566 lines
16 KiB
C
566 lines
16 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_VEHICLE_DRIVE_H
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#define PX_VEHICLE_DRIVE_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleWheels.h"
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#include "vehicle/PxVehicleComponents.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxFilterData;
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class PxGeometry;
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class PxPhysics;
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class PxVehicleDrivableSurfaceToTireFrictionPairs;
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class PxShape;
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class PxMaterial;
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class PxRigidDynamic;
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/**
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\brief Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box.
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@see PxVehicleWheelsSimData for wheels configuration data.
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*/
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class PxVehicleDriveSimData
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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friend class PxVehicleDriveTank;
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/**
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\brief Return the engine data
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*/
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PX_FORCE_INLINE const PxVehicleEngineData& getEngineData() const
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{
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return mEngine;
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}
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/**
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\brief Set the engine data
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\param[in] engine - the data stored in engine is copied to the vehicle's engine.
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*/
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void setEngineData(const PxVehicleEngineData& engine);
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/**
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\brief Return the gears data
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*/
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PX_FORCE_INLINE const PxVehicleGearsData& getGearsData() const
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{
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return mGears;
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}
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/**
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\brief Set the gears data
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\param[in] gears - the data stored in gears is copied to the vehicle's gears.
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*/
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void setGearsData(const PxVehicleGearsData& gears);
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/**
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\brief Return the clutch data
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*/
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PX_FORCE_INLINE const PxVehicleClutchData& getClutchData() const
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{
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return mClutch;
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}
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/**
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\brief Set the clutch data
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\param[in] clutch - the data stored in clutch is copied to the vehicle's clutch.
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*/
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void setClutchData(const PxVehicleClutchData& clutch);
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/**
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\brief Return the autobox data
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*/
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PX_FORCE_INLINE const PxVehicleAutoBoxData& getAutoBoxData() const
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{
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return mAutoBox;
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}
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/**
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\brief Set the autobox data
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\param[in] autobox - the data stored in autobox is copied to the vehicle's autobox.
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*/
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void setAutoBoxData(const PxVehicleAutoBoxData& autobox);
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protected:
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/*
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\brief Engine simulation data
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@see setEngineData, getEngineData
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*/
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PxVehicleEngineData mEngine;
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/*
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\brief Gear simulation data
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@see setGearsData, getGearsData
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*/
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PxVehicleGearsData mGears;
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/*
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\brief Clutch simulation data
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@see setClutchData, getClutchData
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*/
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PxVehicleClutchData mClutch;
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/*
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\brief Autobox simulation data
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@see setAutoboxData, getAutoboxData
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*/
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PxVehicleAutoBoxData mAutoBox;
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/**
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\brief Test that a PxVehicleDriveSimData instance has been configured with legal data.
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Call only after setting all components with setEngineData,setGearsData,setClutchData,setAutoBoxData
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@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
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*/
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bool isValid() const;
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//serialization
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public:
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PxVehicleDriveSimData() {}
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PxVehicleDriveSimData(const PxEMPTY) : mEngine(PxEmpty), mGears(PxEmpty), mClutch(PxEmpty), mAutoBox(PxEmpty) {}
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static void getBinaryMetaData(PxOutputStream& stream);
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//~serialization
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData) & 15));
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/**
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\brief Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox
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@see PxVehicleWheelsDynData for wheels dynamics data.
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*/
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class PxVehicleDriveDynData
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{
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public:
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enum
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{
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eMAX_NB_ANALOG_INPUTS=16
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};
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friend class PxVehicleDrive;
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/**
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\brief Set all dynamics data to zero to bring the vehicle to rest.
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*/
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void setToRestState();
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/**
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\brief Set an analog control value to drive the vehicle.
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\param[in] type describes the type of analog control being modified
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\param[in] analogVal is the new value of the specific analog control.
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@see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
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*/
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void setAnalogInput(const PxU32 type, const PxReal analogVal);
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/**
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\brief Get the analog control value that has been applied to the vehicle.
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\return The value of the specified analog control value.
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@see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
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*/
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PxReal getAnalogInput(const PxU32 type) const;
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/**
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\brief Inform the vehicle that the gear-up button has been pressed.
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\param[in] digitalVal is the state of the gear-up button.
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\note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
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\note The value of mGearUpPressed is not reset by PxVehicleUpdates
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*/
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void setGearUp(const bool digitalVal)
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{
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mGearUpPressed = digitalVal;
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}
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/**
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\brief Set that the gear-down button has been pressed.
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\param[in] digitalVal is the state of the gear-down button.
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\note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
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\note The value of mGearDownPressed is not reset by PxVehicleUpdates
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*/
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void setGearDown(const bool digitalVal)
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{
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mGearDownPressed = digitalVal;
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}
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/**
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\brief Check if the gear-up button has been pressed
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\return The state of the gear-up button.
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*/
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bool getGearUp() const
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{
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return mGearUpPressed;
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}
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/**
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\brief Check if the gear-down button has been pressed
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\return The state of the gear-down button.
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*/
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bool getGearDown() const
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{
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return mGearDownPressed;
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}
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/**
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\brief Set the flag that will be used to select auto-gears
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If useAutoGears is true the auto-box will be active.
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\param[in] useAutoGears is the active state of the auto-box.
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*/
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PX_FORCE_INLINE void setUseAutoGears(const bool useAutoGears)
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{
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mUseAutoGears=useAutoGears;
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}
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/**
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\brief Get the flag status that is used to select auto-gears
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\return The active status of the auto-box.
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*/
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PX_FORCE_INLINE bool getUseAutoGears() const
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{
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return mUseAutoGears;
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}
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/**
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\brief Toggle the auto-gears flag
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If useAutoGears is true the auto-box will be active.
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*/
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PX_FORCE_INLINE void toggleAutoGears()
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{
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mUseAutoGears = !mUseAutoGears;
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}
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/**
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\brief Set the current gear.
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\param[in] currentGear is the vehicle's gear.
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\note If the target gear is different from the current gear the vehicle will
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attempt to start a gear change from the current gear that has just been set
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towards the target gear at the next call to PxVehicleUpdates.
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@see setTargetGear, PxVehicleGearsData
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*/
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PX_FORCE_INLINE void setCurrentGear(PxU32 currentGear)
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{
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mCurrentGear = currentGear;
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}
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/**
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\brief Get the current gear.
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\return The vehicle's current gear.
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@see getTargetGear, PxVehicleGearsData
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*/
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PX_FORCE_INLINE PxU32 getCurrentGear() const
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{
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return mCurrentGear;
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}
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/**
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\brief Set the target gear.
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\param[in] targetGear is the vehicle's target gear.
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\note If the target gear is different from the current gear the vehicle will
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attempt to start a gear change towards the target gear at the next call to
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PxVehicleUpdates.
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@see PxVehicleGearsData
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*/
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PX_FORCE_INLINE void setTargetGear(PxU32 targetGear)
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{
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mTargetGear = targetGear;
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}
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/**
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\brief Get the target gear.
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\return The vehicle's target gear.
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||
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@see setTargetGear, PxVehicleGearsData
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||
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*/
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PX_FORCE_INLINE PxU32 getTargetGear() const
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||
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{
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return mTargetGear;
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||
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}
|
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/**
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\brief Start a gear change to a target gear.
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\param[in] targetGear is the gear the vehicle will begin a transition towards.
|
||
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\note The gear change will begin at the next call to PxVehicleUpadates.
|
||
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@see PxVehicleGearsData
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||
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*/
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||
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PX_FORCE_INLINE void startGearChange(const PxU32 targetGear)
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||
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{
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||
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mTargetGear=targetGear;
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||
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}
|
||
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/**
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||
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\brief Force an immediate gear change to a target gear
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||
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\param[in] targetGear is the gear the vehicle will be given immediately.
|
||
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||
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@see PxVehicleGearsData
|
||
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*/
|
||
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PX_FORCE_INLINE void forceGearChange(const PxU32 targetGear)
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||
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{
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||
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mTargetGear=targetGear;
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||
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mCurrentGear=targetGear;
|
||
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}
|
||
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||
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/**
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||
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\brief Set the rotation speed of the engine (radians per second)
|
||
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|
|
||
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\param[in] speed is the rotational speed (radians per second) to apply to the engine.
|
||
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*/
|
||
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PX_FORCE_INLINE void setEngineRotationSpeed(const PxF32 speed)
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||
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{
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||
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mEnginespeed = speed;
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||
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|
}
|
||
|
|
|
||
|
|
/**
|
||
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|
\brief Return the rotation speed of the engine (radians per second)
|
||
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|
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||
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\return The rotational speed (radians per second) of the engine.
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getEngineRotationSpeed() const
|
||
|
|
{
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||
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|
return mEnginespeed;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the time that has passed since the current gear change was initiated.
|
||
|
|
|
||
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\return The time that has passed since the current gear change was initiated.
|
||
|
|
|
||
|
|
\note If no gear change is in process the gear switch time will be zero.
|
||
|
|
|
||
|
|
@see PxVehicleGearsData.mSwitchTime
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getGearSwitchTime() const
|
||
|
|
{
|
||
|
|
return mGearSwitchTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the time that has passed since the autobox last initiated a gear change.
|
||
|
|
|
||
|
|
\return The time that has passed since the autobox last initiated a gear change.
|
||
|
|
|
||
|
|
@see PxVehicleAutoBoxData::setLatency, PxVehicleAutoBoxData::getLatency
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getAutoBoxSwitchTime() const
|
||
|
|
{
|
||
|
|
return mAutoBoxSwitchTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief All dynamic data values are public for fast access.
|
||
|
|
*/
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Analog control values used by vehicle simulation.
|
||
|
|
@see setAnalogInput, getAnalogInput, PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
|
||
|
|
*/
|
||
|
|
PxReal mControlAnalogVals[eMAX_NB_ANALOG_INPUTS];
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Auto-gear flag used by vehicle simulation. Set true to enable the autobox, false to disable the autobox.
|
||
|
|
@see setUseAutoGears, setUseAutoGears, toggleAutoGears, PxVehicleAutoBoxData
|
||
|
|
*/
|
||
|
|
bool mUseAutoGears;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gear-up digital control value used by vehicle simulation.
|
||
|
|
|
||
|
|
\note If true a gear change will be initiated towards currentGear+1 (or to first gear if in reverse).
|
||
|
|
|
||
|
|
@see setDigitalInput, getDigitalInput
|
||
|
|
*/
|
||
|
|
bool mGearUpPressed;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Gear-down digital control value used by vehicle simulation.
|
||
|
|
|
||
|
|
\note If true a gear change will be initiated towards currentGear-1 (or to reverse if in first).
|
||
|
|
|
||
|
|
@see setDigitalInput, getDigitalInput
|
||
|
|
*/
|
||
|
|
bool mGearDownPressed;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Current gear
|
||
|
|
@see startGearChange, forceGearChange, getCurrentGear, PxVehicleGearsData
|
||
|
|
*/
|
||
|
|
PxU32 mCurrentGear;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Target gear (different from current gear if a gear change is underway)
|
||
|
|
@see startGearChange, forceGearChange, getTargetGear, PxVehicleGearsData
|
||
|
|
*/
|
||
|
|
PxU32 mTargetGear;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Rotation speed of engine
|
||
|
|
@see setToRestState, getEngineRotationSpeed
|
||
|
|
*/
|
||
|
|
PxReal mEnginespeed;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Reported time that has passed since gear change started.
|
||
|
|
@see setToRestState, startGearChange, PxVehicleGearsData::mSwitchTime
|
||
|
|
*/
|
||
|
|
PxReal mGearSwitchTime;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Reported time that has passed since last autobox gearup/geardown decision.
|
||
|
|
@see setToRestState, PxVehicleAutoBoxData::setLatency
|
||
|
|
*/
|
||
|
|
PxReal mAutoBoxSwitchTime;
|
||
|
|
|
||
|
|
private:
|
||
|
|
PxU32 mPad[2];
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Test that a PxVehicleDriveDynData instance has legal values.
|
||
|
|
@see setToRestState
|
||
|
|
*/
|
||
|
|
bool isValid() const;
|
||
|
|
|
||
|
|
//serialization
|
||
|
|
public:
|
||
|
|
PxVehicleDriveDynData();
|
||
|
|
PxVehicleDriveDynData(const PxEMPTY) {}
|
||
|
|
PxU32 getNbAnalogInput() const { return eMAX_NB_ANALOG_INPUTS; }
|
||
|
|
PX_FORCE_INLINE void setGearChange(const PxU32 gearChange) { mTargetGear= gearChange; }
|
||
|
|
PX_FORCE_INLINE PxU32 getGearChange() const { return mTargetGear; }
|
||
|
|
PX_FORCE_INLINE void setGearSwitchTime(const PxReal switchTime) { mGearSwitchTime = switchTime; }
|
||
|
|
PX_FORCE_INLINE void setAutoBoxSwitchTime(const PxReal autoBoxSwitchTime) { mAutoBoxSwitchTime = autoBoxSwitchTime; }
|
||
|
|
//~serialization
|
||
|
|
};
|
||
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveDynData) & 15));
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox.
|
||
|
|
@see PxVehicleDrive4W, PxVehicleDriveTank
|
||
|
|
*/
|
||
|
|
class PxVehicleDrive : public PxVehicleWheels
|
||
|
|
{
|
||
|
|
//= ATTENTION! =====================================================================================
|
||
|
|
// Changing the data layout of this class breaks the binary serialization format. See comments for
|
||
|
|
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
|
||
|
|
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
|
||
|
|
// accordingly.
|
||
|
|
//==================================================================================================
|
||
|
|
public:
|
||
|
|
|
||
|
|
friend class PxVehicleUpdate;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Dynamics data of vehicle instance.
|
||
|
|
@see setup
|
||
|
|
*/
|
||
|
|
PxVehicleDriveDynData mDriveDynData;
|
||
|
|
|
||
|
|
protected:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Test that all instanced dynamics data and configuration data have legal values.
|
||
|
|
*/
|
||
|
|
bool isValid() const;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set vehicle to rest.
|
||
|
|
*/
|
||
|
|
void setToRestState();
|
||
|
|
|
||
|
|
/**
|
||
|
|
@see PxVehicleDrive4W::allocate, PxVehicleDriveTank::allocate
|
||
|
|
*/
|
||
|
|
static PxU32 computeByteSize(const PxU32 numWheels);
|
||
|
|
static PxU8* patchupPointers(const PxU32 nbWheels, PxVehicleDrive* vehDrive, PxU8* ptr);
|
||
|
|
virtual void init(const PxU32 numWheels);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Deallocate a PxVehicle4WDrive instance.
|
||
|
|
@see PxVehicleDrive4W::free, PxVehicleDriveTank::free
|
||
|
|
*/
|
||
|
|
void free();
|
||
|
|
|
||
|
|
/**
|
||
|
|
@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
|
||
|
|
*/
|
||
|
|
void setup
|
||
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
||
|
|
const PxVehicleWheelsSimData& wheelsData,
|
||
|
|
const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
|
||
|
|
|
||
|
|
//serialization
|
||
|
|
public:
|
||
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
||
|
|
PxVehicleDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags), mDriveDynData(PxEmpty) {}
|
||
|
|
virtual const char* getConcreteTypeName() const { return "PxVehicleDrive"; }
|
||
|
|
protected:
|
||
|
|
PxVehicleDrive(PxType concreteType, PxBaseFlags baseFlags) : PxVehicleWheels(concreteType, baseFlags) {}
|
||
|
|
~PxVehicleDrive() {}
|
||
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleDrive", name) || PxBase::isKindOf(name); }
|
||
|
|
//~serialization
|
||
|
|
};
|
||
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive) & 15));
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif //PX_VEHICLE_DRIVE_H
|