrientation.rotate(gForce);
gTorque = submarineOrientation.rotate(gTorque);
// add also current forces to submarine
gForce.z += gBuoyancy.z * 5.0f;
// apply forces in global space and reset
mSubmarineActor->addForce(gForce);
mSubmarineActor->addTorque(gTorque);
gForce = PxVec3(0);
gTorque = PxVec3(0);
}
}
static PxTransform computeBoneTransform(PxTransform &rootTransform, Acclaim::Bone &bone, PxVec3* boneFrameData)
{
using namespace Acclaim;
//PxTransform rootTransform(PxVec3(0.0f), PxQuat(PxIdentity));
PxTransform parentTransform = (bone.mParent) ?
computeBoneTransform(rootTransform, *bone.mParent, boneFrameData) : rootTransform;
PxQuat qWorld = EulerAngleToQuat(bone.mAxis);
PxVec3 offset = bone.mLength * bone.mDirection;
PxQuat qDelta = PxQuat(PxIdentity);
PxVec3 boneData = boneFrameData[bone.mID-1];
if (bone.mDOF & BoneDOFFlag::eRX)
qDelta = PxQuat(Ps::degToRad(boneData.x), PxVec3(1.0f, 0.0f, 0.0f)) * qDelta;
if (bone.mDOF & BoneDOFFlag::eRY)
qDelta = PxQuat(Ps::degToRad(boneData.y), PxVec3(0.0f, 1.0f, 0.0f)) * qDelta;
if (bone.mDOF & BoneDOFFlag::eRZ)
qDelta = PxQuat(Ps::degToRad(boneData.z), PxVec3(0.0f, 0.0f, 1.0f)) * qDelta;
PxQuat boneOrientation = qWorld * qDelta * qWorld.getConjugate();
PxTransform boneTransform(boneOrientation.rotate(offset), boneOrientation);
return parentTransform.transform(boneTransform);
}
/**
@brief update vertex position
@date 2014-02-26
*/
void RendererBezierShape::SetBezierCurve(const vector<PxVec3> &points, const PxVec3 &color)//color=PxVec(0,0,0)
{
const PxU32 numVerts = (NODE_COUNT-1)*CONER_COUNT + 1; // +1 is head vertex point
const PxVec3 diffuse = color * 255;
const PxU32 diffuseColor = m_renderer.convertColor(RendererColor(diffuse.x, diffuse.y, diffuse.z));
RENDERER_ASSERT(m_vertexBuffer, "Failed to create Vertex Buffer.");
if (m_vertexBuffer)
{
PxU32 stride = 0;
void* vertPositions = m_vertexBuffer->lockSemantic(RendererVertexBuffer::SEMANTIC_POSITION, stride);
//void *colors = m_vertexBuffer->lockSemantic(RendererVertexBuffer::SEMANTIC_COLOR, stride);
void *normals = m_vertexBuffer->lockSemantic(RendererVertexBuffer::SEMANTIC_NORMAL, stride);
PxVec3 oldPos;
int vtxOffset = 0;
for (int i=0; i < NODE_COUNT-1; ++i)
{
PxVec3 pos;
utility::bezier(pos, points, (float)i/(float)(NODE_COUNT-1));
PxQuat q;
if (i > 0)
{
PxVec3 curve = pos - oldPos;
curve.normalize();
utility::quatRotationArc(q, PxVec3(1,0,0), curve);
}
float DEPTH = .03f;
if (i == NODE_COUNT-2)
DEPTH += DEPTH*3; // arrow head
for (int k=0; k < CONER_COUNT; ++k)
{
const float rad = -PxPi * 2.f * ((float)k/(float)CONER_COUNT);
PxVec3 dir = PxQuat(rad, PxVec3(1,0,0)).rotate(PxVec3(0,1,0));
if (i > 0)
dir = q.rotate(dir);
*(PxVec3*)(((PxU8*)vertPositions) + vtxOffset) = pos + dir*DEPTH;
*(PxVec3*)(((PxU8*)normals) + vtxOffset) = PxVec3(0,1,0);
//*(PxU32*)(((PxU8*)colors) + vtxOffset) = diffuseColor;
vtxOffset += stride;
}
// arrow head
DEPTH += DEPTH; // head length
if (i == NODE_COUNT-2)
{
utility::bezier(pos, points, 1);
if ((pos-oldPos).magnitude() < 0.2f)
{
PxVec3 v0 = pos-oldPos;
if (!v0.isZero())
{
v0.normalize();
pos = oldPos + v0*0.2f;
}
}
PxVec3 dir = q.rotate(PxVec3(1,0,0));
*(PxVec3*)(((PxU8*)vertPositions) + vtxOffset) = pos;
*(PxVec3*)(((PxU8*)normals) + vtxOffset) = PxVec3(0,1,0);
//*(PxU32*)(((PxU8*)colors) + vtxOffset) = diffuseColor;
}
oldPos = pos;
}
m_vertexBuffer->unlockSemantic(RendererVertexBuffer::SEMANTIC_POSITION);
//m_vertexBuffer->unlockSemantic(RendererVertexBuffer::SEMANTIC_COLOR);
m_vertexBuffer->unlockSemantic(RendererVertexBuffer::SEMANTIC_NORMAL);
}
}