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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 "PxPhysXConfig.h"
#if PX_USE_CLOTH_API
#include "SampleCharacterCloth.h"
#include "SampleCharacterClothCameraController.h"
#include "SampleAllocatorSDKClasses.h"
#include "PxPhysicsAPI.h"
#include "extensions/PxExtensionsAPI.h"
#include "characterkinematic/PxControllerManager.h"
#include "characterkinematic/PxBoxController.h"
#include "characterkinematic/PxCapsuleController.h"
#include "geometry/PxMeshQuery.h"
#include "geometry/PxTriangle.h"
#include "RenderBaseActor.h"
#include "RenderBoxActor.h"
#include "RenderCapsuleActor.h"
#include <SampleUserInputIds.h>
#include <SamplePlatform.h>
#include <SampleUserInput.h>
#include <SampleUserInputDefines.h>
using namespace SampleRenderer;
using namespace SampleFramework;
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::bufferCCTMotion(const PxVec3& targetDisp, PxReal dtime)
{
PxVec3 disp = targetDisp;
if(!isPaused())
{
// advance jump controller
mJump.tick(dtime);
// modify y component of displacement due to jump status
disp.y = mJump.getDisplacement(dtime);
if (mJump.isInFreefall())
{
disp.x = 0;
disp.z = 0;
mCCTActive = false;
}
}
// buffer the displacement and timestep to feed in onSubstep function
mCCTDisplacement = disp;
mCCTTimeStep = dtime;
}
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::createCCTController()
{
mControllerManager = PxCreateControllerManager(getActiveScene());
// use ray casting to position the CCT on the terrain
PxScene& scene = getActiveScene();
PxRaycastBuffer hit;
bool didHit = scene.raycast(PxVec3(0,100,0), PxVec3(0,-1,0), 500.0f, hit, PxHitFlags(0xffff));
PX_UNUSED(didHit);
PX_ASSERT(didHit);
mControllerInitialPosition = hit.block.position + PxVec3(0.0f, 1.6f, 0.0f);
// create and fill in the descriptor for the capsule controller
PxCapsuleControllerDesc cDesc;
cDesc.height = 2.0f;
cDesc.radius = 0.5f;
cDesc.material = &getDefaultMaterial();
cDesc.position = PxExtendedVec3(mControllerInitialPosition.x, mControllerInitialPosition.y, mControllerInitialPosition.z);
cDesc.slopeLimit = 0.1f;
cDesc.contactOffset = 0.01f;
cDesc.stepOffset = 0.1f;
cDesc.scaleCoeff = 0.9f;
cDesc.climbingMode = PxCapsuleClimbingMode::eEASY;
cDesc.invisibleWallHeight = 0.0f;
cDesc.maxJumpHeight = 2.0f;
cDesc.reportCallback = this;
mController = static_cast<PxCapsuleController*>(mControllerManager->createController(cDesc));
// create camera
mCCTCamera = SAMPLE_NEW(SampleCharacterClothCameraController)(*mController, *this);
setCameraController(mCCTCamera);
}
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::onShapeHit(const PxControllerShapeHit& hit)
{
PxRigidDynamic* hitActor = hit.shape->getActor()->is<PxRigidDynamic>();
const size_t nbPlatforms = mPlatforms.size();
for(PxU32 i = 0;i < nbPlatforms;i++)
{
if (mPlatforms[i]->getType() == SampleCharacterClothPlatform::ePLATFORM_TYPE_TRIGGERED)
{
PxRigidDynamic* actor = mPlatforms[i]->getPhysicsActor();
if (hitActor == actor)
mPlatforms[i]->setActive(true);
}
}
}
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::onControllerHit(const PxControllersHit& hit)
{
}
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::onObstacleHit(const PxControllerObstacleHit& hit)
{
}
///////////////////////////////////////////////////////////////////////////////
PxControllerBehaviorFlags SampleCharacterCloth::getBehaviorFlags(const PxShape&, const PxActor&)
{
return PxControllerBehaviorFlags(0);
}
///////////////////////////////////////////////////////////////////////////////
PxControllerBehaviorFlags SampleCharacterCloth::getBehaviorFlags(const PxController&)
{
return PxControllerBehaviorFlags(0);
}
///////////////////////////////////////////////////////////////////////////////
PxControllerBehaviorFlags SampleCharacterCloth::getBehaviorFlags(const PxObstacle& obstacle)
{
return PxControllerBehaviorFlag::eCCT_CAN_RIDE_ON_OBJECT;
}
///////////////////////////////////////////////////////////////////////////////
void SampleCharacterCloth::updateCCT(float dtime)
{
// compute target cct displacment for this time step
PxVec3 dispCurStep = (mCCTTimeStep > 0.0f) ? mCCTDisplacement * (dtime / mCCTTimeStep) : PxVec3(0.0f);
// limit horizontal acceleration so that character motion does not produce abrupt impulse
PxVec3 accel = dispCurStep - mCCTDisplacementPrevStep;
const PxReal accelLimit = 0.3f * dtime;
PxVec3 accelHorizontal(accel.x, 0, accel.z);
PxReal accelHorizontalMagnitude = accelHorizontal.magnitude();
if (accelHorizontalMagnitude > accelLimit)
{
const PxReal accelScale = accelLimit / accelHorizontalMagnitude;
accel.x *= accelScale;
accel.z *= accelScale;
}
dispCurStep = mCCTDisplacementPrevStep + accel;
mCCTDisplacementPrevStep = dispCurStep;
// move the CCT and change jump status due to contact
const PxU32 flags = mController->move(dispCurStep, 0.01f, dtime, PxControllerFilters());
if(flags & PxControllerCollisionFlag::eCOLLISION_DOWN)
mJump.reset();
// update camera controller
mCCTCamera->updateFromCCT(dtime);
}
#endif // PX_USE_CLOTH_API
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