void InitNx()
{
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
// gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
// capsule2->setLinearDamping(0.1);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = NxVec3(0,5,0);
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
gSelectedActor = capsule2;
gForceStrength = 50000;
gCameraSpeed = 10;
// Initialize HUD
InitializeHUD();
InitializeSpecialHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
//初期化
void GameStage::Create(){
try{
//リソースの作成
CreateResourses();
//ビュー類を作成する
CreateViews();
//プレートの作成
CreatePlate();
//追いかけるオブジェクトの作成
CreateSeekObject();
//固定のボックスの作成
CreateFixedBox();
//上下移動しているボックスの作成
CreateMoveBox();
//カプセル作成
CreateCapsule();
//球体作成
CreateSphere();
//衝突するスクエアの作成
CreateHitTestSquare();
//プレーヤーの作成
CreatePlayer();
}
catch (...){
throw;
}
}
void KeyboardUpCallback(unsigned char key, int x, int y)
{
gKeys[key] = false;
switch (key)
{
case 'p': { bPause = !bPause;
if (bPause)
hud.SetDisplayString(1, "Paused - Hit \"p\" to Unpause", 0.3f, 0.55f);
else
hud.SetDisplayString(1, "", 0.0f, 0.0f);
getElapsedTime();
break; }
case 'f': { bForceMode = !bForceMode; break; }
case 'b':
{
box = CreateBox(NxVec3(2,5-0.75,7), NxVec3(0.75,0.75,0.75), 1);
sphere = CreateSphere(NxVec3(0,4-0.4,1), 0.4, 1);
capsule = CreateCapsule(NxVec3(3,0-(1+0.5),8), 1, 1, 1);
break;
}
case 27 : { exit(0); break; }
default : { break; }
}
}
//カプセルとモデルのあたり判定
CollisionParameter Actor::CapsuleModel(const Actor& other)const{
Vector3 down = -RCVector3::normalize(RCMatrix4::getUp(parameter.matrix));
Vector3 pos = RCMatrix4::getPosition(parameter.matrix) - down;
Vector3 end = down * 2.0f + pos;
float len = RCVector3::length(end - pos);
return ModelCapsule(other.parameter.matrix, other.parameter.octId, CreateCapsule(pos,end,parameter.radius));
}
void SetupAttachmentScene()
{
sprintf(gTitleString, "Attachment Demo");
// Create objects in scene
groundPlane = CreateGroundPlane();
NxActor* box1 = CreateBox(NxVec3(-7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box2 = CreateBox(NxVec3(0,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* box3 = CreateBox(NxVec3(7,12.25,0), NxVec3(2.5,1,1), 0);
NxActor* attachedBox = CreateBox(NxVec3(-7.2,4.5,1.6), NxVec3(1.25,1,1), 1);
NxActor* attachedSphere = CreateSphere(NxVec3(-0.25,4.0,2.0), 1.3, 1);
NxActor* attachedCapsule = CreateCapsule(NxVec3(9.0,5.5,2.0),2.0, 1, 1);
NxReal damping = 0.3;
attachedBox->setAngularDamping(damping);
attachedBox->setLinearDamping(damping);
attachedSphere->setAngularDamping(damping);
attachedSphere->setLinearDamping(damping);
attachedCapsule->setAngularDamping(damping);
attachedCapsule->setLinearDamping(damping);
NxQuat q;
q.fromAngleAxis(90,NxVec3(0,0,1));
attachedCapsule->setGlobalOrientationQuat(q);
// Cloth
NxClothDesc clothDesc;
clothDesc.globalPose.M.rotX(1.3);
clothDesc.thickness = 0.3;
clothDesc.attachmentResponseCoefficient = 1;
clothDesc.flags |= NX_CLF_BENDING;
clothDesc.flags |= NX_CLF_BENDING_ORTHO;
clothDesc.flags |= NX_CLF_DAMPING | NX_CLF_VISUALIZATION;
if (gHardwareCloth)
clothDesc.flags |= NX_CLF_HARDWARE;
// Cloth attaching to sphere
clothDesc.globalPose.t = NxVec3(0.75,5,2);
MyCloth* regularCloth1 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth1->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth1);
// Cloth attaching to box
clothDesc.globalPose.t = NxVec3(-6.2,5,2);
MyCloth* regularCloth2 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth2->getNxCloth()->attachToCollidingShapes(NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth2);
// Cloth attaching to capsule
clothDesc.globalPose.t = NxVec3(8.0,5,2);
clothDesc.attachmentTearFactor = 2.0;
MyCloth* regularCloth3 = new MyCloth(gScene, clothDesc, 2, 8, 0.4);
regularCloth3->getNxCloth()->attachToShape(box3->getShapes()[0], NX_CLOTH_ATTACHMENT_TEARABLE);
regularCloth3->getNxCloth()->attachToShape(attachedCapsule->getShapes()[0], NX_CLOTH_ATTACHMENT_TWOWAY);
gCloths.push_back(regularCloth3);
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = CreatePhysics();
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Set Core Dump directory
char buff[512];
FindMediaFile(fnameCD, buff);
#ifdef WIN32
SetCurrentDirectory(buff);
#elif LINUX
chdir(buff);
#endif
// Create the objects in the scene
NxActor* groundPlane = CreateGroundPlane();
NxActor* box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
NxActor* sphere = CreateSphere(NxVec3(0,0,0), 1, 10);
NxActor* capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
// pyramid = CreatePyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
AddUserDataToActors(gScene);
gSelectedActor = capsule;
// gSelectedActor = pyramid;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void CreateDrainActors()
{
// Create the drains in the scene
box = CreateBox(NxVec3(5,0,0), NxVec3(1.5,1.5,1.5), 1);
box->getShapes()[0]->setFlag(NX_SF_FLUID_DRAIN,true);
sphere = CreateSphere(NxVec3(0,0.0,0), 1.5, 1);
sphere->getShapes()[0]->setFlag(NX_SF_FLUID_DRAIN,true);
capsule = CreateCapsule(NxVec3(-5,0,0), 1, 1, 1);
capsule->getShapes()[0]->setFlag(NX_SF_FLUID_DRAIN,true);
gSelectedActor = sphere;
}
dCustomInverseDynamicsEffector* AddLeg(DemoEntityManager* const scene, void* const rootNode, const dMatrix& matrix, dFloat partMass, dFloat limbLenght)
{
NewtonBody* const parent = NewtonInverseDynamicsGetBody(m_kinematicSolver, rootNode);
dFloat inertiaScale = 4.0f;
// make limb base
dMatrix baseMatrix(dRollMatrix(dPi * 0.5f));
dMatrix cylinderMatrix(baseMatrix * matrix);
NewtonBody* const base = CreateCylinder(scene, cylinderMatrix, partMass, inertiaScale, 0.2f, 0.1f);
dCustomInverseDynamics* const baseHinge = new dCustomInverseDynamics(cylinderMatrix, base, parent);
baseHinge->SetJointTorque(1000.0f);
baseHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const baseHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, rootNode, baseHinge->GetJoint());
//make limb forward arm
dMatrix forwardArmMatrix(dPitchMatrix(-30.0f * dDegreeToRad));
dVector forwardArmSize(limbLenght * 0.25f, limbLenght * 0.25f, limbLenght, 0.0f);
forwardArmMatrix.m_posit += forwardArmMatrix.m_right.Scale(forwardArmSize.m_z * 0.5f);
NewtonBody* const forwardArm = CreateBox(scene, forwardArmMatrix * matrix, forwardArmSize, partMass, inertiaScale);
dMatrix forwardArmPivot(forwardArmMatrix);
forwardArmPivot.m_posit -= forwardArmMatrix.m_right.Scale(forwardArmSize.m_z * 0.5f);
dCustomInverseDynamics* const forwardArmHinge = new dCustomInverseDynamics(forwardArmPivot * matrix, forwardArm, base);
forwardArmHinge->SetJointTorque(1000.0f);
forwardArmHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const forwardArmHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, baseHingeNode, forwardArmHinge->GetJoint());
//make limb forward arm
dMatrix armMatrix(dPitchMatrix(-90.0f * dDegreeToRad));
dFloat armSize = limbLenght * 1.25f;
armMatrix.m_posit += forwardArmMatrix.m_right.Scale(limbLenght);
armMatrix.m_posit.m_y -= armSize * 0.5f;
NewtonBody* const arm = CreateCapsule(scene, armMatrix * matrix, partMass, inertiaScale, armSize * 0.2f, armSize);
dMatrix armPivot(armMatrix);
armPivot.m_posit.m_y += armSize * 0.5f;
dCustomInverseDynamics* const armHinge = new dCustomInverseDynamics(armPivot * matrix, arm, forwardArm);
armHinge->SetJointTorque(1000.0f);
armHinge->SetTwistAngle(-0.5f * dPi, 0.5f * dPi);
void* const armHingeNode = NewtonInverseDynamicsAddChildNode(m_kinematicSolver, forwardArmHingeNode, armHinge->GetJoint());
dMatrix effectorMatrix(dGetIdentityMatrix());
effectorMatrix.m_posit = armPivot.m_posit;
effectorMatrix.m_posit.m_y -= armSize;
dHexapodEffector* const effector = new dHexapodEffector(m_kinematicSolver, armHingeNode, parent, effectorMatrix * matrix);
effector->SetAsThreedof();
effector->SetMaxLinearFriction(partMass * DEMO_GRAVITY * 10.0f);
effector->SetMaxAngularFriction(partMass * DEMO_GRAVITY * 10.0f);
return effector;
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LIMITS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_JOINT_LOCAL_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene){
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
CreateGroundPlane();
// Slider Joint
capsule1 = CreateCapsule(NxVec3(0,5,0), 1, 0.5, 10);
capsule1->raiseBodyFlag(NX_BF_KINEMATIC);
capsule2 = CreateCapsule(NxVec3(0,3,0), 1, 0.5, 10);
capsule2->raiseBodyFlag(NX_BF_DISABLE_GRAVITY);
NxVec3 globalAnchor = gJointStartPos;
NxVec3 globalAxis = NxVec3(0,1,0);
d6Joint = CreateD6Joint(capsule1, capsule2, globalAnchor, globalAxis);
ball = CreateFollowBall(gBallStartPos,0.25,1);
ball->raiseBodyFlag(NX_BF_KINEMATIC);
NxMat33 orient = ball->getGlobalOrientation();
NxMat33 controlOrient;
controlOrient.setRow(0, orient.getRow(2));
controlOrient.setRow(1, orient.getRow(0));
controlOrient.setRow(2, orient.getRow(1));
ball->setGlobalOrientation(controlOrient);
gSelectedActor = ball;
gForceStrength = 1500;
gCameraSpeed = 10;
box = CreateBox(NxVec3(3,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,3), 1, 10);
capsule = CreateCapsule(NxVec3(-3,0,0), 2, 0.5, 10);
pyramid = CreatePyramid(NxVec3(0,0,-3), NxVec3(0.75,1.5,0.75), 10);
box->setLinearDamping(0.5);
sphere->setLinearDamping(0.5);
capsule->setLinearDamping(0.5);
pyramid->setLinearDamping(0.5);
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Initialize physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator);
if (!gPhysicsSDK) return;
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.05);
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 10);
//gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_POSITION, 1);
//gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_VELOCITY, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_PACKETS, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_FLUID_DRAINS, 1);
// Create a scene
NxSceneDesc sceneDesc;
sceneDesc.simType = NX_SIMULATION_SW;
sceneDesc.gravity = gDefaultGravity;
gScene = gPhysicsSDK->createScene(sceneDesc);
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Initialize cooking
NxInitCooking(NULL, &gErrorStream);
// Load ASE files
int set = 0;
#ifdef WIN32
set = SetCurrentDirectory(&fname[0]);
if (!set) set = SetCurrentDirectory(&fname1[0]);
if (!set) set = SetCurrentDirectory(&fname2[0]);
if (!set) set = SetCurrentDirectory(&fname3[0]);
if (!set) {
char basePath[256];
GetModuleFileName(NULL, basePath, 256);
char* pTmp = strrchr(basePath, '\\');
basePath[pTmp-basePath+1] = 0;
SetCurrentDirectory(basePath);//for running from start menu
set = SetCurrentDirectory(&fname2[0]);
}
#elif LINUX
set = chdir(&fname[0]);
if (set != 0) set = chdir(&fname2[0]);
if (set != 0) set = chdir(&fname3[0]);
#endif
bowl = CookASE("fluidSample.ase", gScene, NxVec3(1,0,0));
flume = CookASE("coolFlow.ase", gScene, NxVec3(1,-4,-0), NxVec3(1,0.2,1));
box = CreateBox(NxVec3(2,5-0.75,7), NxVec3(0.75,0.75,0.75), 1);
sphere = CreateSphere(NxVec3(0,4-0.4,1), 0.4, 1);
capsule = CreateCapsule(NxVec3(3,0-(1+0.5),8), 1, 1, 1);
CreateBox(NxVec3(0,-10-1,0), NxVec3(40,1,40), 0);
fluid = CreateFluid(NxVec3(0,1.5,0), 19, 0.1, gScene);
AddUserDataToActors(gScene);
//((ActorUserData*)(drain->userData))->flags |= UD_IS_DRAIN;
// Page in the hardware meshes
if(bHardwareScene)
PageInHardwareMeshes(gScene);
gSelectedActor = box;
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
//ポジションとビューをセット
void Camera::SetCamera(Vector3 cameraPos, Vector3 cameraView,float frameTime){
// 射影行列
D3DXMatrixPerspectiveFovLH(&matProj, 3.1415926f / 2.0f, 4.0f / 3.0f/*1.5f*/, 0.1f, 100.0f);
mCameraParam.InputAngle = Device::GetInstance().GetInput()->MouseVec();
if (Device::GetInstance().GetInput()->KeyDown(INPUTKEY::KEY_UP))
mCameraParam.InputAngle.y = 1.0f;
if (Device::GetInstance().GetInput()->KeyDown(INPUTKEY::KEY_DOWN))
mCameraParam.InputAngle.y = -1.0f;
if (Device::GetInstance().GetInput()->KeyDown(INPUTKEY::KEY_RIGHT))
mCameraParam.InputAngle.x = 1.0f;
if (Device::GetInstance().GetInput()->KeyDown(INPUTKEY::KEY_LEFT))
mCameraParam.InputAngle.x = -1.0f;
//入力値をもとに計算
mCameraParam.AngleH += mCameraParam.InputAngle.x * CAMERA_ANGLE_SPEED * frameTime;
mCameraParam.AngleV += mCameraParam.InputAngle.y * CAMERA_ANGLE_SPEED * frameTime;
//クランプ
if (mCameraParam.AngleH > Math::radian(180))mCameraParam.AngleH = Math::radian(-180);
else if (mCameraParam.AngleH < Math::radian(-180))mCameraParam.AngleH = Math::radian(180);
if (mCameraParam.AngleV > Math::radian(180))mCameraParam.AngleV = Math::radian(-180);
else if (mCameraParam.AngleV < Math::radian(-180))mCameraParam.AngleV = Math::radian(180);
//テストフォント
Graphic::GetInstance().DrawFont(FONT_ID::TEST_FONT, vector2(0, 485), vector2(0.20f, 0.25f), 0.5f,"AngleH:"+ std::to_string(Math::angle(mCameraParam.AngleH))+"f");
Graphic::GetInstance().DrawFont(FONT_ID::TEST_FONT, vector2(0, 500), vector2(0.20f, 0.25f), 0.5f,"AngleV:"+ std::to_string(Math::angle(mCameraParam.AngleV))+"f");
//ターゲットをプレイヤーより少し上にセット
mCameraParam.Target = RCMatrix4::getPosition(mat) + RCVector3::normalize(RCMatrix4::getUp(mat)) * CAMERA_PLAYER_TARGET_HEIGHT;//* Time::DeltaTime;
//ターゲットの位置のマトリックス取得
Matrix4 t = RCMatrix4::translate(mCameraParam.Target);
//プレイヤーの左を使う
Vector3 left = RCVector3::normalize(RCMatrix4::getLeft(mat));
//左を軸に上下の回転を求める
Matrix4 pitchMat = RCQuaternion::rotate(left, Math::angle(mCameraParam.AngleV - angleC));
//差分用(Player.h参照)
angleC = mCameraParam.AngleV;
//今の前にさっきの回転を掛ける
Vector3 front = RCVector3::normalize(RCMatrix4::getFront(matrix) * pitchMat);
//外積を用いて上を求める
Vector3 up = RCVector3::normalize(RCVector3::cross(front, left));
//正しい前を求める
front = RCVector3::normalize(RCVector3::cross(left, up));
//後ろに下げる
Matrix4 trans = RCMatrix4::translate(front * CAMERA_PLAYER_LENGTH);
//Targetの位置から後ろに下げる
Matrix4 x = t* trans;
//プレイヤーのけつ方向とカメラ方向のなす角
float angle = Math::acos(RCVector3::dot(RCVector3::normalize(RCMatrix4::getFront(mat)), front));
//回転行列をセット
Matrix4 rotate = RCMatrix4::Identity();
RCMatrix4::setLeft(rotate, left);
RCMatrix4::setUp(rotate, up);
RCMatrix4::setFront(rotate, front);
matrix = rotate;
//プレイヤーのけつ方向とカメラ方向のなす角が70度以上なら
while (angle > 70.0f){
//１度ずつ引いて求める
if (RCVector3::cross(RCVector3::normalize(RCMatrix4::getFront(mat)), front) == left){
mCameraParam.AngleV -= Math::radian(abs(angle) - 70.0f);
}
else{
mCameraParam.AngleV += Math::radian(abs(angle) - 70.0f);
}
pitchMat = RCQuaternion::rotate(left, Math::angle(mCameraParam.AngleV - angleC));
angleC = mCameraParam.AngleV;
front = RCVector3::normalize(RCMatrix4::getFront(matrix) * pitchMat);
up = RCVector3::normalize(RCVector3::cross(front, left));
front = RCVector3::normalize(RCVector3::cross(left, up));
angle = Math::acos(RCVector3::dot(RCVector3::normalize(RCMatrix4::getFront(mat)), front));
rotate = RCMatrix4::Identity();
RCMatrix4::setLeft(rotate, left);
RCMatrix4::setUp(rotate, up);
RCMatrix4::setFront(rotate, front);
matrix = rotate;
if (angle < 70.0f)break;
}
trans = RCMatrix4::translate(front * CAMERA_PLAYER_LENGTH);
x = t* trans;
mCameraParam.Eye = RCMatrix4::getPosition(x);//* Time::DeltaTime;
//カメラとのあたり判定(２分探索法を用いて距離を短くしていく)
bool hitNum = ModelCapsule(*stage->ReturnMat(), OCT_ID::STAGE_OCT, CreateCapsule(mCameraParam.Eye, mCameraParam.Target, CAMERA_COLLISION_SIZE)).colFlag;
std::string s = (hitNum == true ? "TRUE" : "FALSE");
Graphic::GetInstance().DrawFont(FONT_ID::TEST_FONT, vector2(0, 470), vector2(0.20f, 0.25f), 0.5f, "MODELCAPSULEFLAG:" +s );
if (hitNum){
float notHitLength = 0.0f;
float cameraLen = CAMERA_PLAYER_LENGTH;
do{
float testLen = notHitLength + (cameraLen - notHitLength) / 2.0f;
trans = RCMatrix4::translate(front * testLen);
x = t* trans;
mCameraParam.Eye = RCMatrix4::getPosition(x);//* Time::DeltaTime;
bool hit = ModelCapsule(*stage->ReturnMat(), OCT_ID::STAGE_OCT, CreateCapsule(mCameraParam.Eye, mCameraParam.Target, CAMERA_COLLISION_SIZE)).colFlag;
if (hit){
cameraLen = testLen;
}
else{
notHitLength = testLen;
}
} while (cameraLen - notHitLength > 0.01f);
}
mCameraParam.Up = up;//* Time::DeltaTime;
// ビュー行列
D3DXMatrixLookAtLH(&matView,
&RConvert(&mCameraParam.Eye),
&RConvert(&mCameraParam.Target),
&RConvert(&mCameraParam.Up));
}
void InitNx()
{
// Initialize Camera Parameters
gCameraAspectRatio = 1.0f;
gCameraPos = NxVec3(0,5,-15);
gCameraForward = NxVec3(0,0,1);
gCameraRight = NxVec3(-1,0,0);
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION);
if (!gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_LIN_VEL_SQUARED, 0.15*0.15);
gPhysicsSDK->setParameter(NX_DEFAULT_SLEEP_ANG_VEL_SQUARED, 0.14*0.14);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_AABBS, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(!gScene) return;
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
// Create dynamic actors
CreateSphere(NxVec3(6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(6.0f, 0.0f, 6.0f), 0);
gSelectedActor = CreateConvex(NxVec3(6.0f, 0.0f, 0.0f), 0);
// Create static actors
CreateSphere(NxVec3(0.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(0.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(0.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(0.0f, 0.0f, 0.0f), 0);
// Create kinematic actors
CreateSphere(NxVec3(-6.0f, 0.0f, 24.0f), 0);
CreateBox(NxVec3(-6.0f, 0.0f, 16.0f), 0);
CreateCapsule(NxVec3(-6.0f, 0.0f, 6.0f), 0);
CreateConvex(NxVec3(-6.0f, 0.0f, 0.0f), 0);
bPause = false;
gCapsuleSegment.p0 = NxVec3(0, 1.2f, 0.5f);
gCapsuleSegment.p1 = NxVec3(0, 3.2f, 0.5f);
// Initialize HUD
InitializeHUD();
// Get the current time
getElapsedTime();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
void KinematicController::Draw()
{
CreateCapsule();
}
void InitNx()
{
// Create a memory allocator
gAllocator = new UserAllocator;
// Create the physics SDK
gPhysicsSDK = NxCreatePhysicsSDK(NX_PHYSICS_SDK_VERSION, gAllocator, &gErrorStream);
if (0 == gPhysicsSDK) return;
// Set the physics parameters
gPhysicsSDK->setParameter(NX_SKIN_WIDTH, 0.01);
// Set the debug visualization parameters
gPhysicsSDK->setParameter(NX_VISUALIZATION_SCALE, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_COLLISION_SHAPES, 1);
gPhysicsSDK->setParameter(NX_VISUALIZE_ACTOR_AXES, 1);
// Create the scene
NxSceneDesc sceneDesc;
sceneDesc.gravity = gDefaultGravity;
sceneDesc.simType = NX_SIMULATION_HW;
if (gbThreadScheduler)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.customScheduler = &gCustomScheduler;
gCustomScheduler.CreateThreads(2);
}
else if (gbThreadPolling)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
}
else if (gbThreadSDKManage)
{
sceneDesc.flags |= NX_SF_ENABLE_MULTITHREAD;
sceneDesc.internalThreadCount = 2;
}
else if (gbNoThread)
{
sceneDesc.flags &= ~NX_SF_SIMULATE_SEPARATE_THREAD;
}
else
assert(0);
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene)
{
sceneDesc.simType = NX_SIMULATION_SW;
gScene = gPhysicsSDK->createScene(sceneDesc);
if(0 == gScene) return;
}
if (gbThreadPolling)
{
gPollingThreads.CreateThreads(2, gScene);
// We must reset the polling threads so they are ready for the next run
gPollingThreads.ResetPollForWork();
}
// Create the default material
NxMaterial* defaultMaterial = gScene->getMaterialFromIndex(0);
defaultMaterial->setRestitution(0.5);
defaultMaterial->setStaticFriction(0.5);
defaultMaterial->setDynamicFriction(0.5);
// Create the objects in the scene
groundPlane = CreateGroundPlane();
box = CreateBox(NxVec3(5,0,0), NxVec3(0.5,1,0.5), 20);
sphere = CreateSphere(NxVec3(0,0,5), 1, 10);
capsule = CreateCapsule(NxVec3(-5,0,0), 2, 0.5, 10);
pyramid = CreateHalfPyramid(NxVec3(0,0,0), NxVec3(1,0.5,1.5), 10);
gSelectedActor = pyramid;
AddUserDataToActors(gScene);
// Initialize HUD
InitializeHUD();
// Start the first frame of the simulation
if (gScene) StartPhysics();
}
