158 lines
5.7 KiB
C++
158 lines
5.7 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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#include "foundation/PxMemory.h"
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#include "vehicle/PxVehicleNoDrive.h"
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#include "vehicle/PxVehicleWheels.h"
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#include "PxVehicleDefaults.h"
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#include "PxRigidDynamic.h"
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#include "CmPhysXCommon.h"
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#include "CmUtils.h"
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#include "PsFoundation.h"
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namespace physx
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{
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extern PxF32 gToleranceScaleLength;
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bool PxVehicleNoDrive::isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(PxVehicleWheels::isValid(), "invalid PxVehicleDrive", false);
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return true;
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}
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PxVehicleNoDrive* PxVehicleNoDrive::allocate(const PxU32 numWheels)
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{
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PX_CHECK_AND_RETURN_NULL(numWheels>0, "Cars with zero wheels are illegal");
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PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleNoDrive::allocate - need to call PxInitVehicleSDK");
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//Compute the bytes needed.
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const PxU32 numWheels4 = (((numWheels + 3) & ~3) >> 2);
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const PxU32 inputByteSize16 = sizeof(PxReal)*numWheels4*4;
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const PxU32 byteSize = sizeof(PxVehicleNoDrive) + 3*inputByteSize16 + PxVehicleWheels::computeByteSize(numWheels);
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//Allocate the memory.
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PxVehicleNoDrive* veh = static_cast<PxVehicleNoDrive*>(PX_ALLOC(byteSize, "PxVehicleNoDrive"));
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Cm::markSerializedMem(veh, byteSize);
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new(veh) PxVehicleNoDrive();
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//Patch up the pointers.
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PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleNoDrive);
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veh->mSteerAngles = reinterpret_cast<PxReal*>(ptr);
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ptr += inputByteSize16;
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veh->mDriveTorques = reinterpret_cast<PxReal*>(ptr);
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ptr += inputByteSize16;
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veh->mBrakeTorques = reinterpret_cast<PxReal*>(ptr);
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ptr += inputByteSize16;
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ptr = PxVehicleWheels::patchupPointers(numWheels, veh, ptr);
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//Initialise.
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PxMemZero(veh->mSteerAngles, inputByteSize16);
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PxMemZero(veh->mDriveTorques, inputByteSize16);
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PxMemZero(veh->mBrakeTorques, inputByteSize16);
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veh->init(numWheels);
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//Set the vehicle type.
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veh->mType = PxVehicleTypes::eNODRIVE;
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return veh;
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}
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void PxVehicleNoDrive::free()
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{
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PxVehicleWheels::free();
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}
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void PxVehicleNoDrive::setup
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(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData)
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{
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//Set up the wheels.
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PxVehicleWheels::setup(physics,vehActor,wheelsData,0,wheelsData.getNbWheels());
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}
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PxVehicleNoDrive* PxVehicleNoDrive::create
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData)
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{
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PxVehicleNoDrive* veh=PxVehicleNoDrive::allocate(wheelsData.getNbWheels());
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veh->setup(physics,vehActor,wheelsData);
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return veh;
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}
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void PxVehicleNoDrive::setToRestState()
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{
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const PxU32 numWheels4 = (((mWheelsSimData.getNbWheels() + 3) & ~3) >> 2);
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const PxU32 inputByteSize = sizeof(PxReal)*numWheels4*4;
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const PxU32 inputByteSize16 = (inputByteSize + 15) & ~15;
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PxMemZero(mSteerAngles, 3*inputByteSize16);
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//Set core to rest state.
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PxVehicleWheels::setToRestState();
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}
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void PxVehicleNoDrive::setBrakeTorque(const PxU32 id, const PxReal brakeTorque)
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{
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PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setBrakeTorque - Illegal wheel");
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PX_CHECK_AND_RETURN(brakeTorque>=0, "PxVehicleNoDrive::setBrakeTorque - negative brake torques are illegal");
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mBrakeTorques[id] = brakeTorque;
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}
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void PxVehicleNoDrive::setDriveTorque(const PxU32 id, const PxReal driveTorque)
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{
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PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setDriveTorque - Illegal wheel");
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mDriveTorques[id] = driveTorque;
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}
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void PxVehicleNoDrive::setSteerAngle(const PxU32 id, const PxReal steerAngle)
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{
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PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setSteerAngle - Illegal wheel");
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mSteerAngles[id] = steerAngle;
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}
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PxReal PxVehicleNoDrive::getBrakeTorque(const PxU32 id) const
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{
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PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getBrakeTorque - Illegal wheel", 0);
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return mBrakeTorques[id];
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}
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PxReal PxVehicleNoDrive::getDriveTorque(const PxU32 id) const
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{
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PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getDriveTorque - Illegal wheel",0);
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return mDriveTorques[id];
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}
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PxReal PxVehicleNoDrive::getSteerAngle(const PxU32 id) const
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{
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PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getSteerAngle - Illegal wheel",0);
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return mSteerAngles[id];
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}
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} //namespace physx
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