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);
}
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 );
}
}
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]);
}