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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.
#ifndef KINEMATIC_PLATFORM_H
#define KINEMATIC_PLATFORM_H
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxTransform.h"
#include "SampleAllocator.h"
#include "SampleAllocatorSDKClasses.h"
#include "characterkinematic/PxControllerObstacles.h"
#include <vector>
namespace physx
{
class PxRigidDynamic;
}
// PT: Captures the state of the platform. We decouple this data from the platform itself so that the
// same platform path (const data) can be used by several platform instances.
struct PlatformState
{
PlatformState();
PxTransform mPrevPose;
PxReal mCurrentTime;
PxReal mCurrentRotationTime;
bool mFlip;
};
enum LoopMode
{
LOOP_FLIP,
LOOP_WRAP,
};
class KinematicPlatform : public SampleAllocateable
{
public:
KinematicPlatform();
~KinematicPlatform();
void release();
void init(PxU32 nbPts, const PxVec3* pts, const PxTransform& globalPose, const PxQuat& localRot, PxRigidDynamic* actor, PxReal travelTime, PxReal rotationSpeed, LoopMode mode=LOOP_FLIP);
void setBoxObstacle(ObstacleHandle handle, const PxBoxObstacle* boxObstacle);
PxU32 getNbSegments() const;
PxReal computeLength() const;
bool getPoint(PxVec3& p, PxU32 seg, PxReal t) const;
bool getPoint(PxVec3& p, PxReal t) const;
void resync();
PX_FORCE_INLINE void updatePhysics(PxReal dtime) { updateState(mPhysicsState, NULL, dtime, true); }
PX_FORCE_INLINE void updateRender(PxReal dtime, PxObstacleContext* obstacleContext) { updateState(mRenderState, obstacleContext, dtime, false); }
PX_FORCE_INLINE PxReal getTravelTime() const { return mTravelTime; }
PX_FORCE_INLINE void setTravelTime(PxReal t) { mTravelTime = t; }
void setT(PxF32 t);
PX_FORCE_INLINE const PxTransform& getPhysicsPose() const { return mPhysicsState.mPrevPose; }
PX_FORCE_INLINE const PxTransform& getRenderPose() const { return mRenderState.mPrevPose; }
PX_FORCE_INLINE PxRigidDynamic* getPhysicsActor() { return mActor; }
PX_FORCE_INLINE PxReal getRotationSpeed() const { return mRotationSpeed; }
PX_FORCE_INLINE void setRotationSpeed(PxReal s) { mRotationSpeed = s; }
protected:
PxQuat mLocalRot; // Local rotation (const data)
PxU32 mNbPts;
PxVec3Alloc* mPts;
PxRigidDynamic* mActor; // Physics
const PxBoxObstacle* mBoxObstacle;
ObstacleHandle mObstacle; // Render
PxReal mTravelTime;
PxReal mRotationSpeed;
LoopMode mMode;
PlatformState mPhysicsState;
PlatformState mRenderState;
void updateState(PlatformState& state, PxObstacleContext* obstacleContext, PxReal dtime, bool updateActor) const;
};
class KinematicPlatformManager : public SampleAllocateable
{
public:
KinematicPlatformManager();
~KinematicPlatformManager();
void release();
KinematicPlatform* createPlatform(PxU32 nbPts, const PxVec3* pts, const PxTransform& pose, const PxQuat& localRot, PxRigidDynamic* actor, PxReal platformSpeed, PxReal rotationSpeed, LoopMode mode=LOOP_FLIP);
PX_FORCE_INLINE PxU32 getNbPlatforms() { return (PxU32)mPlatforms.size(); }
PX_FORCE_INLINE KinematicPlatform** getPlatforms() { return &mPlatforms[0]; }
PX_FORCE_INLINE PxF32 getElapsedTime() { return mElapsedPlatformTime; }
PX_FORCE_INLINE void syncElapsedTime(float time) { mElapsedPlatformTime = time; }
void updatePhysicsPlatforms(float dtime);
protected:
std::vector<KinematicPlatform*> mPlatforms;
PxF32 mElapsedPlatformTime;
};
#endif
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