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

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		const float fTimePassed = r3dGetFrameTime();

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		PxTransform pose = vd->vehicle->getRigidDynamicActor()->getGlobalPose();

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		r3dVector angles;

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		r3dPoint3D position(0, 0, 0);

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		static float ThisTime = r3dGetTime();

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		float DeltaTime = r3dGetTime() - ThisTime;

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		if (HasDriver() && HSpeed > 70)

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		{

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			PxVec3 HeliSpeed = vd->vehicle->getRigidDynamicActor()->getLinearVelocity();

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			float lerp_vec = 0.0f;

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			static float lerp_to = 0.0f;

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			if (Keyboard->IsPressed(kbsD)) // Rotate Left

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				vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(0, 30 * DeltaTime, 0), PxForceMode::eACCELERATION, true);

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			else if (Keyboard->IsPressed(kbsS)) // rotate Right

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				vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(0, -30 * DeltaTime, 0), PxForceMode::eACCELERATION, true);

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			else

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				vd->vehicle->getRigidDynamicActor()->setAngularDamping(PxReal(1.0f));

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

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			if (Keyboard->IsPressed(kbsUp)) // move front

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			{

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				if (vd->vehicle->getRigidDynamicActor()->getAngularVelocity().x < 15)

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					vd->vehicle->getRigidDynamicActor()->addTorque(PxVec3(GetvForw().x * DeltaTime *10, 0, 0), PxForceMode::eACCELERATION, true);

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					//HelyY += 0.5f;

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				else

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					vd->vehicle->getRigidDynamicActor()->setAngularDamping(PxReal(1.0f));

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				if (HelyFB>1 && FB >= 0)

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					FB = HelyFB -= 0.25f;

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

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			}

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			else

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			{

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvUp().x, GetvUp().y, GetvUp().z), PxForceMode::eVELOCITY_CHANGE);

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				if (FB >0 && HelyFB<20)

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					FB = HelyFB += 0.05f;

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				if (HelyY>0)

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				{

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					HelyY -= 0.5f;

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					if (HelyY<0) HelyY = 0;

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				}

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			}

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			if (Keyboard->IsPressed(kbsDown)) // Move back

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			{

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				if (HelyY>-15.0f)

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					HelyY -= 0.5f;

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				if (HelyFB>5 && FB <= 0)

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					FB = abs(HelyFB -= 0.5f)*-1;

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(GetvForw().x * 0.5f  * -1, 0, GetvForw().z * 0.5f * -1), PxForceMode::eVELOCITY_CHANGE, true);

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			}

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			else {

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				if (FB <0 && HelyFB<20)

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					FB = abs(HelyFB += 0.05f)*-1;

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				if (HelyY<0)

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				{

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					HelyY += 0.5f;

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				}

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			}

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			if (Keyboard->IsPressed(kbsRight)) // move Right

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			{

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				if (HelyZ>-30.0)

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					HelyZ -= 0.5f;

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

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				if ((Keyboard->IsPressed(kbsUp) || Keyboard->IsPressed(kbsDown)))

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				{

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					HelyX += 0.5f;

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				}

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				else {

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					if (HelyLR>5 && LR >= 0)

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						LR = HelyLR -= 0.5f;

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				}

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			}

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			else {

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				if (LR >0 && HelyLR<20)

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					LR = HelyLR += 0.1f;

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				if (HelyZ<0)

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				{

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					HelyZ += 0.5f;

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				}

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			}

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

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			{

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				if (HelyZ<30.0)

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					HelyZ += 0.5f;

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

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				if ((Keyboard->IsPressed(kbsUp) || Keyboard->IsPressed(kbsDown)))

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				{

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					HelyX -= 0.5f;

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				}

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				else {

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					if (HelyLR>5 && LR <= 0)

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						LR = abs(HelyLR -= 0.5f)*-1;

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				}

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			}

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			else {

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				if (LR <0 && HelyLR<20)

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					LR = abs(HelyLR += 0.1f)*-1;

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				if (HelyZ>0)

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				{

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					HelyZ -= 0.5f;

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					if (HelyZ<0) HelyZ = 0;

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				}

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			}

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			if (!Keyboard->IsPressed(kbsUp) && !Keyboard->IsPressed(kbsDown) && !Keyboard->IsPressed(kbsRight) && !Keyboard->IsPressed(kbsLeft))

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(HeliSpeed.x * 0.02f * -1, HeliSpeed.y * 0.01f * -1, HeliSpeed.z * 0.02f * -1), PxForceMode::eVELOCITY_CHANGE, true);

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

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			if (Keyboard->IsPressed(kbsA)) // move up

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			{

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 10 * DeltaTime, 0), PxForceMode::eVELOCITY_CHANGE, true);

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			}

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			else if (Keyboard->IsPressed(kbsZ)) // Move down

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			{

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, -10 * DeltaTime, 0), PxForceMode::eVELOCITY_CHANGE, true);

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			}

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			PxVec3 MaxSpeedVec(40, 8, 40);

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			PxVec3 MaxSpeedVecReverse = MaxSpeedVec * -1;

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			// forward

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			if (HeliSpeed.x > MaxSpeedVec.x)

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

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			if (HeliSpeed.y > MaxSpeedVec.y)

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

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			if (HeliSpeed.z > MaxSpeedVec.z)

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

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			// reverse

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			if (HeliSpeed.x < MaxSpeedVecReverse.x)

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(MaxSpeedVecReverse.x - HeliSpeed.x, 0, 0), PxForceMode::eVELOCITY_CHANGE, true);

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			if (HeliSpeed.y < MaxSpeedVecReverse.y)

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, MaxSpeedVecReverse.y - HeliSpeed.y, 0), PxForceMode::eVELOCITY_CHANGE, true);

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			if (HeliSpeed.z < MaxSpeedVecReverse.z)

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				vd->vehicle->getRigidDynamicActor()->addForce(PxVec3(0, 0, MaxSpeedVecReverse.z - HeliSpeed.z), PxForceMode::eVELOCITY_CHANGE, true);

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			ThisTime = r3dGetTime();

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		}

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		else

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		{

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			ThisTime = r3dGetTime();

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			if (distanceFromGround>0)

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			{

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				if (HSpeed < 50 || !CheckFuel())

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				{

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					if (HelyUp>0)

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						HelyUp = -0.1f;

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				}

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			}

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		}

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		pose.p.y += HelyUp;

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		if (HelyFB >= 20)

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			FB = 0;

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		if (HelyLR >= 20)

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			LR = 0;

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		//r3dOutToLog("######## HelyFB: %f FB: %f\n",HelyFB,FB);

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		position = r3dPoint3D(pose.p.x, pose.p.y, pose.p.z) + (GetvForw() / FB) + (GetvRight() / LR);

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		if (HelyUp<0)

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		{

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			HelyUp += 0.001f;

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		}

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		else if (HelyUp>0)

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		{

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			HelyUp -= 0.001f;

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			if (HelyUp<0) HelyUp = 0;

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		}

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		//static float HelyX_Lerp = HelyX;

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		static float HelyY_Lerp = HelyY;

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		static float HelyZ_Lerp = HelyZ;

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		//HelyX_Lerp = R3D_LERP(HelyX_Lerp, HelyX, 0.05);

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		HelyY_Lerp = R3D_LERP(HelyY_Lerp, HelyY, 0.05);

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		HelyZ_Lerp = R3D_LERP(HelyZ_Lerp, HelyZ, 0.08);

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		/*D3DXMATRIX RotateMatrix, RotateMatrix2, toOrigin, fromOrigin, boneTransform;

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		D3DXMatrixTranslation(&toOrigin, -GetPosition().x, -GetPosition().y, -GetPosition().z);

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		D3DXMatrixTranslation(&fromOrigin, pose.p.x, pose.p.y, pose.p.z);

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		D3DXMatrixRotationYawPitchRoll(&RotateMatrix, R3D_DEG2RAD(0), R3D_DEG2RAD(HelyY_Lerp), R3D_DEG2RAD(HelyZ_Lerp));

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		D3DXMatrixMultiply(&boneTransform, &fromOrigin, &RotateMatrix);

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

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		PxMat33 orientation(PxVec3(boneTransform._11, boneTransform._12, boneTransform._13),

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			PxVec3(boneTransform._21, boneTransform._22, boneTransform._23),

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			PxVec3(boneTransform._31, boneTransform._32, boneTransform._33));

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		pose.q = PxQuat(orientation);*/

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		/*D3DMATRIX m = GetRotationMatrix();*/

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		//pose.p.x=position.x;//HelyFB;

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		//pose.p.z=position.z;//HelyLR;

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		/*HelyLR=position.z;

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		HelyFB=position.x;*/

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		vd->vehicle->getRigidDynamicActor()->setGlobalPose(pose);

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		//SetPosition(r3dPoint3D(position.x,pose.p.y,position.z));

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		r3dPoint3D vel = GetVelocity();

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		vel.x *= pose.p.x;

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		vel.y *= pose.p.y;

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		vel.z *= pose.p.y;

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		if (vel.Length() < 0.001f) vel = r3dPoint3D(0, 0, 0);

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		SetVelocity(vel);

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	}

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}
        

    


            


                                


        

            



                
    

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