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 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::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++;
}
