heli

void obj_Vehicle::HelicopterPhysx() // controls of helicopter
{
    static float LastUpdateP = r3dGetTime();
    if (isHelicopter == true && (LastUpdateP + 0.02f <= r3dGetTime()))
    {
        PlayTractionLoopSound(false);

        LastUpdateP = r3dGetTime();
        const float fTimePassed = r3dGetFrameTime();
        PxTransform pose = vd->vehicle->getRigidDynamicActor()->getGlobalPose();
        r3dVector angles;
        r3dPoint3D position(0, 0, 0);

        static float ThisTime = r3dGetTime();

        float DeltaTime = r3dGetTime() - ThisTime;

        if (HasDriver() && HSpeed > 70)
        {
            PxVec3 HeliSpeed = vd->vehicle->getRigidDynamicActor()->getLinearVelocity();

            float lerp_vec = 0.0f;
            static float lerp_to = 0.0f;

            if (Keyboard->IsPressed(kbsD)) // Rotate Left
                vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(0, 30 * DeltaTime, 0), PxForceMode::eACCELERATION, true);
            else if (Keyboard->IsPressed(kbsS)) // rotate Right
                vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(0, -30 * DeltaTime, 0), PxForceMode::eACCELERATION, true);
            else
                vd->vehicle->getRigidDynamicActor()->setAngularDamping(PxReal(1.0f));

            vd->vehicle->getRigidDynamicActor()->setMaxAngularVelocity(PxReal(15.0f));

            if (Keyboard->IsPressed(kbsUp)) // move front
            {
                if (vd->vehicle->getRigidDynamicActor()->getAngularVelocity().x < 15)
                    vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(GetvForw().x * DeltaTime *10, 0, 0), PxForceMode::eACCELERATION, true);
                    //HelyY += 0.5f;
                else
                    vd->vehicle->getRigidDynamicActor()->setAngularDamping(PxReal(1.0f));

                if (HelyFB>1 && FB >= 0)
                    FB = HelyFB -= 0.25f;

                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvForw().x * 0.5f, 0, GetvForw().z * 0.5f), PxForceMode::eVELOCITY_CHANGE, true);
            }
            else
            {
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvUp().x, GetvUp().y, GetvUp().z), PxForceMode::eVELOCITY_CHANGE);

                if (FB >0 && HelyFB<20)
                    FB = HelyFB += 0.05f;

                if (HelyY>0)
                {
                    HelyY -= 0.5f;
                    if (HelyY<0) HelyY = 0;
                }
            }
            if (Keyboard->IsPressed(kbsDown)) // Move back
            {
                if (HelyY>-15.0f)
                    HelyY -= 0.5f;

                if (HelyFB>5 && FB <= 0)
                    FB = abs(HelyFB -= 0.5f)*-1;

                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvForw().x * 0.5f  * -1, 0, GetvForw().z * 0.5f * -1), PxForceMode::eVELOCITY_CHANGE, true);
            }
            else {
                if (FB <0 && HelyFB<20)
                    FB = abs(HelyFB += 0.05f)*-1;
                if (HelyY<0)
                {
                    HelyY += 0.5f;
                }

            }
            if (Keyboard->IsPressed(kbsRight)) // move Right
            {
                if (HelyZ>-30.0)
                    HelyZ -= 0.5f;

                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvRight().x * 0.2f, 0, GetvRight().z * 0.2f), PxForceMode::eVELOCITY_CHANGE, true);

                if ((Keyboard->IsPressed(kbsUp) || Keyboard->IsPressed(kbsDown)))
                {
                    HelyX += 0.5f;
                }
                else {
                    if (HelyLR>5 && LR >= 0)
                        LR = HelyLR -= 0.5f;
                }
            }
            else {
                if (LR >0 && HelyLR<20)
                    LR = HelyLR += 0.1f;
                if (HelyZ<0)
                {
                    HelyZ += 0.5f;
                }
            }

            if (Keyboard->IsPressed(kbsLeft)) // move Left
            {

                if (HelyZ<30.0)
                    HelyZ += 0.5f;

                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvRight().x * 0.2f  * -1, 0, GetvRight().z * 0.2f * -1), PxForceMode::eVELOCITY_CHANGE, true);

                if ((Keyboard->IsPressed(kbsUp) || Keyboard->IsPressed(kbsDown)))
                {
                    HelyX -= 0.5f;
                }
                else {
                    if (HelyLR>5 && LR <= 0)
                        LR = abs(HelyLR -= 0.5f)*-1;
                }

            }
            else {
                if (LR <0 && HelyLR<20)
                    LR = abs(HelyLR += 0.1f)*-1;

                if (HelyZ>0)
                {
                    HelyZ -= 0.5f;
                    if (HelyZ<0) HelyZ = 0;
                }
            }

            if (!Keyboard->IsPressed(kbsUp) && !Keyboard->IsPressed(kbsDown) && !Keyboard->IsPressed(kbsRight) && !Keyboard->IsPressed(kbsLeft))
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(HeliSpeed.x * 0.02f * -1, HeliSpeed.y * 0.01f * -1, HeliSpeed.z * 0.02f * -1), PxForceMode::eVELOCITY_CHANGE, true);

            vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 9.8f * DeltaTime, 0), PxForceMode::eVELOCITY_CHANGE, true);

            if (Keyboard->IsPressed(kbsA)) // move up
            {
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 10 * DeltaTime, 0), PxForceMode::eVELOCITY_CHANGE, true);
            }
            else if (Keyboard->IsPressed(kbsZ)) // Move down
            {
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, -10 * DeltaTime, 0), PxForceMode::eVELOCITY_CHANGE, true);
            }

            PxVec3 MaxSpeedVec(40, 8, 40);
            PxVec3 MaxSpeedVecReverse = MaxSpeedVec * -1;

            // forward
            if (HeliSpeed.x > MaxSpeedVec.x)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(MaxSpeedVec.x - HeliSpeed.x, 0, 0), PxForceMode::eVELOCITY_CHANGE, true);
            if (HeliSpeed.y > MaxSpeedVec.y)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, MaxSpeedVec.y - HeliSpeed.y, 0), PxForceMode::eVELOCITY_CHANGE, true);
            if (HeliSpeed.z > MaxSpeedVec.z)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 0, MaxSpeedVec.z - HeliSpeed.z), PxForceMode::eVELOCITY_CHANGE, true);

            // reverse
            if (HeliSpeed.x < MaxSpeedVecReverse.x)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(MaxSpeedVecReverse.x - HeliSpeed.x, 0, 0), PxForceMode::eVELOCITY_CHANGE, true);
            if (HeliSpeed.y < MaxSpeedVecReverse.y)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, MaxSpeedVecReverse.y - HeliSpeed.y, 0), PxForceMode::eVELOCITY_CHANGE, true);
            if (HeliSpeed.z < MaxSpeedVecReverse.z)
                vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 0, MaxSpeedVecReverse.z - HeliSpeed.z), PxForceMode::eVELOCITY_CHANGE, true);

            ThisTime = r3dGetTime();
        }
        else
        {

            ThisTime = r3dGetTime();

            if (distanceFromGround>0)
            {
                if (HSpeed < 50 || !CheckFuel())
                {
                    if (HelyUp>0)
                        HelyUp = -0.1f;
                }
            }
        }
        pose.p.y += HelyUp;
        if (HelyFB >= 20)
            FB = 0;
        if (HelyLR >= 20)
            LR = 0;
        //r3dOutToLog("######## HelyFB: %f FB: %f\n",HelyFB,FB);
        position = r3dPoint3D(pose.p.x, pose.p.y, pose.p.z) + (GetvForw() / FB) + (GetvRight() / LR);
        if (HelyUp<0)
        {
            HelyUp += 0.001f;
        }
        else if (HelyUp>0)
        {
            HelyUp -= 0.001f;
            if (HelyUp<0) HelyUp = 0;
        }

        //static float HelyX_Lerp = HelyX;
        static float HelyY_Lerp = HelyY;
        static float HelyZ_Lerp = HelyZ;

        //HelyX_Lerp = R3D_LERP(HelyX_Lerp, HelyX, 0.05);
        HelyY_Lerp = R3D_LERP(HelyY_Lerp, HelyY, 0.05);
        HelyZ_Lerp = R3D_LERP(HelyZ_Lerp, HelyZ, 0.08);

        /*D3DXMATRIX RotateMatrix, RotateMatrix2, toOrigin, fromOrigin, boneTransform;
        D3DXMatrixTranslation(&toOrigin, -GetPosition().x, -GetPosition().y, -GetPosition().z);
        D3DXMatrixTranslation(&fromOrigin, pose.p.x, pose.p.y, pose.p.z);

        D3DXMatrixRotationYawPitchRoll(&RotateMatrix, R3D_DEG2RAD(0), R3D_DEG2RAD(HelyY_Lerp), R3D_DEG2RAD(HelyZ_Lerp));
        D3DXMatrixMultiply(&boneTransform, &fromOrigin, &RotateMatrix);

        D3DXMatrixMultiply(&boneTransform, &boneTransform, &toOrigin);

        PxMat33 orientation(PxVec3(boneTransform._11, boneTransform._12, boneTransform._13),
            PxVec3(boneTransform._21, boneTransform._22, boneTransform._23),
            PxVec3(boneTransform._31, boneTransform._32, boneTransform._33));
        pose.q = PxQuat(orientation);*/

        /*D3DMATRIX m = GetRotationMatrix();*/
        //pose.p.x=position.x;//HelyFB;
        //pose.p.z=position.z;//HelyLR;

        /*HelyLR=position.z;
        HelyFB=position.x;*/
        vd->vehicle->getRigidDynamicActor()->setGlobalPose(pose);
        //SetPosition(r3dPoint3D(position.x,pose.p.y,position.z));
        r3dPoint3D vel = GetVelocity();
        vel.x *= pose.p.x;
        vel.y *= pose.p.y;
        vel.z *= pose.p.y;
        if (vel.Length() < 0.001f) vel = r3dPoint3D(0, 0, 0);
        SetVelocity(vel);
    }
}