237 lines
9.2 KiB
C
237 lines
9.2 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_NWDRIVE_H
|
||
|
|
#define PX_VEHICLE_NWDRIVE_H
|
||
|
|
/** \addtogroup vehicle
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "vehicle/PxVehicleDrive.h"
|
||
|
|
#include "vehicle/PxVehicleWheels.h"
|
||
|
|
#include "vehicle/PxVehicleComponents.h"
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
struct PxFilterData;
|
||
|
|
class PxGeometry;
|
||
|
|
class PxPhysics;
|
||
|
|
class PxVehicleDrivableSurfaceToTireFrictionPairs;
|
||
|
|
class PxShape;
|
||
|
|
class PxMaterial;
|
||
|
|
class PxRigidDynamic;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Data structure describing configuration data of a vehicle with up to PX_MAX_NB_WHEELS driven equally through the differential. The vehicle has an
|
||
|
|
engine, clutch, gears, autobox, differential.
|
||
|
|
@see PxVehicleDriveSimData
|
||
|
|
*/
|
||
|
|
class PxVehicleDriveSimDataNW : public PxVehicleDriveSimData
|
||
|
|
{
|
||
|
|
//= 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 PxVehicleDriveNW;
|
||
|
|
|
||
|
|
PxVehicleDriveSimDataNW()
|
||
|
|
: PxVehicleDriveSimData()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the data describing the differential of a vehicle with up to PX_MAX_NB_WHEELS driven wheels.
|
||
|
|
*/
|
||
|
|
const PxVehicleDifferentialNWData& getDiffData() const
|
||
|
|
{
|
||
|
|
return mDiff;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the data describing the differential of a vehicle with up to PX_MAX_NB_WHEELS driven wheels.
|
||
|
|
The differential data describes the set of wheels that are driven by the differential.
|
||
|
|
*/
|
||
|
|
void setDiffData(const PxVehicleDifferentialNWData& diff);
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Differential simulation data
|
||
|
|
@see setDiffData, getDiffData
|
||
|
|
*/
|
||
|
|
PxVehicleDifferentialNWData mDiff;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Test if the NW-drive simulation data has been setup with legal data.
|
||
|
|
Call only after setting all components.
|
||
|
|
@see setEngineData, setClutchData, setGearsData, setAutoboxData, setDiffData, setAckermannGeometryData
|
||
|
|
*/
|
||
|
|
bool isValid() const;
|
||
|
|
|
||
|
|
//serialization
|
||
|
|
public:
|
||
|
|
PxVehicleDriveSimDataNW(const PxEMPTY) : PxVehicleDriveSimData(PxEmpty), mDiff(PxEmpty) {}
|
||
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
||
|
|
//~serialization
|
||
|
|
};
|
||
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimDataNW) & 15));
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief The control inputs for a PxVehicleDriveNW.
|
||
|
|
|
||
|
|
@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
|
||
|
|
*/
|
||
|
|
struct PxVehicleDriveNWControl
|
||
|
|
{
|
||
|
|
enum Enum
|
||
|
|
{
|
||
|
|
eANALOG_INPUT_ACCEL=0,
|
||
|
|
eANALOG_INPUT_BRAKE,
|
||
|
|
eANALOG_INPUT_HANDBRAKE,
|
||
|
|
eANALOG_INPUT_STEER_LEFT,
|
||
|
|
eANALOG_INPUT_STEER_RIGHT,
|
||
|
|
eMAX_NB_DRIVENW_ANALOG_INPUTS
|
||
|
|
};
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Data structure with instanced dynamics data and configuration data of a vehicle with up to PX_MAX_NB_WHEELS driven wheels.
|
||
|
|
*/
|
||
|
|
class PxVehicleDriveNW : public PxVehicleDrive
|
||
|
|
{
|
||
|
|
//= 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 Allocate a PxVehicleDriveNW instance for a NWDrive vehicle with nbWheels
|
||
|
|
|
||
|
|
\param[in] nbWheels is the number of wheels on the vehicle.
|
||
|
|
|
||
|
|
\return The instantiated vehicle.
|
||
|
|
|
||
|
|
@see free, setup
|
||
|
|
*/
|
||
|
|
static PxVehicleDriveNW* allocate(const PxU32 nbWheels);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Deallocate a PxVehicleDriveNW instance.
|
||
|
|
@see allocate
|
||
|
|
*/
|
||
|
|
void free();
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set up a vehicle using simulation data for the wheels and drive model.
|
||
|
|
\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
|
||
|
|
\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
|
||
|
|
\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
|
||
|
|
\param[in] driveData describes the properties of the vehicle's drive model (gears/engine/clutch/differential/autobox). The vehicle instance takes a copy of this data.
|
||
|
|
\param[in] nbWheels is the number of wheels on the vehicle.
|
||
|
|
\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
|
||
|
|
@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
|
||
|
|
*/
|
||
|
|
void setup
|
||
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
||
|
|
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimDataNW& driveData,
|
||
|
|
const PxU32 nbWheels);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Allocate and set up a vehicle using simulation data for the wheels and drive model.
|
||
|
|
\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
|
||
|
|
\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
|
||
|
|
\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
|
||
|
|
\param[in] driveData describes the properties of the vehicle's drive model (gears/engine/clutch/differential/autobox). The vehicle instance takes a copy of this data.
|
||
|
|
\param[in] nbWheels is the number of wheels on the vehicle.
|
||
|
|
\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
|
||
|
|
\return The instantiated vehicle.
|
||
|
|
@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
|
||
|
|
*/
|
||
|
|
static PxVehicleDriveNW* create
|
||
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
||
|
|
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimDataNW& driveData,
|
||
|
|
const PxU32 nbWheels);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set a vehicle to its rest state. Aside from the rigid body transform, this will set the vehicle and rigid body
|
||
|
|
to the state they were in immediately after setup or create.
|
||
|
|
\note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line
|
||
|
|
raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates.
|
||
|
|
@see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates
|
||
|
|
*/
|
||
|
|
void setToRestState();
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Simulation data that describes the configuration of the vehicle's drive model.
|
||
|
|
@see setup, create
|
||
|
|
*/
|
||
|
|
PxVehicleDriveSimDataNW mDriveSimData;
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Test if the instanced dynamics and configuration data has legal values.
|
||
|
|
*/
|
||
|
|
bool isValid() const;
|
||
|
|
|
||
|
|
//serialization
|
||
|
|
public:
|
||
|
|
PxVehicleDriveNW(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags), mDriveSimData(PxEmpty) {}
|
||
|
|
PxVehicleDriveNW();
|
||
|
|
~PxVehicleDriveNW(){}
|
||
|
|
static PxVehicleDriveNW* createObject(PxU8*& address, PxDeserializationContext& context);
|
||
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
||
|
|
virtual const char* getConcreteTypeName() const { return "PxVehicleDriveNW"; }
|
||
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleDriveNW", name) || PxBase::isKindOf(name); }
|
||
|
|
//~serialization
|
||
|
|
};
|
||
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveNW) & 15));
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif //PX_VEHICLE_NWDRIVE_H
|