154 lines
6.3 KiB
C++
154 lines
6.3 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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#include "vehicle/PxVehicleDrive4W.h"
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#include "vehicle/PxVehicleDrive.h"
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#include "vehicle/PxVehicleSDK.h"
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#include "PxRigidDynamic.h"
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#include "PxShape.h"
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#include "PxScene.h"
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#include "PxVehicleSuspWheelTire4.h"
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#include "PxVehicleSuspLimitConstraintShader.h"
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#include "PxVehicleDefaults.h"
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#include "PsFoundation.h"
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#include "PsUtilities.h"
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#include "CmPhysXCommon.h"
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#include "CmUtils.h"
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namespace physx
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{
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extern PxF32 gToleranceScaleLength;
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bool PxVehicleDriveSimData4W::isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(PxVehicleDriveSimData::isValid(), "Invalid PxVehicleDriveSimData4W", false);
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PX_CHECK_AND_RETURN_VAL(mDiff.isValid(), "Invalid PxVehicleCoreSimulationData.mDiff", false);
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PX_CHECK_AND_RETURN_VAL(mAckermannGeometry.isValid(), "Invalid PxVehicleCoreSimulationData.mAckermannGeometry", false);
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return true;
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}
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void PxVehicleDriveSimData4W::setDiffData(const PxVehicleDifferential4WData& diff)
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{
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PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mFrontRearSplit>=0 && diff.mFrontRearSplit<=1.0f), "Diff torque split between front and rear must be in range (0,1)");
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PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mCentreBias>=1), "Diff centre bias must be greater than or equal to 1");
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PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_FRONTWD) || (diff.mFrontBias>=1), "Diff front bias must be greater than or equal to 1");
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PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_REARWD) || (diff.mRearBias>=1), "Diff rear bias must be greater than or equal to 1");
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PX_CHECK_AND_RETURN(diff.mType<PxVehicleDifferential4WData::eMAX_NB_DIFF_TYPES, "Illegal differential type");
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mDiff=diff;
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}
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void PxVehicleDriveSimData4W::setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData)
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{
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PX_CHECK_AND_RETURN(ackermannData.mFrontWidth > 0, "Illegal ackermannData.mFrontWidth - must be greater than zero");
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PX_CHECK_AND_RETURN(ackermannData.mRearWidth > 0, "Illegal ackermannData.mRearWidth - must be greater than zero");
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PX_CHECK_AND_RETURN(ackermannData.mAxleSeparation > 0, "Illegal ackermannData.mAxleSeparation - must be greater than zero");
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mAckermannGeometry = ackermannData;
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}
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///////////////////////////////////
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bool PxVehicleDrive4W::isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(PxVehicleDrive::isValid(), "invalid PxVehicleDrive", false);
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PX_CHECK_AND_RETURN_VAL(mDriveSimData.isValid(), "Invalid PxVehicleNW.mCoreSimData", false);
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return true;
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}
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PxVehicleDrive4W* PxVehicleDrive4W::allocate(const PxU32 numWheels)
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{
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PX_CHECK_AND_RETURN_NULL(numWheels>=4, "PxVehicleDrive4W::allocate - needs to have at least 4 wheels");
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PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleDrive4W::allocate - need to call PxInitVehicleSDK");
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//Compute the bytes needed.
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const PxU32 byteSize = sizeof(PxVehicleDrive4W) + PxVehicleDrive::computeByteSize(numWheels);
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//Allocate the memory.
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PxVehicleDrive4W* veh = static_cast<PxVehicleDrive4W*>(PX_ALLOC(byteSize, "PxVehicleDrive4W"));
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Cm::markSerializedMem(veh, byteSize);
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new(veh) PxVehicleDrive4W();
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//Patch up the pointers.
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PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleDrive4W);
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ptr=PxVehicleDrive::patchupPointers(numWheels, veh, ptr);
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//Initialise wheels.
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veh->init(numWheels);
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//Set the vehicle type.
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veh->mType = PxVehicleTypes::eDRIVE4W;
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return veh;
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}
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void PxVehicleDrive4W::free()
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{
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PxVehicleDrive::free();
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}
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void PxVehicleDrive4W::setup
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
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const PxU32 numNonDrivenWheels)
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{
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PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDrive4W::setup - invalid driveData");
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PX_CHECK_AND_RETURN(wheelsData.getNbWheels() >= 4, "PxVehicleDrive4W::setup - needs to have at least 4 wheels");
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//Set up the wheels.
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PxVehicleDrive::setup(physics,vehActor,wheelsData,4,numNonDrivenWheels);
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//Start setting up the drive.
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PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
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//Copy the simulation data.
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mDriveSimData = driveData;
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}
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PxVehicleDrive4W* PxVehicleDrive4W::create
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
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const PxU32 numNonDrivenWheels)
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{
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PxVehicleDrive4W* veh4W=PxVehicleDrive4W::allocate(4+numNonDrivenWheels);
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veh4W->setup(physics,vehActor,wheelsData,driveData,numNonDrivenWheels);
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return veh4W;
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}
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void PxVehicleDrive4W::setToRestState()
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{
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//Set core to rest state.
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PxVehicleDrive::setToRestState();
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}
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} //namespace physx
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