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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) 2008-2017 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);
}
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