void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
(const PxVehicleKeySmoothingData& keySmoothing,
const PxVehicleDriveTankRawInputData& rawInputData,
const PxF32 timestep,
PxVehicleDriveTank& focusVehicle)
{
PxF32 val;
val=processDigitalValue(PxVehicleDriveTank::eANALOG_INPUT_ACCEL,keySmoothing,rawInputData.getDigitalAccel(),timestep,focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_ACCEL));
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_ACCEL);
val=processDigitalValue(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT,keySmoothing,rawInputData.getDigitalLeftThrust(),timestep,focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT));
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
val=processDigitalValue(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT,keySmoothing,rawInputData.getDigitalRightThrust(),timestep,focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT));
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
val=processDigitalValue(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT,keySmoothing,rawInputData.getDigitalLeftBrake(),timestep,focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT));
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
val=processDigitalValue(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT,keySmoothing,rawInputData.getDigitalRightBrake(),timestep,focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT));
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
//Update digital inputs for focus vehicle.
focusVehicle.mDriveDynData.setGearUp(rawInputData.getGearUp());
focusVehicle.mDriveDynData.setGearDown(rawInputData.getGearDown());
switch(rawInputData.getDriveModel())
{
case PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL:
{
const PxF32 thrustL=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(thrustL,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
const PxF32 thrustR=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(thrustR,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
break;
case PxVehicleDriveTank::eDRIVE_MODEL_STANDARD:
{
const PxF32 thrustL=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
if(thrustL>0)
{
focusVehicle.mDriveDynData.setAnalogInput(thrustL,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
}
else
{
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(-thrustL,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
}
const PxF32 thrustR=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
if(thrustR>0)
{
focusVehicle.mDriveDynData.setAnalogInput(thrustR,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
else
{
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(-thrustR,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
}
break;
default:
PX_ASSERT(false);
break;
}
}
void SampleVehicle_VehicleController::processAutoReverse
(const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
const PxVehicleDriveTankRawInputData& tankRawInputs,
bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const
{
newIsMovingForwardSlowly = false;
toggleAutoReverse = false;
if(driveDynData.getUseAutoGears())
{
//If the car is travelling very slowly in forward gear without player input and the player subsequently presses the brake then we want the car to go into reverse gear
//If the car is travelling very slowly in reverse gear without player input and the player subsequently presses the accel then we want the car to go into forward gear
//If the car is in forward gear and is travelling backwards then we want to automatically put the car into reverse gear.
//If the car is in reverse gear and is travelling forwards then we want to automatically put the car into forward gear.
//(If the player brings the car to rest with the brake the player needs to release the brake then reapply it
//to indicate they want to toggle between forward and reverse.)
const bool prevIsMovingForwardSlowly=mIsMovingForwardSlowly;
bool isMovingForwardSlowly=false;
bool isMovingBackwards=false;
const bool isInAir = PxVehicleIsInAir(vehicleWheelQueryResults);
if(!isInAir)
{
bool accelLeft,accelRight,brakeLeft,brakeRight;
if(mUseKeyInputs)
{
accelLeft=tankRawInputs.getDigitalLeftThrust();
accelRight=tankRawInputs.getDigitalRightThrust();
brakeLeft=tankRawInputs.getDigitalLeftBrake();
brakeRight=tankRawInputs.getDigitalRightBrake();
}
else
{
accelLeft = tankRawInputs.getAnalogLeftThrust() > 0 ? true : false;
accelRight = tankRawInputs.getAnalogRightThrust() > 0 ? true : false;
brakeLeft = tankRawInputs.getAnalogLeftBrake() > 0 ? true : false;
brakeRight = tankRawInputs.getAnalogRightBrake() > 0 ? true : false;
/*
if(accelLeft && accelLeft==accelRight && !brakeLeft && !brakeRight)
{
shdfnd::printFormatted("aligned accel\n");
}
if(brakeLeft && brakeLeft==brakeRight && !accelLeft && !accelRight)
{
shdfnd::printFormatted("aligned brake\n");
}
*/
}
const PxF32 forwardSpeed = focusVehicle.computeForwardSpeed();
const PxF32 forwardSpeedAbs = PxAbs(forwardSpeed);
const PxF32 sidewaysSpeedAbs = PxAbs(focusVehicle.computeSidewaysSpeed());
const PxU32 currentGear = driveDynData.getCurrentGear();
const PxU32 targetGear = driveDynData.getTargetGear();
//Check if the car is rolling against the gear (backwards in forward gear or forwards in reverse gear).
if(PxVehicleGearsData::eFIRST == currentGear && forwardSpeed < -THRESHOLD_ROLLING_BACKWARDS_SPEED)
{
isMovingBackwards = true;
}
else if(PxVehicleGearsData::eREVERSE == currentGear && forwardSpeed > THRESHOLD_ROLLING_BACKWARDS_SPEED)
{
isMovingBackwards = true;
}
//Check if the car is moving slowly.
if(forwardSpeedAbs < THRESHOLD_FORWARD_SPEED && sidewaysSpeedAbs < THRESHOLD_SIDEWAYS_SPEED)
{
isMovingForwardSlowly=true;
}
//Now work if we need to toggle from forwards gear to reverse gear or vice versa.
if(isMovingBackwards)
{
if(!accelLeft && !accelRight && !brakeLeft && !brakeRight && (currentGear == targetGear))
{
//The car is rolling against the gear and the player is doing nothing to stop this.
toggleAutoReverse = true;
}
}
else if(prevIsMovingForwardSlowly && isMovingForwardSlowly)
{
if((currentGear > PxVehicleGearsData::eNEUTRAL) && brakeLeft && brakeRight && !accelLeft && !accelRight && (currentGear == targetGear))
{
//The car was moving slowly in forward gear without player input and is now moving slowly with player input that indicates the
//player wants to switch to reverse gear.
toggleAutoReverse = true;
}
else if(currentGear == PxVehicleGearsData::eREVERSE && accelLeft && accelRight && !brakeLeft && !brakeRight && (currentGear == targetGear))
{
//The car was moving slowly in reverse gear without player input and is now moving slowly with player input that indicates the
//player wants to switch to forward gear.
toggleAutoReverse = true;
}
}
//If the car was brought to rest through braking then the player needs to release the brake then reapply
//to indicate that the gears should toggle between reverse and forward.
if(isMovingForwardSlowly && (!brakeLeft || !brakeRight) && (!accelLeft || !accelRight))
{
newIsMovingForwardSlowly = true;
}
}
}
}
void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
(const PxVehiclePadSmoothingData& padSmoothing,
const PxVehicleDriveTankRawInputData& rawInputData,
const PxReal timestep,
PxVehicleDriveTank& focusVehicle)
{
//Process the gearup/geardown buttons.
const bool gearup=rawInputData.getGearUp();
const bool geardown=rawInputData.getGearDown();
focusVehicle.mDriveDynData.setGearUp(gearup);
focusVehicle.mDriveDynData.setGearDown(geardown);
//Process the accel.
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_ACCEL];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_ACCEL];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_ACCEL);
const PxF32 targetVal=rawInputData.getAnalogAccel();
const PxF32 accel=processPositiveAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
focusVehicle.mDriveDynData.setAnalogInput(accel,PxVehicleDriveTank::eANALOG_INPUT_ACCEL);
}
PX_ASSERT(focusVehicle.getDriveModel()==rawInputData.getDriveModel());
switch(rawInputData.getDriveModel())
{
case PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL:
{
//Process the left brake.
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
const PxF32 targetVal=rawInputData.getAnalogLeftBrake();
const PxF32 accel=processPositiveAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
focusVehicle.mDriveDynData.setAnalogInput(accel,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
}
//Process the right brake.
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
const PxF32 targetVal=rawInputData.getAnalogRightBrake();
const PxF32 accel=processPositiveAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
focusVehicle.mDriveDynData.setAnalogInput(accel,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
//Left thrust
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
const PxF32 targetVal=rawInputData.getAnalogLeftThrust();
const PxF32 val=processAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
}
//Right thrust
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
const PxF32 targetVal=rawInputData.getAnalogRightThrust();
const PxF32 val=processAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
}
}
break;
case PxVehicleDriveTank::eDRIVE_MODEL_STANDARD:
{
//Right thrust
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
const PxF32 targetVal=rawInputData.getAnalogRightThrust()-rawInputData.getAnalogRightBrake();
const PxF32 val=processAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
if(val>0)
{
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
else
{
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT);
focusVehicle.mDriveDynData.setAnalogInput(-val,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT);
}
}
//Left thrust
{
const PxF32 riseRate=padSmoothing.mRiseRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];
const PxF32 fallRate=padSmoothing.mFallRates[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];
const PxF32 currentVal=focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT)-focusVehicle.mDriveDynData.getAnalogInput(PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
const PxF32 targetVal=rawInputData.getAnalogLeftThrust()-rawInputData.getAnalogLeftBrake();
const PxF32 val=processAnalogValue(riseRate,fallRate,currentVal,targetVal,timestep);
if(val>0)
{
focusVehicle.mDriveDynData.setAnalogInput(val,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
}
else
{
focusVehicle.mDriveDynData.setAnalogInput(0.0f,PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT);
focusVehicle.mDriveDynData.setAnalogInput(-val,PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT);
}
}
}
break;
default:
PX_ASSERT(false);
break;
}
}
void SampleVehicle_VehicleController::processRawInputs
(const PxF32 dtime, const bool useAutoGears, PxVehicleDriveTankRawInputData& rawInputData)
{
// Keyboard
//Keyboard controls for tank not implemented yet.
{
/*
if(mRecord)
{
if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
{
mKeyboardAccelValues[mNumSamples] = mAccelKeyPressed;
mKeyboardBrakeValues[mNumSamples] = mBrakeKeyPressed;
mKeyboardHandbrakeValues[mNumSamples] = mHandbrakeKeyPressed;
mKeyboardSteerLeftValues[mNumSamples] = mSteerLeftKeyPressed;
mKeyboardSteerRightValues[mNumSamples] = mSteerRightKeyPressed;
mKeyboardGearupValues[mNumSamples] = mGearUpKeyPressed;
mKeyboardGeardownValues[mNumSamples] = mGearDownKeyPressed;
}
}
else if(mReplay)
{
if(mNumSamples<mNumRecordedSamples)
{
mAccelKeyPressed = mKeyboardAccelValues[mNumSamples];
mBrakeKeyPressed = mKeyboardBrakeValues[mNumSamples];
mHandbrakeKeyPressed = mKeyboardHandbrakeValues[mNumSamples];
mSteerLeftKeyPressed = mKeyboardSteerLeftValues[mNumSamples];
mSteerRightKeyPressed = mKeyboardSteerRightValues[mNumSamples];
mGearUpKeyPressed = mKeyboardGearupValues[mNumSamples];
mGearDownKeyPressed = mKeyboardGeardownValues[mNumSamples];
}
}
*/
rawInputData.setDigitalAccel(mKeyPressedAccel);
rawInputData.setDigitalLeftThrust(mKeyPressedThrustLeft);
rawInputData.setDigitalRightThrust(mKeyPressedThrustRight);
rawInputData.setDigitalLeftBrake(mKeyPressedBrakeLeft);
rawInputData.setDigitalRightBrake(mKeyPressedBrakeRight);
rawInputData.setGearUp(mKeyPressedGearUp);
rawInputData.setGearDown(mKeyPressedGearDown);
mUseKeyInputs=
(mKeyPressedAccel || mKeyPressedThrustLeft || mKeyPressedThrustRight ||
mKeyPressedBrakeLeft || mKeyPressedBrakeRight ||
mKeyPressedGearUp || mKeyPressedGearDown);
}
// Gamepad
{
if(mRecord)
{
if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
{
mGamepadAccelValues[mNumSamples] = mGamepadAccel;
mGamepadTankThrustLeftValues[mNumSamples] = mTankThrustLeft;
mGamepadTankThrustRightValues[mNumSamples] = mTankThrustRight;
mGamepadGearupValues[mNumSamples] = mGamepadGearup;
mGamepadGeardownValues[mNumSamples] = mGamepadGeardown;
}
}
else if(mReplay)
{
if(mNumSamples<mNumRecordedSamples)
{
mGamepadAccel = mGamepadAccelValues[mNumSamples];
mTankThrustLeft = mGamepadTankThrustLeftValues[mNumSamples];
mTankThrustRight= mGamepadTankThrustRightValues[mNumSamples];
mGamepadGearup = mGamepadGearupValues[mNumSamples];
mGamepadGeardown = mGamepadGeardownValues[mNumSamples];
}
}
if(mGamepadAccel<0.0f || mGamepadAccel>1.01f)
getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal accel value from gamepad", __FILE__, __LINE__);
if(mTankThrustLeft<-1.01f || mTankThrustLeft>1.01f)
getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal brake value from gamepad", __FILE__, __LINE__);
if(mTankThrustRight<-1.01f || mTankThrustRight>1.01f)
getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal steer value from gamepad", __FILE__, __LINE__);
if(mUseKeyInputs && ((mGamepadAccel+mTankThrustLeft+mTankThrustRight)!=0.0f || mGamepadGearup || mGamepadGeardown))
{
mUseKeyInputs=false;
}
if(!mUseKeyInputs)
{
rawInputData.setAnalogAccel(mGamepadAccel);
rawInputData.setAnalogLeftThrust(mTankThrustLeft);
rawInputData.setAnalogRightThrust(mTankThrustRight);
rawInputData.setAnalogLeftBrake(mTankBrakeLeft);
rawInputData.setAnalogRightBrake(mTankBrakeRight);
rawInputData.setGearUp(mGamepadGearup);
rawInputData.setGearDown(mGamepadGeardown);
}
}
if(useAutoGears && (rawInputData.getGearDown() || rawInputData.getGearUp()))
{
rawInputData.setGearDown(false);
rawInputData.setGearUp(false);
}
mNumSamples++;
}
