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physx/samples/samplebase/TestMotionGenerator.cpp

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+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "TestMotionGenerator.h"
+
+//----------------------------------------------------------------------------//
+MotionGenerator::MotionGenerator() 
+:	mLinear(0.0f),
+	mAngular(0.0f),
+	mTransform(PxTransform(PxIdentity))
+{
+}
+
+//----------------------------------------------------------------------------//
+MotionGenerator::MotionGenerator(const PxTransform &pose, const PxVec3& linear, const PxVec3& angular) 
+:	mLinear(linear),
+	mAngular(angular),
+	mTransform(pose)
+{
+}
+
+//----------------------------------------------------------------------------//
+PxVec3 MotionGenerator::getLinearVelocity( float time )
+{
+	float t = time - (int(time) & ~0xf);
+	const float scale = 0.25f * PxPi;
+
+	if(t > 0 && t < 2)
+		return -scale * sinf(t * 0.5f * PxPi) * mLinear;
+
+	if(t > 8 && t < 10)
+		return +scale * sinf(t * 0.5f * PxPi) * mLinear;
+
+	return PxVec3(0.0f);
+}
+
+//----------------------------------------------------------------------------//
+PxVec3 MotionGenerator::getAngularVelocity( float time )
+{
+	float t = time - (int(time) & ~0xf);
+
+	if(t > 4 && t < 6)
+		return +PxPi * mAngular;
+
+	if(t > 12 && t < 14)
+		return -PxPi * mAngular;
+
+	return PxVec3(0.0f);
+}
+
+static PxQuat computeQuatFromAngularVelocity(const PxVec3 &omega)
+{
+	PxReal angle = omega.magnitude();
+
+	if (angle < 1e-5f) 
+	{
+		return PxQuat(PxIdentity);
+	} else {
+		PxReal s = sin( 0.5f * angle ) / angle;
+		PxReal x = omega[0] * s;
+		PxReal y = omega[1] * s;
+		PxReal z = omega[2] * s;
+		PxReal w = cos( 0.5f * angle );
+		return PxQuat(x,y,z,w);
+	}
+}
+//----------------------------------------------------------------------------//
+const PxTransform& MotionGenerator::update(float time, float dt)
+{
+	PxVec3 dw = dt * getAngularVelocity(time);
+	PxQuat dq = computeQuatFromAngularVelocity(dw);
+
+	mTransform.q = (dq * mTransform.q).getNormalized();
+	mTransform.p += dt * getLinearVelocity(time);
+	
+	return mTransform;
+}
+
+
+
+
+