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Diffstat (limited to 'KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp')
| -rw-r--r-- | KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp b/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp new file mode 100644 index 00000000..8087d25d --- /dev/null +++ b/KaplaDemo/samples/sampleViewer3/VehicleCameraController.cpp @@ -0,0 +1,165 @@ +// 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); +} + + |