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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 "SampleVehicle_CameraController.h"
#include "PhysXSampleApplication.h"
#include "PxRigidDynamic.h"
#include "PxQueryFiltering.h"
#include "PxScene.h"
#include "PxSceneLock.h"
#include "vehicle/PxVehicleWheels.h"
using namespace SampleRenderer;
using namespace SampleFramework;
///////////////////////////////////////////////////////////////////////////////
SampleVehicle_CameraController::SampleVehicle_CameraController()
: mRotateInputY (0.0f),
mRotateInputZ (0.0f),
mMaxCameraRotateSpeed (5.0f),
mCameraRotateAngleY (0.0f),
mCameraRotateAngleZ (0.33f),
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))
{
}
SampleVehicle_CameraController::~SampleVehicle_CameraController()
{
}
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 SampleVehicle_CameraController::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 = 15.0f;
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 acclZ = carDirection.dot(acclVec);
camDist = PxMax(camDist+acclZ*400.0f, 5.0f);
//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);
scene.raycast(target, -direction, camDist, hit, PxHitFlag::eDISTANCE, filterData);
if (hit.hasBlock && hit.block.shape != NULL)
{
camDist = hit.block.distance-0.25f;
}
camDist = PxMax(5.0f, PxMin(camDist, 50.0f));
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 SampleVehicle_CameraController::update(const PxReal dtime, const PxVehicleWheels& focusVehicle, PxScene& scene)
{
const PxRigidDynamic* actor=focusVehicle.getRigidDynamicActor();
update(dtime,actor,scene);
}
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