161 lines
8.5 KiB
C++
161 lines
8.5 KiB
C++
//
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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_UTILSSETUP_H
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#define PX_VEHICLE_UTILSSETUP_H
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/** \addtogroup vehicle
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@{
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*/
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#include "foundation/PxSimpleTypes.h"
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#include "vehicle/PxVehicleSDK.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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class PxVehicleWheelsSimData;
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class PxVehicleWheelsDynData;
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class PxVehicleDriveSimData4W;
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class PxVehicleWheels;
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/**
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\brief Reconfigure a PxVehicle4W instance as a three-wheeled car with tadpole config (2 front wheels, 1 rear wheel)
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\note The rear-left wheel is removed and the rear-right wheel is positioned at the centre of the rear axle.
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The suspension of the rear-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.
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\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
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\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
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\param[in,out] driveSimData is the data describing the drive model of the vehicle.
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*/
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void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
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/**
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\brief Reconfigure a PxVehicle4W instance as a three-wheeled car with delta config (1 front wheel, 2 rear wheels)
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\note The front-left wheel is removed and the front-right wheel is positioned at the centre of the front axle.
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The suspension of the front-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.
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\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
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\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
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\param[in,out] driveSimData is the data describing the drive model of the vehicle.
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*/
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void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
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/**
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\brief Compute the sprung masses of the suspension springs given (i) the number of sprung masses,
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(ii) coordinates of the sprung masses, (iii) the center of mass offset of the rigid body, (iv) the
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total mass of the rigid body, and (v) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis).
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\param[in] nbSprungMasses is the number of sprung masses of the vehicle. This value corresponds to the number of wheels on the vehicle.
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\param[in] sprungMassCoordinates are the coordinates of the sprung masses relative to the actor. The array sprungMassCoordinates must be of
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length nbSprungMasses or greater.
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\param[in] centreOfMass is the coordinate of the center of mass of the rigid body relative to the actor. This value corresponds to
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the value set by PxRigidBody::setCMassLocalPose.
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\param[in] totalMass is the total mass of all the sprung masses. This value corresponds to the value set by PxRigidBody::setMass.
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\param[in] gravityDirection is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (-1,0,0),
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a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
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\param[out] sprungMasses are the masses to set in the associated suspension data with PxVehicleSuspensionData::mSprungMass. The sprungMasses array must be of length
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nbSprungMasses or greater. Each element in the sprungMasses array corresponds to the suspension located at the same array element in sprungMassCoordinates.
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The center of mass of the masses in sprungMasses with the coordinates in sprungMassCoordinates satisfy the specified centerOfMass.
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*/
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void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
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/**
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\brief Reconfigure the vehicle to reflect a new center of mass local pose that has been applied to the actor. The function requires
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(i) the center of mass local pose that was last used to configure the vehicle and the vehicle's actor, (ii) the new center of mass local pose that
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has been applied to the vehicle's actor and will now be applied to the vehicle, and (iii) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis)
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\param[in] oldCMassLocalPose is the center of mass local pose that was last used to configure the vehicle.
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\param[in] newCMassLocalPose is the center of mass local pose that will be used to configure the vehicle so that it matches the vehicle's actor.
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\param[in] gravityDirection is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (0,0,-1),
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a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
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\param[in,out] vehicle is the vehicle to be updated with a new center of mass local pose.
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\note This function does not update the center of mass of the vehicle actor. That needs to updated separately with PxRigidBody::setCMassLocalPose
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\note The suspension sprung masses are updated so that the natural frequency and damping ratio of the springs are preserved. This involves altering the
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stiffness and damping rate of the suspension springs.
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*/
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void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);
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/**
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\brief Used by PxVehicleCopyDynamicsData
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@see PxVehicleCopyDynamicsData
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*/
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class PxVehicleCopyDynamicsMap
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{
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public:
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PxVehicleCopyDynamicsMap()
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{
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for(PxU32 i = 0; i < PX_MAX_NB_WHEELS; i++)
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{
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sourceWheelIds[i] = PX_MAX_U8;
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targetWheelIds[i] = PX_MAX_U8;
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}
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}
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PxU8 sourceWheelIds[PX_MAX_NB_WHEELS];
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PxU8 targetWheelIds[PX_MAX_NB_WHEELS];
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};
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/**
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\brief Copy dynamics data from src to trg, including wheel rotation speed, wheel rotation angle, engine rotation speed etc.
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\param[in] wheelMap - describes the mapping between the wheels in src and the wheels in trg.
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\param[in] src - according to the wheel mapping stored in wheelMap, the dynamics data in src wheels are copied to the corresponding wheels in trg.
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\param[out] trg - according to wheel mapping stored in wheelMap, the wheels in trg are given the dynamics data of the corresponding wheels in src.
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\note wheelMap must specify a unique mapping between the wheels in src and the wheels in trg.
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\note In the event that src has fewer wheels than trg, wheelMap must specify a unique mapping between each src wheel to a trg wheel.
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\note In the event that src has more wheels than trg, wheelMap must specify a unique mapping to each trg wheel from a src wheel.
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\note In the event that src has fewer wheels than trg, the trg wheels that are not mapped to a src wheel are given the average wheel rotation
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speed of all enabled src wheels.
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\note src and trg must be the same vehicle type.
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*/
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void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif //PX_VEHICLE_UTILSSETUP_H
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