134 lines
5.5 KiB
C++
134 lines
5.5 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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#include "foundation/PxMemory.h"
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#include "vehicle/PxVehicleTireFriction.h"
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#include "CmPhysXCommon.h"
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#include "PsFoundation.h"
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namespace physx
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{
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PX_FORCE_INLINE PxU32 computeByteSize(const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes)
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{
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PxU32 byteSize = ((sizeof(PxU32)*(maxNbTireTypes*maxNbSurfaceTypes) + 15) & ~15);
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byteSize += ((sizeof(PxMaterial*)*maxNbSurfaceTypes + 15) & ~15);
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byteSize += ((sizeof(PxVehicleDrivableSurfaceType)*maxNbSurfaceTypes + 15) & ~15);
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byteSize += ((sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) + 15) & ~ 15);
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return byteSize;
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}
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PxVehicleDrivableSurfaceToTireFrictionPairs* PxVehicleDrivableSurfaceToTireFrictionPairs::allocate
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(const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes)
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{
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PX_CHECK_AND_RETURN_VAL(maxNbSurfaceTypes <= eMAX_NB_SURFACE_TYPES, "maxNbSurfaceTypes must be less than eMAX_NB_SURFACE_TYPES", NULL);
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PxU32 byteSize = computeByteSize(maxNbTireTypes, maxNbSurfaceTypes);
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PxU8* ptr = static_cast<PxU8*>(PX_ALLOC(byteSize, "PxVehicleDrivableSurfaceToTireFrictionPairs"));
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PxMemSet(ptr, 0, byteSize);
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PxVehicleDrivableSurfaceToTireFrictionPairs* pairs = reinterpret_cast<PxVehicleDrivableSurfaceToTireFrictionPairs*>(ptr);
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pairs->mPairs = NULL;
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pairs->mDrivableSurfaceMaterials = NULL;
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pairs->mDrivableSurfaceTypes = NULL;
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pairs->mNbTireTypes = 0;
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pairs->mMaxNbTireTypes = maxNbTireTypes;
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pairs->mNbSurfaceTypes = 0;
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pairs->mMaxNbSurfaceTypes = maxNbSurfaceTypes;
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return pairs;
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}
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void PxVehicleDrivableSurfaceToTireFrictionPairs::setup
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(const PxU32 numTireTypes, const PxU32 numSurfaceTypes, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes)
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{
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PX_CHECK_AND_RETURN(numTireTypes <= mMaxNbTireTypes, "numTireTypes must be less than mMaxNumSurfaceTypes");
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PX_CHECK_AND_RETURN(numSurfaceTypes <= mMaxNbSurfaceTypes, "numSurfaceTypes must be less than mMaxNumSurfaceTypes");
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PxU8* ptr = reinterpret_cast<PxU8*>(this);
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const PxU32 maxNbTireTypes = mMaxNbTireTypes;
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const PxU32 maxNbSurfaceTypes = mMaxNbSurfaceTypes;
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PxU32 byteSize = computeByteSize(mMaxNbTireTypes, mMaxNbSurfaceTypes);
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PxMemSet(ptr, 0, byteSize);
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mMaxNbTireTypes = maxNbTireTypes;
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mMaxNbSurfaceTypes = maxNbSurfaceTypes;
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PxVehicleDrivableSurfaceToTireFrictionPairs* pairs = reinterpret_cast<PxVehicleDrivableSurfaceToTireFrictionPairs*>(ptr);
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ptr += ((sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) + 15) & ~ 15);
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mPairs = reinterpret_cast<PxReal*>(ptr);
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ptr += ((sizeof(PxU32)*(numTireTypes*numSurfaceTypes) + 15) & ~15);
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mDrivableSurfaceMaterials = reinterpret_cast<const PxMaterial**>(ptr);
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ptr += ((sizeof(PxMaterial*)*numSurfaceTypes + 15) & ~15);
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mDrivableSurfaceTypes = reinterpret_cast<PxVehicleDrivableSurfaceType*>(ptr);
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ptr += ((sizeof(PxVehicleDrivableSurfaceType)*numSurfaceTypes +15) & ~15);
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for(PxU32 i=0;i<numSurfaceTypes;i++)
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{
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mDrivableSurfaceTypes[i] = drivableSurfaceTypes[i];
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mDrivableSurfaceMaterials[i] = drivableSurfaceMaterials[i];
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}
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for(PxU32 i=0;i<numTireTypes*numSurfaceTypes;i++)
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{
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mPairs[i]=1.0f;
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}
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pairs->mNbTireTypes=numTireTypes;
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pairs->mNbSurfaceTypes=numSurfaceTypes;
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}
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void PxVehicleDrivableSurfaceToTireFrictionPairs::release()
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{
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PX_FREE(this);
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}
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void PxVehicleDrivableSurfaceToTireFrictionPairs::setTypePairFriction(const PxU32 surfaceType, const PxU32 tireType, const PxReal value)
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{
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PX_CHECK_AND_RETURN(tireType<mNbTireTypes, "Invalid tireType");
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PX_CHECK_AND_RETURN(surfaceType<mNbSurfaceTypes, "Invalid surfaceType");
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*(mPairs + mNbTireTypes*surfaceType + tireType) = value;
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}
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PxReal PxVehicleDrivableSurfaceToTireFrictionPairs::getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const
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{
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PX_CHECK_AND_RETURN_VAL(tireType<mNbTireTypes, "Invalid tireType", 0.0f);
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PX_CHECK_AND_RETURN_VAL(surfaceType<mNbSurfaceTypes, "Invalid surfaceType", 0.0f);
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return *(mPairs + mNbTireTypes*surfaceType + tireType);
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}
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}//physx
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