Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 165 insertions, 0 deletions

diff --git a/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp b/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp
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+++ b/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2014 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 "VehicleCameraController.h"
+#include "PxRigidDynamic.h"
+#include "PxQueryFiltering.h"
+#include "PxScene.h"
+#include "PxSceneLock.h"
+#include "vehicle/PxVehicleWheels.h"
+
+///////////////////////////////////////////////////////////////////////////////
+
+
+
+VehicleCameraController::VehicleCameraController()
+	: mRotateInputY(0.0f),
+	mRotateInputZ(0.0f),
+	mMaxCameraRotateSpeed(5.0f),
+	mCameraRotateAngleY(0.0f),
+	mCameraRotateAngleZ(0.13f),
+	mCameraPos(PxVec3(0, 0, 0)),
+	mCameraTargetPos(PxVec3(0, 0, 0)),
+	mLastCarPos(PxVec3(0, 0, 0)),
+	mLastCarVelocity(PxVec3(0, 0, 0)),
+	mCameraInit(false),
+	mLockOnFocusVehTransform(true),
+	mLastFocusVehTransform(PxTransform(PxIdentity)),
+	mCamDist(5.f)
+{
+}
+
+VehicleCameraController::~VehicleCameraController()
+{
+}
+
+static void dampVec3(const PxVec3& oldPosition, PxVec3& newPosition, PxF32 timestep)
+{
+	PxF32 t = 0.7f * timestep * 8.0f;
+	t = PxMin(t, 1.0f);
+	newPosition = oldPosition * (1 - t) + newPosition * t;
+}
+
+
+void VehicleCameraController::update(const PxReal dtime, const PxRigidDynamic* actor, PxScene& scene)
+{
+	PxSceneReadLock scopedLock(scene);
+	PxTransform carChassisTransfm;
+	if (mLockOnFocusVehTransform)
+	{
+		carChassisTransfm = actor->getGlobalPose();
+		mLastFocusVehTransform = carChassisTransfm;
+	}
+	else
+	{
+		carChassisTransfm = mLastFocusVehTransform;
+	}
+
+	PxF32 camDist = 5.f;
+	PxF32 cameraYRotExtra = 0.0f;
+
+	PxVec3 velocity = mLastCarPos - carChassisTransfm.p;
+
+	if (mCameraInit)
+	{
+		//Work out the forward and sideways directions.
+		PxVec3 unitZ(0, 0, 1);
+		PxVec3 carDirection = carChassisTransfm.q.rotate(unitZ);
+		PxVec3 unitX(1, 0, 0);
+		PxVec3 carSideDirection = carChassisTransfm.q.rotate(unitX);
+
+		//Acceleration (note that is not scaled by time).
+		PxVec3 acclVec = mLastCarVelocity - velocity;
+
+		//Higher forward accelerations allow the car to speed away from the camera.
+		PxF32 velZ = PxAbs(carDirection.dot(velocity));
+		camDist = PxMin(PxMax(camDist + velZ*100.0f, 10.0f), 15.f);
+
+		//Higher sideways accelerations allow the car's rotation to speed away from the camera's rotation.
+		PxF32 acclX = carSideDirection.dot(acclVec);
+		cameraYRotExtra = -acclX*10.0f;
+		//At very small sideways speeds the camera greatly amplifies any numeric error in the body and leads to a slight jitter.
+		//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.
+		PxFixedSizeLookupTable<4> table;
+		table.addPair(0.0f, 0.0f);
+		table.addPair(0.1f*dtime, 0);
+		table.addPair(1.0f*dtime, 1);
+		PxF32 velX = carSideDirection.dot(velocity);
+		cameraYRotExtra *= table.getYVal(PxAbs(velX));
+	}
+
+	mCameraRotateAngleY += mRotateInputY*mMaxCameraRotateSpeed*dtime;
+	mCameraRotateAngleY = physx::intrinsics::fsel(mCameraRotateAngleY - 10 * PxPi, mCameraRotateAngleY - 10 * PxPi, physx::intrinsics::fsel(-mCameraRotateAngleY - 10 * PxPi, mCameraRotateAngleY + 10 * PxPi, mCameraRotateAngleY));
+	mCameraRotateAngleZ += mRotateInputZ*mMaxCameraRotateSpeed*dtime;
+	mCameraRotateAngleZ = PxClamp(mCameraRotateAngleZ, -PxPi*0.05f, PxPi*0.45f);
+
+	PxVec3 cameraDir = PxVec3(0, 0, 1)*PxCos(mCameraRotateAngleY + cameraYRotExtra) + PxVec3(1, 0, 0)*PxSin(mCameraRotateAngleY + cameraYRotExtra);
+
+	cameraDir = cameraDir*PxCos(mCameraRotateAngleZ) - PxVec3(0, 1, 0)*PxSin(mCameraRotateAngleZ);
+
+	const PxVec3 direction = carChassisTransfm.q.rotate(cameraDir);
+	PxVec3 target = carChassisTransfm.p;
+	target.y += 0.5f;
+
+	PxRaycastBuffer hit;
+	PxQueryFilterData filterData(PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC);
+	scene.raycast(target, -direction, camDist, hit, PxHitFlag::eDISTANCE, filterData);
+	if (hit.hasBlock && hit.block.shape != NULL)
+	{
+		camDist = hit.block.distance - 0.25f;
+	}
+
+	camDist = PxMax(4.0f, PxMin(camDist, 50.0f));
+
+	mCamDist += PxMax(camDist - mCamDist, 0.f)*0.05f + PxMin(0.f, camDist - mCamDist);
+	camDist = mCamDist;
+
+	PxVec3 position = target - direction*camDist;
+
+	if (mCameraInit)
+	{
+		dampVec3(mCameraPos, position, dtime);
+		dampVec3(mCameraTargetPos, target, dtime);
+	}
+
+	mCameraPos = position;
+	mCameraTargetPos = target;
+	mCameraInit = true;
+
+	mLastCarVelocity = velocity;
+	mLastCarPos = carChassisTransfm.p;
+}
+
+void VehicleCameraController::update(const PxReal dtime, const PxVehicleWheels& focusVehicle, PxScene& scene)
+{
+	const PxRigidDynamic* actor = focusVehicle.getRigidDynamicActor();
+	update(dtime, actor, scene);
+}
+
+