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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 "TestMotionGenerator.h"
//----------------------------------------------------------------------------//
MotionGenerator::MotionGenerator()
: mLinear(0.0f),
mAngular(0.0f),
mTransform(PxTransform(PxIdentity))
{
}
//----------------------------------------------------------------------------//
MotionGenerator::MotionGenerator(const PxTransform &pose, const PxVec3& linear, const PxVec3& angular)
: mLinear(linear),
mAngular(angular),
mTransform(pose)
{
}
//----------------------------------------------------------------------------//
PxVec3 MotionGenerator::getLinearVelocity( float time )
{
float t = time - (int(time) & ~0xf);
const float scale = 0.25f * PxPi;
if(t > 0 && t < 2)
return -scale * sinf(t * 0.5f * PxPi) * mLinear;
if(t > 8 && t < 10)
return +scale * sinf(t * 0.5f * PxPi) * mLinear;
return PxVec3(0.0f);
}
//----------------------------------------------------------------------------//
PxVec3 MotionGenerator::getAngularVelocity( float time )
{
float t = time - (int(time) & ~0xf);
if(t > 4 && t < 6)
return +PxPi * mAngular;
if(t > 12 && t < 14)
return -PxPi * mAngular;
return PxVec3(0.0f);
}
static PxQuat computeQuatFromAngularVelocity(const PxVec3 &omega)
{
PxReal angle = omega.magnitude();
if (angle < 1e-5f)
{
return PxQuat(PxIdentity);
} else {
PxReal s = sin( 0.5f * angle ) / angle;
PxReal x = omega[0] * s;
PxReal y = omega[1] * s;
PxReal z = omega[2] * s;
PxReal w = cos( 0.5f * angle );
return PxQuat(x,y,z,w);
}
}
//----------------------------------------------------------------------------//
const PxTransform& MotionGenerator::update(float time, float dt)
{
PxVec3 dw = dt * getAngularVelocity(time);
PxQuat dq = computeQuatFromAngularVelocity(dw);
mTransform.q = (dq * mTransform.q).getNormalized();
mTransform.p += dt * getLinearVelocity(time);
return mTransform;
}
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