389 lines
13 KiB
C++
389 lines
13 KiB
C++
//
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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 "SampleCustomGravity.h"
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#include "SampleCustomGravityCameraController.h"
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#include "SampleCCTJump.h"
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#include "PxRigidDynamic.h"
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#include "geometry/PxCapsuleGeometry.h"
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#include "PxShape.h"
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#include <SampleBaseInputEventIds.h>
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#include <SampleUserInputIds.h>
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#include <SampleUserInputDefines.h>
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#include <SamplePlatform.h>
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using namespace SampleRenderer;
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using namespace SampleFramework;
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/*static*/ PxF32 gJumpForce = 30.0f;
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static Jump gJump;
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SampleCustomGravityCameraController::SampleCustomGravityCameraController(PxController& controlled, SampleCustomGravity& base) :
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mCCT (controlled),
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mBase (base),
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mTargetYaw (0.0f-PxPi/2),
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mTargetPitch (0.0f),
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mPitchMin (-PxHalfPi),
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mPitchMax (PxHalfPi),
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mGamepadPitchInc (0.0f),
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mGamepadYawInc (0.0f),
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mGamepadForwardInc (0.0f),
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mGamepadLateralInc (0.0f),
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mSensibility (0.001f),
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mFwd (false),
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mBwd (false),
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mLeft (false),
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mRight (false),
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mKeyShiftDown (false),
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mRunningSpeed (25.0f),
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mWalkingSpeed (2.5f)
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{
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mForward = PxVec3(0);
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mRightV = PxVec3(0);
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mTarget = PxVec3(0);
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mNbRecords = 0;
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mTest = PxMat33(PxIdentity);
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}
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void SampleCustomGravityCameraController::collectInputEvents(std::vector<const SampleFramework::InputEvent*>& inputEvents)
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{
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//digital keyboard events
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DIGITAL_INPUT_EVENT_DEF(CAMERA_MOVE_FORWARD, SCAN_CODE_FORWARD, SCAN_CODE_FORWARD, SCAN_CODE_FORWARD );
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DIGITAL_INPUT_EVENT_DEF(CAMERA_MOVE_BACKWARD, SCAN_CODE_BACKWARD, SCAN_CODE_BACKWARD, SCAN_CODE_BACKWARD );
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DIGITAL_INPUT_EVENT_DEF(CAMERA_MOVE_LEFT, SCAN_CODE_LEFT, SCAN_CODE_LEFT, SCAN_CODE_LEFT );
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DIGITAL_INPUT_EVENT_DEF(CAMERA_MOVE_RIGHT, SCAN_CODE_RIGHT, SCAN_CODE_RIGHT, SCAN_CODE_RIGHT );
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DIGITAL_INPUT_EVENT_DEF(CAMERA_SHIFT_SPEED, SCAN_CODE_LEFT_SHIFT, OSXKEY_SHIFT, LINUXKEY_SHIFT );
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DIGITAL_INPUT_EVENT_DEF(CAMERA_JUMP, SCAN_CODE_SPACE, OSXKEY_SPACE, LINUXKEY_SPACE );
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//analog mouse events
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ANALOG_INPUT_EVENT_DEF(CAMERA_GAMEPAD_ROTATE_LEFT_RIGHT, GAMEPAD_ROTATE_SENSITIVITY, GAMEPAD_RIGHT_STICK_X, GAMEPAD_RIGHT_STICK_X, LINUXKEY_UNKNOWN );
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ANALOG_INPUT_EVENT_DEF(CAMERA_GAMEPAD_ROTATE_UP_DOWN, GAMEPAD_ROTATE_SENSITIVITY, GAMEPAD_RIGHT_STICK_Y, GAMEPAD_RIGHT_STICK_Y, LINUXKEY_UNKNOWN );
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ANALOG_INPUT_EVENT_DEF(CAMERA_GAMEPAD_MOVE_LEFT_RIGHT, GAMEPAD_DEFAULT_SENSITIVITY, GAMEPAD_LEFT_STICK_X, GAMEPAD_LEFT_STICK_X, LINUXKEY_UNKNOWN );
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ANALOG_INPUT_EVENT_DEF(CAMERA_GAMEPAD_MOVE_FORWARD_BACK, GAMEPAD_DEFAULT_SENSITIVITY, GAMEPAD_LEFT_STICK_Y, GAMEPAD_LEFT_STICK_Y, LINUXKEY_UNKNOWN );
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//digital gamepad events
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DIGITAL_INPUT_EVENT_DEF(CAMERA_JUMP, GAMEPAD_SOUTH, GAMEPAD_SOUTH, LINUXKEY_UNKNOWN );
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}
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void SampleCustomGravityCameraController::onDigitalInputEvent(const SampleFramework::InputEvent& ie, bool val)
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{
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if(val)
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{
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if(ie.m_Id == CAMERA_MOVE_FORWARD) mFwd = true;
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else if(ie.m_Id == CAMERA_MOVE_BACKWARD) mBwd = true;
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else if(ie.m_Id == CAMERA_MOVE_LEFT) mLeft = true;
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else if(ie.m_Id == CAMERA_MOVE_RIGHT) mRight = true;
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else if(ie.m_Id == CAMERA_SHIFT_SPEED) mKeyShiftDown = true;
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else if(ie.m_Id == CAMERA_JUMP) gJump.startJump(gJumpForce);
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}
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else
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{
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if(ie.m_Id == CAMERA_MOVE_FORWARD) mFwd = false;
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else if(ie.m_Id == CAMERA_MOVE_BACKWARD) mBwd = false;
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else if(ie.m_Id == CAMERA_MOVE_LEFT) mLeft = false;
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else if(ie.m_Id == CAMERA_MOVE_RIGHT) mRight = false;
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else if(ie.m_Id == CAMERA_SHIFT_SPEED) mKeyShiftDown = false;
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}
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}
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static PX_FORCE_INLINE PxReal remapAxisValue(PxReal absolutePosition)
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{
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return absolutePosition * absolutePosition * absolutePosition * 5.0f;
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}
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void SampleCustomGravityCameraController::onAnalogInputEvent(const SampleFramework::InputEvent& ie, float val)
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{
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if(ie.m_Id == CAMERA_GAMEPAD_ROTATE_LEFT_RIGHT)
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{
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mGamepadYawInc = - remapAxisValue(val);
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}
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else if(ie.m_Id == CAMERA_GAMEPAD_ROTATE_UP_DOWN)
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{
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// PT: ideally we'd need an option to "invert Y axis" here
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// mGamepadPitchInc = - remapAxisValue(val);
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mGamepadPitchInc = remapAxisValue(val);
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}
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else if(ie.m_Id == CAMERA_GAMEPAD_MOVE_LEFT_RIGHT)
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{
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mGamepadLateralInc = val;
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}
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else if(ie.m_Id == CAMERA_GAMEPAD_MOVE_FORWARD_BACK)
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{
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mGamepadForwardInc = val;
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}
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}
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void SampleCustomGravityCameraController::onPointerInputEvent(const SampleFramework::InputEvent &ie, physx::PxU32, physx::PxU32, physx::PxReal dx, physx::PxReal dy, bool val)
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{
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if (ie.m_Id == CAMERA_MOUSE_LOOK)
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{
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mTargetYaw -= dx * mSensibility;
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mTargetPitch += dy * mSensibility;
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}
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}
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void SampleCustomGravityCameraController::setView(PxReal pitch, PxReal yaw)
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{
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mTargetPitch = pitch;
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mTargetYaw = yaw;
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}
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static PxQuat rotationArc(const PxVec3& v0, const PxVec3& v1, bool& res)
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{
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PxVec3 _v0 = v0;
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PxVec3 _v1 = v1;
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_v0.normalize();
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_v1.normalize();
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float s = sqrtf((1.0f + (v0.dot(v1))) * 2.0f);
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if(s<0.001f)
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{
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res = false;
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return PxQuat(PxIdentity);
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}
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PxVec3 p = (_v0.cross(_v1)) / s;
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float w = s * 0.5f;
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PxQuat q(p.x, p.y, p.z, w);
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q.normalize();
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res = true;
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return q;
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}
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void SampleCustomGravityCameraController::update(Camera& camera, PxReal dtime)
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{
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PxSceneReadLock scopedLock(mBase.getActiveScene());
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const PxExtendedVec3& currentPos = mCCT.getPosition();
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const PxVec3 curPos = toVec3(currentPos);
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// Compute up vector for current CCT position
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PxVec3 upVector;
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mBase.mPlanet.getUpVector(upVector, curPos);
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PX_ASSERT(upVector.isFinite());
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// Update CCT
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if(!mBase.isPaused())
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{
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if(1)
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{
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bool recordPos = true;
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const PxU32 currentSize = mNbRecords;
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if(currentSize)
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{
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const PxVec3 lastPos = mHistory[currentSize-1];
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// const float limit = 0.1f;
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const float limit = 0.5f;
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if((curPos - lastPos).magnitude()<limit)
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recordPos = false;
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}
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if(recordPos)
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{
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if(mNbRecords==POS_HISTORY_LIMIT)
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{
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for(PxU32 i=1;i<mNbRecords;i++)
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mHistory[i-1] = mHistory[i];
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mNbRecords--;
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}
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mHistory[mNbRecords++] = curPos;
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}
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}
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// Subtract off the 'up' component of the view direction to get our forward motion vector.
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PxVec3 viewDir = camera.getViewDir();
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PxVec3 forward = (viewDir - upVector * upVector.dot(viewDir)).getNormalized();
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// PxVec3 forward = mForward;
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// Compute "right" vector
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PxVec3 right = forward.cross(upVector);
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right.normalize();
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// PxVec3 right = mRightV;
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PxVec3 targetKeyDisplacement(0);
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if(mFwd) targetKeyDisplacement += forward;
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if(mBwd) targetKeyDisplacement -= forward;
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if(mRight) targetKeyDisplacement += right;
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if(mLeft) targetKeyDisplacement -= right;
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targetKeyDisplacement *= mKeyShiftDown ? mRunningSpeed : mWalkingSpeed;
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// targetKeyDisplacement += PxVec3(0,-9.81,0);
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targetKeyDisplacement *= dtime;
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PxVec3 targetPadDisplacement(0);
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targetPadDisplacement += forward * mGamepadForwardInc * mRunningSpeed;
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targetPadDisplacement += right * mGamepadLateralInc * mRunningSpeed;
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// targetPadDisplacement += PxVec3(0,-9.81,0);
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targetPadDisplacement *= dtime;
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const PxF32 heightDelta = gJump.getHeight(dtime);
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// shdfnd::printFormatted("%f\n", heightDelta);
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PxVec3 upDisp = upVector;
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if(heightDelta!=0.0f)
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upDisp *= heightDelta;
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else
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upDisp *= -9.81f * dtime;
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const PxVec3 disp = targetKeyDisplacement + targetPadDisplacement + upDisp;
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//upDisp.normalize();
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//shdfnd::printFormatted("%f | %f | %f\n", upDisp.x, upDisp.y, upDisp.z);
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// shdfnd::printFormatted("%f | %f | %f\n", targetKeyDisplacement.x, targetKeyDisplacement.y, targetKeyDisplacement.z);
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// shdfnd::printFormatted("%f | %f | %f\n\n", targetPadDisplacement.x, targetPadDisplacement.y, targetPadDisplacement.z);
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mCCT.setUpDirection(upVector);
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// const PxU32 flags = mCCT.move(disp, 0.001f, dtime, PxControllerFilters());
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const PxU32 flags = mCCT.move(disp, 0.0f, dtime, PxControllerFilters());
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if(flags & PxControllerCollisionFlag::eCOLLISION_DOWN)
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{
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gJump.stopJump();
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// shdfnd::printFormatted("Stop jump\n");
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}
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}
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// Update camera
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if(1)
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{
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mTargetYaw += mGamepadYawInc * dtime;
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mTargetPitch += mGamepadPitchInc * dtime;
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// Clamp pitch
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// if(mTargetPitch<mPitchMin) mTargetPitch = mPitchMin;
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// if(mTargetPitch>mPitchMax) mTargetPitch = mPitchMax;
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}
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if(1)
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{
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PxVec3 up = upVector;
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PxQuat localPitchQ(mTargetPitch, PxVec3(1.0f, 0.0f, 0.0f));
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PX_ASSERT(localPitchQ.isSane());
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PxMat33 localPitchM(localPitchQ);
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const PxVec3 upRef(0.0f, 1.0f, 0.0f);
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PxQuat localYawQ(mTargetYaw, upRef);
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PX_ASSERT(localYawQ.isSane());
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PxMat33 localYawM(localYawQ);
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bool res;
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PxQuat localToWorldQ = rotationArc(upRef, up, res);
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static PxQuat memory(0,0,0,1);
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if(!res)
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{
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localToWorldQ = memory;
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}
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else
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{
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memory = localToWorldQ;
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}
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PX_ASSERT(localToWorldQ.isSane());
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PxMat33 localToWorld(localToWorldQ);
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static PxVec3 previousUp(0.0f, 1.0f, 0.0f);
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static PxQuat incLocalToWorldQ(0.0f, 0.0f, 0.0f, 1.0f);
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PxQuat incQ = rotationArc(previousUp, up, res);
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PX_ASSERT(incQ.isSane());
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// incLocalToWorldQ = incLocalToWorldQ * incQ;
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incLocalToWorldQ = incQ * incLocalToWorldQ;
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PX_ASSERT(incLocalToWorldQ.isSane());
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incLocalToWorldQ.normalize();
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PxMat33 incLocalToWorldM(incLocalToWorldQ);
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localToWorld = incLocalToWorldM;
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previousUp = up;
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mTest = localToWorld;
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//mTest = localToWorld * localYawM;
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// PxMat33 rot = localYawM * localToWorld;
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PxMat33 rot = localToWorld * localYawM * localPitchM;
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// PxMat33 rot = localToWorld * localYawM;
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PX_ASSERT(rot.column0.isFinite());
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PX_ASSERT(rot.column1.isFinite());
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PX_ASSERT(rot.column2.isFinite());
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////
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PxMat44 view(rot.column0, rot.column1, rot.column2, PxVec3(0));
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mForward = -rot.column2;
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mRightV = rot.column0;
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camera.setView(PxTransform(view));
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PX_ASSERT(camera.getViewDir().isFinite());
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////
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PxRigidActor* characterActor = mCCT.getActor();
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PxShape* shape;
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characterActor->getShapes(&shape,1);
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PxCapsuleGeometry geom;
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shape->getCapsuleGeometry(geom);
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up *= geom.halfHeight+geom.radius;
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const PxVec3 headPos = curPos + up;
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const float distanceToTarget = 10.0f;
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// const float distanceToTarget = 20.0f;
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// const float distanceToTarget = 5.0f;
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// const PxVec3 camPos = headPos - viewDir*distanceToTarget;
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const PxVec3 camPos = headPos - mForward*distanceToTarget;// + up * 20.0f;
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// view.t = camPos;
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view.column3 = PxVec4(camPos,0);
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// camera.setView(view);
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camera.setView(PxTransform(view));
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mTarget = headPos;
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}
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if(0)
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{
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PxControllerState cctState;
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mCCT.getState(cctState);
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shdfnd::printFormatted("\nCCT state:\n");
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shdfnd::printFormatted("delta: %.02f | %.02f | %.02f\n", cctState.deltaXP.x, cctState.deltaXP.y, cctState.deltaXP.z);
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shdfnd::printFormatted("touchedShape: %p\n", cctState.touchedShape);
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shdfnd::printFormatted("touchedObstacleHandle: %d\n", cctState.touchedObstacleHandle);
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shdfnd::printFormatted("standOnAnotherCCT: %d\n", cctState.standOnAnotherCCT);
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shdfnd::printFormatted("standOnObstacle: %d\n", cctState.standOnObstacle);
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shdfnd::printFormatted("isMovingUp: %d\n", cctState.isMovingUp);
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shdfnd::printFormatted("collisionFlags: %d\n", cctState.collisionFlags);
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}
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}
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