Method updateState

physx/samples/samplecctsharedcode/KinematicPlatform.cpp:163–222

}

void KinematicPlatform::updateState(PlatformState& state, PxObstacleContext* obstacleContext, PxReal dtime, bool updateActor) const
{
	state.mCurrentTime += dtime;
	state.mCurrentRotationTime += dtime;

	// Compute current position on the path
	PxReal t = state.mCurrentTime/mTravelTime;
	if(t>1.0f)
	{
		if(mMode==LOOP_FLIP)
		{
			state.mFlip = !state.mFlip;
			// Make it loop
			state.mCurrentTime = fmodf(state.mCurrentTime, mTravelTime);
			t = state.mCurrentTime/mTravelTime;
		}
		else
		{
			PX_ASSERT(mMode==LOOP_WRAP);
//			state.mCurrentTime = fmodf(state.mCurrentTime, mTravelTime);
			t = 1.0f - t;
			state.mCurrentTime = t * mTravelTime;
		}
	}

	PxVec3 currentPos;
	if(getPoint(currentPos, state.mFlip ? 1.0f - t : t))
	{
		const PxVec3 wp = currentPos;

		PxMat33 rotY;
		PxToolkit::setRotX(rotY, state.mCurrentRotationTime*mRotationSpeed);
		const PxQuat rotation(rotY);

		const PxTransform tr(wp, mLocalRot * rotation);

//PxVec3 delta = wp - state.mPrevPos;
//shdfnd::printFormatted("Kine: %f | %f | %f\n", delta.x, delta.y, delta.z);
state.mPrevPose = tr;
		if(updateActor)
		{
			PxSceneWriteLock scopedLock(*mActor->getScene());
			mActor->setKinematicTarget(tr);	// *
/*PxVec3 test = mActor->getGlobalPose().p;
test -= tr.p;
shdfnd::printFormatted("%f | %f | %f\n", test.x, test.y, test.z);*/
		}
		else if(obstacleContext && mBoxObstacle)
		{
			PxBoxObstacle localBox = *mBoxObstacle;
			localBox.mPos.x = wp.x;
			localBox.mPos.y = wp.y;
			localBox.mPos.z = wp.z;
			localBox.mRot = tr.q;
			bool status = obstacleContext->updateObstacle(mObstacle, localBox);
			PX_ASSERT(status);
			PX_UNUSED(status);
		}