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physx/samples/samplevehicle/SampleVehicle_CameraController.cpp
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physx/samples/samplevehicle/SampleVehicle_CameraController.cpp
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "SampleVehicle_CameraController.h"
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#include "PhysXSampleApplication.h"
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#include "PxRigidDynamic.h"
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#include "PxQueryFiltering.h"
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#include "PxScene.h"
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#include "PxSceneLock.h"
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#include "vehicle/PxVehicleWheels.h"
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using namespace SampleRenderer;
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using namespace SampleFramework;
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///////////////////////////////////////////////////////////////////////////////
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SampleVehicle_CameraController::SampleVehicle_CameraController()
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: mRotateInputY (0.0f),
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mRotateInputZ (0.0f),
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mMaxCameraRotateSpeed (5.0f),
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mCameraRotateAngleY (0.0f),
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mCameraRotateAngleZ (0.33f),
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mCameraPos (PxVec3(0,0,0)),
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mCameraTargetPos (PxVec3(0,0,0)),
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mLastCarPos (PxVec3(0,0,0)),
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mLastCarVelocity (PxVec3(0,0,0)),
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mCameraInit (false),
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mLockOnFocusVehTransform (true),
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mLastFocusVehTransform (PxTransform(PxIdentity))
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{
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}
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SampleVehicle_CameraController::~SampleVehicle_CameraController()
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{
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}
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static void dampVec3(const PxVec3& oldPosition, PxVec3& newPosition, PxF32 timestep)
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{
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PxF32 t = 0.7f * timestep * 8.0f;
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t = PxMin(t, 1.0f);
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newPosition = oldPosition * (1 - t) + newPosition * t;
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}
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void SampleVehicle_CameraController::update(const PxReal dtime, const PxRigidDynamic* actor, PxScene& scene)
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{
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PxSceneReadLock scopedLock(scene);
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PxTransform carChassisTransfm;
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if(mLockOnFocusVehTransform)
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{
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carChassisTransfm = actor->getGlobalPose();
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mLastFocusVehTransform = carChassisTransfm;
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}
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else
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{
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carChassisTransfm = mLastFocusVehTransform;
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}
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PxF32 camDist = 15.0f;
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PxF32 cameraYRotExtra = 0.0f;
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PxVec3 velocity = mLastCarPos-carChassisTransfm.p;
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if (mCameraInit)
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{
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//Work out the forward and sideways directions.
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PxVec3 unitZ(0,0,1);
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PxVec3 carDirection = carChassisTransfm.q.rotate(unitZ);
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PxVec3 unitX(1,0,0);
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PxVec3 carSideDirection = carChassisTransfm.q.rotate(unitX);
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//Acceleration (note that is not scaled by time).
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PxVec3 acclVec = mLastCarVelocity-velocity;
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//Higher forward accelerations allow the car to speed away from the camera.
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PxF32 acclZ = carDirection.dot(acclVec);
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camDist = PxMax(camDist+acclZ*400.0f, 5.0f);
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//Higher sideways accelerations allow the car's rotation to speed away from the camera's rotation.
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PxF32 acclX = carSideDirection.dot(acclVec);
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cameraYRotExtra = -acclX*10.0f;
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//At very small sideways speeds the camera greatly amplifies any numeric error in the body and leads to a slight jitter.
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//Scale cameraYRotExtra by a value in range (0,1) for side speeds in range (0.1,1.0) and by zero for side speeds less than 0.1.
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PxFixedSizeLookupTable<4> table;
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table.addPair(0.0f, 0.0f);
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table.addPair(0.1f*dtime, 0);
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table.addPair(1.0f*dtime, 1);
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PxF32 velX = carSideDirection.dot(velocity);
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cameraYRotExtra *= table.getYVal(PxAbs(velX));
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}
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mCameraRotateAngleY+=mRotateInputY*mMaxCameraRotateSpeed*dtime;
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mCameraRotateAngleY=physx::intrinsics::fsel(mCameraRotateAngleY-10*PxPi, mCameraRotateAngleY-10*PxPi, physx::intrinsics::fsel(-mCameraRotateAngleY-10*PxPi, mCameraRotateAngleY + 10*PxPi, mCameraRotateAngleY));
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mCameraRotateAngleZ+=mRotateInputZ*mMaxCameraRotateSpeed*dtime;
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mCameraRotateAngleZ=PxClamp(mCameraRotateAngleZ,-PxPi*0.05f,PxPi*0.45f);
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PxVec3 cameraDir=PxVec3(0,0,1)*PxCos(mCameraRotateAngleY+cameraYRotExtra) + PxVec3(1,0,0)*PxSin(mCameraRotateAngleY+cameraYRotExtra);
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cameraDir=cameraDir*PxCos(mCameraRotateAngleZ)-PxVec3(0,1,0)*PxSin(mCameraRotateAngleZ);
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const PxVec3 direction = carChassisTransfm.q.rotate(cameraDir);
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PxVec3 target = carChassisTransfm.p;
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target.y+=0.5f;
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PxRaycastBuffer hit;
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PxQueryFilterData filterData(PxQueryFlag::eSTATIC);
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scene.raycast(target, -direction, camDist, hit, PxHitFlags(0), filterData);
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if (hit.hasBlock && hit.block.shape != NULL)
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{
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camDist = hit.block.distance-0.25f;
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}
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camDist = PxMax(5.0f, PxMin(camDist, 50.0f));
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PxVec3 position = target-direction*camDist;
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if (mCameraInit)
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{
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dampVec3(mCameraPos, position, dtime);
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dampVec3(mCameraTargetPos, target, dtime);
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}
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mCameraPos = position;
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mCameraTargetPos = target;
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mCameraInit = true;
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mLastCarVelocity = velocity;
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mLastCarPos = carChassisTransfm.p;
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}
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void SampleVehicle_CameraController::update(const PxReal dtime, const PxVehicleWheels& focusVehicle, PxScene& scene)
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{
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const PxRigidDynamic* actor=focusVehicle.getRigidDynamicActor();
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update(dtime,actor,scene);
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}
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