238 lines
7.9 KiB
C++
238 lines
7.9 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_SDK_H
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#define PX_VEHICLE_SDK_H
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/** \addtogroup vehicle
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@{
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*/
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#include "foundation/Px.h"
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#include "common/PxTypeInfo.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 PxPhysics;
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class PxSerializationRegistry;
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/**
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\brief Initialize the PhysXVehicle library.
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Call this before using any of the vehicle functions.
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\param physics The PxPhysics instance.
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\param serializationRegistry PxSerializationRegistry instance, if NULL vehicle serialization is not supported.
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\note This function must be called after PxFoundation and PxPhysics instances have been created.
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\note If a PxSerializationRegistry instance is specified then PhysXVehicle is also dependent on PhysXExtensions.
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@see PxCloseVehicleSDK
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*/
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PX_C_EXPORT bool PX_CALL_CONV PxInitVehicleSDK(PxPhysics& physics, PxSerializationRegistry* serializationRegistry = NULL);
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/**
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\brief Shut down the PhysXVehicle library.
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Call this function as part of the physx shutdown process.
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\param serializationRegistry PxSerializationRegistry instance, if non-NULL must be the same as passed into PxInitVehicleSDK.
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\note This function must be called prior to shutdown of PxFoundation and PxPhysics.
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\note If the PxSerializationRegistry instance is specified this function must additionally be called prior to shutdown of PhysXExtensions.
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@see PxInitVehicleSDK
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*/
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PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* serializationRegistry = NULL);
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/**
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\brief This number is the maximum number of wheels allowed for a vehicle.
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*/
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#define PX_MAX_NB_WHEELS (20)
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/**
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\brief Compiler setting to enable recording of telemetry data
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@see PxVehicleUpdateSingleVehicleAndStoreTelemetryData, PxVehicleTelemetryData
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*/
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#define PX_DEBUG_VEHICLE_ON (1)
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/**
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@see PxVehicleDrive4W, PxVehicleDriveTank, PxVehicleDriveNW, PxVehicleNoDrive, PxVehicleWheels::getVehicleType
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*/
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struct PxVehicleTypes
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{
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enum Enum
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{
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eDRIVE4W=0,
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eDRIVENW,
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eDRIVETANK,
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eNODRIVE,
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eUSER1,
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eUSER2,
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eUSER3,
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eMAX_NB_VEHICLE_TYPES
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};
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};
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/**
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\brief An enumeration of concrete vehicle classes inheriting from PxBase.
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\note This enum can be used to identify a vehicle object stored in a PxCollection.
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@see PxBase, PxTypeInfo, PxBase::getConcreteType
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*/
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struct PxVehicleConcreteType
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{
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enum Enum
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{
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eVehicleNoDrive = PxConcreteType::eFIRST_VEHICLE_EXTENSION,
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eVehicleDrive4W,
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eVehicleDriveNW,
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eVehicleDriveTank
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};
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};
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/**
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\brief Set the basis vectors of the vehicle simulation
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Default values PxVec3(0,1,0), PxVec3(0,0,1)
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Call this function before using PxVehicleUpdates unless the default values are correct.
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*/
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void PxVehicleSetBasisVectors(const PxVec3& up, const PxVec3& forward);
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/**
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@see PxVehicleSetUpdateMode
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*/
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struct PxVehicleUpdateMode
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{
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enum Enum
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{
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eVELOCITY_CHANGE,
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eACCELERATION
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};
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};
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/**
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\brief Set the effect of PxVehicleUpdates to be either to modify each vehicle's rigid body actor
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with an acceleration to be applied in the next PhysX SDK update or as an immediate velocity modification.
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Default behavior is immediate velocity modification.
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Call this function before using PxVehicleUpdates for the first time if the default is not the desired behavior.
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@see PxVehicleUpdates
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*/
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void PxVehicleSetUpdateMode(PxVehicleUpdateMode::Enum vehicleUpdateMode);
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/**
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\brief Set threshold angles that are used to determine if a wheel hit is to be resolved by vehicle suspension or by rigid body collision.
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\note ^
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N ___
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|**
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**
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**
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%%% %%% **
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%%% %%% ** /
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/
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%%% %%% /
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/
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%%% %%% /
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C /
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%%% | ** %%% /
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| ** /
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%%% | **%%%/
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| X**
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%%% | %%% / **_| ^
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| / D
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%%% | %%% /
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| /
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| /
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| /
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^ |
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S \|/
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The diagram above depicts a wheel centered at "C" that has hit an inclined plane at point "X".
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The inclined plane has unit normal "N", while the suspension direction has unit vector "S".
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The unit vector from the wheel center to the hit point is "D".
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Hit points are analyzed by comparing the unit vectors D and N with the suspension direction S.
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This analysis is performed in the contact modification callback PxVehicleModifyWheelContacts (when enabled) and in
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PxVehicleUpdates (when non-blocking sweeps are enabled).
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If the angle between D and S is less than pointRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected
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by the contact modification callback PxVehicleModifyWheelContacts.
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If the angle between -N and S is less than normalRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected
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by the contact modification callback PxVehicleModifyWheelContacts.
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\param pointRejectAngle is the threshold angle used when comparing the angle between D and S.
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\param normalRejectAngle is the threshold angle used when comparing the angle between -N and S.
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\note PxVehicleUpdates ignores the rejection angles for raycasts and for sweeps that return blocking hits.
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\note Both angles have default values of Pi/4.
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@see PxVehicleSuspensionSweeps, PxVehicleModifyWheelContacts
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*/
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void PxVehicleSetSweepHitRejectionAngles(const PxF32 pointRejectAngle, const PxF32 normalRejectAngle);
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/**
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\brief Determine the maximum acceleration experienced by PxRigidDynamic instances that are found to be in contact
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with a wheel.
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\note Newton's Third Law states that every force has an equal and opposite force. As a consequence, forces applied to
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the suspension must be applied to dynamic objects that lie under the wheel. This can lead to instabilities, particularly
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when a heavy wheel is driving on a light object. The value of maxHitActorAcceleration clamps the applied force so that it never
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generates an acceleration greater than the specified value.
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\note Default value of maxHitActorAcceleration is PX_MAX_REAL
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*/
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void PxVehicleSetMaxHitActorAcceleration(const PxF32 maxHitActorAcceleration);
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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_SDK_H
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