122 lines
4.3 KiB
C++
122 lines
4.3 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.
|
|
|
|
#include "vehicle/PxVehicleDriveTank.h"
|
|
#include "vehicle/PxVehicleWheels.h"
|
|
#include "vehicle/PxVehicleSDK.h"
|
|
#include "PxRigidDynamic.h"
|
|
|
|
#include "PxVehicleDefaults.h"
|
|
#include "CmPhysXCommon.h"
|
|
#include "CmUtils.h"
|
|
#include "PsFoundation.h"
|
|
|
|
namespace physx
|
|
{
|
|
|
|
extern PxF32 gToleranceScaleLength;
|
|
|
|
bool PxVehicleDriveTank::isValid() const
|
|
{
|
|
PX_CHECK_AND_RETURN_VAL(PxVehicleDrive::isValid(), "invalid PxVehicleDrive", false);
|
|
PX_CHECK_AND_RETURN_VAL(mDriveSimData.isValid(), "Invalid PxVehicleDriveTank.mCoreSimData", false);
|
|
return true;
|
|
}
|
|
|
|
PxVehicleDriveTank* PxVehicleDriveTank::allocate(const PxU32 numWheels)
|
|
{
|
|
PX_CHECK_AND_RETURN_NULL(numWheels>0, "Cars with zero wheels are illegal");
|
|
PX_CHECK_AND_RETURN_NULL(0 == (numWheels % 2), "PxVehicleDriveTank::allocate - needs to have even number of wheels");
|
|
PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleDriveTank::allocate - need to call PxInitVehicleSDK");
|
|
|
|
//Compute the bytes needed.
|
|
const PxU32 byteSize = sizeof(PxVehicleDriveTank) + PxVehicleDrive::computeByteSize(numWheels);
|
|
|
|
//Allocate the memory.
|
|
PxVehicleDriveTank* veh = static_cast<PxVehicleDriveTank*>(PX_ALLOC(byteSize, "PxVehicleDriveTank"));
|
|
Cm::markSerializedMem(veh, byteSize);
|
|
new(veh) PxVehicleDriveTank();
|
|
|
|
//Patch up the pointers.
|
|
PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleDriveTank);
|
|
PxVehicleDrive::patchupPointers(numWheels, veh, ptr);
|
|
|
|
//Initialise.
|
|
veh->init(numWheels);
|
|
|
|
//Set the vehicle type.
|
|
veh->mType = PxVehicleTypes::eDRIVETANK;
|
|
|
|
//Set the default drive model.
|
|
veh->mDriveModel = PxVehicleDriveTankControlModel::eSTANDARD;
|
|
|
|
return veh;
|
|
}
|
|
|
|
void PxVehicleDriveTank::free()
|
|
{
|
|
PxVehicleDrive::free();
|
|
}
|
|
|
|
void PxVehicleDriveTank::setup
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
|
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
|
|
const PxU32 numDrivenWheels)
|
|
{
|
|
PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDriveTank::setup - illegal drive data");
|
|
|
|
//Set up the wheels.
|
|
PxVehicleDrive::setup(physics,vehActor,wheelsData,numDrivenWheels,0);
|
|
|
|
//Start setting up the drive.
|
|
PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
|
|
|
|
//Copy the simulation data.
|
|
mDriveSimData = driveData;
|
|
}
|
|
|
|
PxVehicleDriveTank* PxVehicleDriveTank::create
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
|
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
|
|
const PxU32 numDrivenWheels)
|
|
{
|
|
PxVehicleDriveTank* tank=PxVehicleDriveTank::allocate(numDrivenWheels);
|
|
tank->setup(physics,vehActor,wheelsData,driveData,numDrivenWheels);
|
|
return tank;
|
|
}
|
|
|
|
|
|
void PxVehicleDriveTank::setToRestState()
|
|
{
|
|
//Set core to rest state.
|
|
PxVehicleDrive::setToRestState();
|
|
}
|
|
} //namespace physx
|
|
|