411 lines
10 KiB
C++
411 lines
10 KiB
C++
//
|
|
// 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) 2008-2019 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
#ifndef PX_VEHICLE_UTILSTELEMETRY_H
|
|
#define PX_VEHICLE_UTILSTELEMETRY_H
|
|
/** \addtogroup vehicle
|
|
@{
|
|
*/
|
|
|
|
#include "vehicle/PxVehicleSDK.h"
|
|
#include "foundation/PxSimpleTypes.h"
|
|
#include "foundation/PxVec3.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
#endif
|
|
|
|
#if PX_DEBUG_VEHICLE_ON
|
|
|
|
class PxVehicleGraphDesc
|
|
{
|
|
|
|
friend class PxVehicleGraph;
|
|
|
|
PxVehicleGraphDesc();
|
|
|
|
/**
|
|
\brief x-coord of graph centre.
|
|
<b>Range:</b> (0,1)<br>
|
|
*/
|
|
PxReal mPosX;
|
|
|
|
/**
|
|
\brief y-coord of graph centre.
|
|
<b>Range:</b> (0,1)<br>
|
|
*/
|
|
PxReal mPosY;
|
|
|
|
/**
|
|
\brief x-extents of graph (from mPosX-0.5f*mSizeX to mPosX+0.5f*mSizeX).
|
|
<b>Range:</b> (0,1)<br>
|
|
*/
|
|
PxReal mSizeX;
|
|
|
|
/**
|
|
\brief y-extents of graph (from mPosY-0.5f*mSizeY to mPosY+0.5f*mSizeY).
|
|
<b>Range:</b> (0,1)<br>
|
|
*/
|
|
PxReal mSizeY;
|
|
|
|
/**
|
|
\brief Background color of graph.
|
|
*/
|
|
PxVec3 mBackgroundColor;
|
|
|
|
/**
|
|
\brief Alpha value of background color.
|
|
*/
|
|
PxReal mAlpha;
|
|
|
|
private:
|
|
|
|
bool isValid() const;
|
|
};
|
|
|
|
struct PxVehicleGraphChannelDesc
|
|
{
|
|
public:
|
|
|
|
friend class PxVehicleGraph;
|
|
|
|
PxVehicleGraphChannelDesc();
|
|
|
|
/**
|
|
\brief Data values less than mMinY will be clamped at mMinY.
|
|
*/
|
|
PxReal mMinY;
|
|
|
|
/**
|
|
\brief Data values greater than mMaxY will be clamped at mMaxY.
|
|
*/
|
|
PxReal mMaxY;
|
|
|
|
/**
|
|
\brief Data values greater than mMidY will be drawn with color mColorHigh.
|
|
Data values less than mMidY will be drawn with color mColorLow.
|
|
*/
|
|
PxReal mMidY;
|
|
|
|
/**
|
|
\brief Color used to render data values lower than mMidY.
|
|
*/
|
|
PxVec3 mColorLow;
|
|
|
|
/**
|
|
\brief Color used to render data values greater than mMidY.
|
|
*/
|
|
PxVec3 mColorHigh;
|
|
|
|
/**
|
|
\brief String to describe data channel.
|
|
*/
|
|
char* mTitle;
|
|
|
|
private:
|
|
|
|
bool isValid() const;
|
|
};
|
|
|
|
struct PxVehicleWheelGraphChannel
|
|
{
|
|
enum Enum
|
|
{
|
|
eJOUNCE=0,
|
|
eSUSPFORCE,
|
|
eTIRELOAD,
|
|
eNORMALIZED_TIRELOAD,
|
|
eWHEEL_OMEGA,
|
|
eTIRE_FRICTION,
|
|
eTIRE_LONG_SLIP,
|
|
eNORM_TIRE_LONG_FORCE,
|
|
eTIRE_LAT_SLIP,
|
|
eNORM_TIRE_LAT_FORCE,
|
|
eNORM_TIRE_ALIGNING_MOMENT,
|
|
eMAX_NB_WHEEL_CHANNELS
|
|
};
|
|
};
|
|
|
|
struct PxVehicleDriveGraphChannel
|
|
{
|
|
enum Enum
|
|
{
|
|
eENGINE_REVS=0,
|
|
eENGINE_DRIVE_TORQUE,
|
|
eCLUTCH_SLIP,
|
|
eACCEL_CONTROL, //TANK_ACCEL
|
|
eBRAKE_CONTROL, //TANK_BRAKE_LEFT
|
|
eHANDBRAKE_CONTROL, //TANK_BRAKE_RIGHT
|
|
eSTEER_LEFT_CONTROL, //TANK_THRUST_LEFT
|
|
eSTEER_RIGHT_CONTROL, //TANK_THRUST_RIGHT
|
|
eGEAR_RATIO,
|
|
eMAX_NB_DRIVE_CHANNELS
|
|
};
|
|
};
|
|
|
|
struct PxVehicleGraphType
|
|
{
|
|
enum Enum
|
|
{
|
|
eWHEEL=0,
|
|
eDRIVE
|
|
};
|
|
};
|
|
|
|
|
|
class PxVehicleGraph
|
|
{
|
|
public:
|
|
|
|
friend class PxVehicleTelemetryData;
|
|
friend class PxVehicleUpdate;
|
|
|
|
enum
|
|
{
|
|
eMAX_NB_SAMPLES=256
|
|
};
|
|
|
|
enum
|
|
{
|
|
eMAX_NB_TITLE_CHARS=256
|
|
};
|
|
|
|
enum
|
|
{
|
|
eMAX_NB_CHANNELS=12
|
|
};
|
|
|
|
/**
|
|
\brief Setup a graph from a descriptor.
|
|
*/
|
|
void setup(const PxVehicleGraphDesc& desc, const PxVehicleGraphType::Enum graphType);
|
|
|
|
/**
|
|
\brief Clear all data recorded in a graph.
|
|
*/
|
|
void clearRecordedChannelData();
|
|
|
|
/**
|
|
\brief Get the color of the graph background. Used for rendering a graph.
|
|
*/
|
|
const PxVec3& getBackgroundColor() const {return mBackgroundColor;}
|
|
|
|
/**
|
|
\brief Get the alpha transparency of the color of the graph background. Used for rendering a graph.
|
|
*/
|
|
PxReal getBackgroundAlpha() const {return mBackgroundAlpha;}
|
|
|
|
/**
|
|
\brief Get the coordinates of the graph background. Used for rendering a graph
|
|
|
|
\param[out] xMin is the x-coord of the lower-left corner
|
|
\param[out] yMin is the y-coord of the lower-left corner
|
|
\param[out] xMax is the x-coord of the upper-right corner
|
|
\param[out] yMax is the y-coord of the upper-right corner
|
|
*/
|
|
void getBackgroundCoords(PxReal& xMin, PxReal& yMin, PxReal& xMax, PxReal& yMax) const {xMin = mBackgroundMinX;xMax = mBackgroundMaxX;yMin = mBackgroundMinY;yMax = mBackgroundMaxY;}
|
|
|
|
/**
|
|
\brief Compute the coordinates of the graph data of a specific graph channel.
|
|
|
|
\param[out] xy is an array of graph sample coordinates stored in order x0,y0,x1,y1,x2,y2...xn,yn.
|
|
\param[out] colors stores the color of each point on the graph.
|
|
\param[out] title is the title of the graph.
|
|
*/
|
|
void computeGraphChannel(const PxU32 channel, PxReal* xy, PxVec3* colors, char* title) const;
|
|
|
|
/**
|
|
\brief Return the latest value stored in the specified graph channel
|
|
*/
|
|
PxF32 getLatestValue(const PxU32 channel) const ;
|
|
|
|
private:
|
|
|
|
//Min and max of each sample.
|
|
PxReal mChannelMinY[eMAX_NB_CHANNELS];
|
|
PxReal mChannelMaxY[eMAX_NB_CHANNELS];
|
|
//Discriminate between high and low values with different colors.
|
|
PxReal mChannelMidY[eMAX_NB_CHANNELS];
|
|
//Different colors for values than midY and less than midY.
|
|
PxVec3 mChannelColorLow[eMAX_NB_CHANNELS];
|
|
PxVec3 mChannelColorHigh[eMAX_NB_CHANNELS];
|
|
//Title of graph
|
|
char mChannelTitle[eMAX_NB_CHANNELS][eMAX_NB_TITLE_CHARS];
|
|
//Graph data.
|
|
PxReal mChannelSamples[eMAX_NB_CHANNELS][eMAX_NB_SAMPLES];
|
|
|
|
//Background color,alpha,coords
|
|
PxVec3 mBackgroundColor;
|
|
PxReal mBackgroundAlpha;
|
|
PxReal mBackgroundMinX;
|
|
PxReal mBackgroundMaxX;
|
|
PxReal mBackgroundMinY;
|
|
PxReal mBackgroundMaxY;
|
|
|
|
PxU32 mSampleTide;
|
|
|
|
PxU32 mNbChannels;
|
|
|
|
PxU32 mPad[2];
|
|
|
|
|
|
void setup
|
|
(const PxF32 graphSizeX, const PxF32 graphSizeY,
|
|
const PxF32 engineGraphPosX, const PxF32 engineGraphPosY,
|
|
const PxF32* const wheelGraphPosX, const PxF32* const wheelGraphPosY,
|
|
const PxVec3& backgroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
|
|
|
|
void updateTimeSlice(const PxReal* const samples);
|
|
|
|
void setChannel(PxVehicleGraphChannelDesc& desc, const PxU32 channel);
|
|
|
|
void setupEngineGraph
|
|
(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY,
|
|
const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
|
|
|
|
void setupWheelGraph
|
|
(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY,
|
|
const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
|
|
|
|
PxVehicleGraph();
|
|
~PxVehicleGraph();
|
|
};
|
|
PX_COMPILE_TIME_ASSERT(PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleWheelGraphChannel::eMAX_NB_WHEEL_CHANNELS) && PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleDriveGraphChannel::eMAX_NB_DRIVE_CHANNELS));
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGraph) & 15));
|
|
|
|
class PxVehicleTelemetryData
|
|
{
|
|
public:
|
|
|
|
friend class PxVehicleUpdate;
|
|
|
|
/**
|
|
\brief Allocate a PxVehicleNWTelemetryData instance for a vehicle with nbWheels
|
|
@see PxVehicleNWTelemetryDataFree
|
|
*/
|
|
static PxVehicleTelemetryData* allocate(const PxU32 nbWheels);
|
|
|
|
/**
|
|
\brief Free a PxVehicleNWTelemetryData instance for a vehicle.
|
|
@see PxVehicleNWTelemetryDataAllocate
|
|
*/
|
|
void free();
|
|
|
|
/**
|
|
\brief Set up all the graphs so that they are ready to record data.
|
|
*/
|
|
void setup
|
|
(const PxReal graphSizeX, const PxReal graphSizeY,
|
|
const PxReal engineGraphPosX, const PxReal engineGraphPosY,
|
|
const PxReal* const wheelGraphPosX, const PxReal* const wheelGraphPosY,
|
|
const PxVec3& backGroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
|
|
|
|
/**
|
|
\brief Clear the graphs of recorded data.
|
|
*/
|
|
void clear();
|
|
|
|
/**
|
|
\brief Get the graph data for the engine
|
|
*/
|
|
const PxVehicleGraph& getEngineGraph() const {return *mEngineGraph;}
|
|
|
|
/**
|
|
\brief Get the number of wheel graphs
|
|
*/
|
|
PxU32 getNbWheelGraphs() const {return mNbActiveWheels;}
|
|
|
|
/**
|
|
\brief Get the graph data for the kth wheel
|
|
*/
|
|
const PxVehicleGraph& getWheelGraph(const PxU32 k) const {return mWheelGraphs[k];}
|
|
|
|
/**
|
|
\brief Get the array of tire force application points so they can be rendered
|
|
*/
|
|
const PxVec3* getTireforceAppPoints() const {return mTireforceAppPoints;}
|
|
|
|
/**
|
|
\brief Get the array of susp force application points so they can be rendered
|
|
*/
|
|
const PxVec3* getSuspforceAppPoints() const {return mSuspforceAppPoints;}
|
|
|
|
private:
|
|
|
|
/**
|
|
\brief Graph data for engine.
|
|
Used for storing single timeslices of debug data for engine graph.
|
|
@see PxVehicleGraph
|
|
*/
|
|
PxVehicleGraph* mEngineGraph;
|
|
|
|
/**
|
|
\brief Graph data for each wheel.
|
|
Used for storing single timeslices of debug data for wheel graphs.
|
|
@see PxVehicleGraph
|
|
*/
|
|
PxVehicleGraph* mWheelGraphs;
|
|
|
|
/**
|
|
\brief Application point of tire forces.
|
|
*/
|
|
PxVec3* mTireforceAppPoints;
|
|
|
|
/**
|
|
\brief Application point of susp forces.
|
|
*/
|
|
PxVec3* mSuspforceAppPoints;
|
|
|
|
/**
|
|
\brief Total number of active wheels
|
|
*/
|
|
PxU32 mNbActiveWheels;
|
|
|
|
PxU32 mPad[3];
|
|
|
|
private:
|
|
|
|
PxVehicleTelemetryData(){}
|
|
~PxVehicleTelemetryData(){}
|
|
};
|
|
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTelemetryData) & 15));
|
|
|
|
#endif //PX_DEBUG_VEHICLE_ON
|
|
|
|
//#endif // PX_DEBUG_VEHICLE_ON
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|
|
#endif //PX_VEHICLE_UTILSTELEMETRY_H
|