示例#1
0
mat4
getMatFromPhysXTransform(PxTransform transform) {
    PxMat44 mat = PxMat44(transform);
    float m[16];
    for (int i = 0; i < 16; ++i) m[i] = *(mat.front() + i);
    return mat4(m);
}
示例#2
0
void CTank::Update( float fDT )
{
	if( m_pActor )
	{							
		PxMat44 Matrix = physx::PxMat44( physx::PxMat33( m_pActor->getGlobalPose().q ), m_pActor->getGlobalPose().p );
		D3DXMATRIX dxmat;				
		memcpy( &dxmat._11, Matrix.front(), 4 * 4 * sizeof(float) );		

		if( GameObject* pBody = GetDetail( BODY ) )
			pBody->SetReleaseMatrix( dxmat, true );			

		if( true )
		{
			if( PxVehicleWheels* pDriveTank = CPhysX::GetPhysX()->GetTank() )
			{
				PxShape* carShapes[ MAX_DETAIL ];
				
				const PxU32 numShapes = m_pActor->getNbShapes();
				m_pActor->getShapes( carShapes, numShapes );
				for( PxU32 i = 0; i < numShapes - 1; ++i )
				{
					const PxTransform& Trans = carShapes[ i ]->getLocalPose();								
					
					PxMat44 MatrixR = physx::PxMat44(physx::PxMat33( Trans.q ), Trans.p );
					D3DXMATRIX dxmatR;
					memcpy( &dxmatR._11, MatrixR.front(), 4 * 4 * sizeof(float) );

					if( GameObject* pObj = GetDetail( (EDetailTank)i ) )
						pObj->SetReleaseMatrix( dxmatR * dxmat, true );
				}

				PxVehicleDriveTank&    vehDriveTank = static_cast< PxVehicleDriveTank& >( *pDriveTank );
				PxVehicleDriveDynData& driveDynData = vehDriveTank.mDriveDynData;

				PxReal e = driveDynData.getEngineRotationSpeed();
				m_fSpeedTank = pDriveTank->computeForwardSpeed();

				static char t[ 256 ] = {0};
				sprintf( t, "EngineRotationSpeed=%f, EngineRotationSpeed=%f", m_fSpeedTank, e );
				//SetWindowText( GetForegroundWindow(), t );
				
				PxVehicleDriveTankRawInputData  carRawInputs( PxVehicleDriveTank::eDRIVE_MODEL_STANDARD );

				carRawInputs.setDigitalAccel( m_bMoveForward || m_bMoveBack || m_bTurnLeft || m_bTurnRight );

				carRawInputs.setDigitalLeftBrake( m_bTurnLeft );						// левая  кнопка тормоза
				carRawInputs.setDigitalRightBrake( m_bTurnRight );						// правая кнопка тормоза
				
				carRawInputs.setDigitalLeftThrust( m_bMoveForward || !m_bTurnLeft );
				carRawInputs.setDigitalRightThrust( m_bMoveForward || !m_bTurnRight );

				if( !m_bMoveForward && !m_bMoveBack && !m_bTurnLeft && !m_bTurnRight )
				{
					carRawInputs.setDigitalLeftBrake( true );	// левая  кнопка тормоза
					carRawInputs.setDigitalRightBrake( true );	// правая кнопка тормоза
				}

				//carRawInputs.setGearUp( !m_bMoveForward && m_bMoveBack);
				//carRawInputs.setGearDown( !m_bMoveBack && m_bMoveForward );				

// 				if( m_bMoveBack )
// 				{
// 					carRawInputs.setDigitalLeftBrake( true );	// левая  кнопка тормоза
// 					carRawInputs.setDigitalRightBrake( true );	// правая кнопка тормоза
// 				}

				static PxVehicleKeySmoothingData KeySmoothingData =
				{
					{
						3.f,	//rise rate eANALOG_INPUT_ACCEL		
						3.f,	//rise rate eANALOG_INPUT_BRAKE		
						5.f,	//rise rate eANALOG_INPUT_HANDBRAKE	
						2.f,	//rise rate eANALOG_INPUT_STEER_LEFT	
						2.f,	//rise rate eANALOG_INPUT_STEER_RIGHT	
					},
					{
						5.f,	//fall rate eANALOG_INPUT__ACCEL		
						5.f,	//fall rate eANALOG_INPUT__BRAKE		
						10.f,	//fall rate eANALOG_INPUT__HANDBRAKE	
						5.f,	//fall rate eANALOG_INPUT_STEER_LEFT	
						5.f		//fall rate eANALOG_INPUT_STEER_RIGHT	
					}
				};

				PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs( KeySmoothingData, carRawInputs, fDT, vehDriveTank );			
			}
		}
	}

		if( GameObject* pTankTrack = GetDetail( TRACK_L ) )					
			pTankTrack->SetOffsetUV( D3DXVECTOR4( 0.f, m_fSpeedTank*3, 0.f, 0.f ) );

		if( GameObject* pTankTrack = GetDetail( TRACK_R ) )					
			pTankTrack->SetOffsetUV( D3DXVECTOR4( 0.f, m_fSpeedTank*3, 0.f, 0.f ) );

	for( std::map< EDetailTank, GameObject* >::iterator iter = m_ObjectsTank.begin(), iter_end = m_ObjectsTank.end(); iter != iter_end; ++iter )
	{
		GameObject* pObj = iter->second;
		pObj->Update( fDT );
	}
}
示例#3
0
osg::Matrix toMatrix( const PxMat44& pmatrix )
{
    double m[16];
    for ( int i=0; i<16; ++i ) m[i] = *(pmatrix.front() + i);
    return osg::Matrix(&m[0]);
}