279 lines
11 KiB
C
279 lines
11 KiB
C
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//
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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_4WDRIVE_H
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#define PX_VEHICLE_4WDRIVE_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleDrive.h"
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#include "vehicle/PxVehicleWheels.h"
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#include "vehicle/PxVehicleComponents.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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struct PxFilterData;
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class PxGeometry;
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class PxPhysics;
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class PxVehicleDrivableSurfaceToTireFrictionPairs;
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class PxShape;
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class PxMaterial;
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class PxRigidDynamic;
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/**
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\brief Data structure describing the drive model components of a vehicle with up to 4 driven wheels and up to 16 un-driven wheels.
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The drive model incorporates engine, clutch, gears, autobox, differential, and Ackermann steer correction.
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@see PxVehicleDriveSimData
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*/
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class PxVehicleDriveSimData4W : public PxVehicleDriveSimData
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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friend class PxVehicleDrive4W;
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PxVehicleDriveSimData4W()
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: PxVehicleDriveSimData()
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{
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}
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/**
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\brief Return the data describing the differential.
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@see PxVehicleDifferential4WData
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*/
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PX_FORCE_INLINE const PxVehicleDifferential4WData& getDiffData() const
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{
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return mDiff;
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}
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/**
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\brief Return the data describing the Ackermann steer-correction.
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@see PxVehicleAckermannGeometryData
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*/
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PX_FORCE_INLINE const PxVehicleAckermannGeometryData& getAckermannGeometryData() const
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{
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return mAckermannGeometry;
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}
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/**
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\brief Set the data describing the differential.
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@see PxVehicleDifferential4WData
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*/
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void setDiffData(const PxVehicleDifferential4WData& diff);
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/**
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\brief Set the data describing the Ackermann steer-correction.
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@see PxVehicleAckermannGeometryData
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*/
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void setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData);
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private:
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/**
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\brief Differential simulation data
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@see setDiffData, getDiffData
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*/
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PxVehicleDifferential4WData mDiff;
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/**
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\brief Data for ackermann steer angle computation.
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@see setAckermannGeometryData, getAckermannGeometryData
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*/
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PxVehicleAckermannGeometryData mAckermannGeometry;
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/**
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\brief Test if the 4W-drive simulation data has been setup with legal data.
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\note Call only after setting all components.
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@see setEnginedata, setClutchData, setGearsData, setAutoboxData, setDiffData, setAckermannGeometryData
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*/
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bool isValid() const;
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//serialization
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public:
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PxVehicleDriveSimData4W(const PxEMPTY) : PxVehicleDriveSimData(PxEmpty), mDiff(PxEmpty), mAckermannGeometry(PxEmpty) {}
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static void getBinaryMetaData(PxOutputStream& stream);
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//~serialization
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData4W) & 15));
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/**
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\brief The ordering of the driven and steered wheels of a PxVehicleDrive4W.
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@see PxVehicleWheelsSimData, PxVehicleWheelsDynData
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*/
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struct PxVehicleDrive4WWheelOrder
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{
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enum Enum
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{
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eFRONT_LEFT=0,
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eFRONT_RIGHT,
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eREAR_LEFT,
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eREAR_RIGHT
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};
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};
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/**
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\brief The control inputs for a PxVehicleDrive4W.
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@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
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*/
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struct PxVehicleDrive4WControl
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{
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enum Enum
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{
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eANALOG_INPUT_ACCEL=0,
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eANALOG_INPUT_BRAKE,
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eANALOG_INPUT_HANDBRAKE,
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eANALOG_INPUT_STEER_LEFT,
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eANALOG_INPUT_STEER_RIGHT,
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eMAX_NB_DRIVE4W_ANALOG_INPUTS
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};
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};
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/**
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\brief Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels and up to 16 non-driven wheels.
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*/
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class PxVehicleDrive4W : public PxVehicleDrive
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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friend class PxVehicleUpdate;
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/**
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\brief Allocate a PxVehicleDrive4W instance for a 4WDrive vehicle with nbWheels (= 4 + number of un-driven wheels)
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\param[in] nbWheels is the number of vehicle wheels (= 4 + number of un-driven wheels)
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\return The instantiated vehicle.
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@see free, setup
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*/
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static PxVehicleDrive4W* allocate(const PxU32 nbWheels);
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/**
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\brief Deallocate a PxVehicleDrive4W instance.
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@see allocate
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*/
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void free();
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/**
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\brief Set up a vehicle using simulation data for the wheels and drive model.
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\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
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\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
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\param[in] driveData describes the properties of the vehicle's drive model (gears/engine/clutch/differential/autobox). The vehicle instance takes a copy of this data.
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\param[in] nbNonDrivenWheels is the number of wheels on the vehicle that cannot be connected to the differential (= numWheels - 4).
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\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
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\note wheelsData must contain data for at least 4 wheels. Unwanted wheels can be disabled with PxVehicleWheelsSimData::disableWheel after calling setup.
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@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
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*/
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void 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 nbNonDrivenWheels);
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/**
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\brief Allocate and set up a vehicle using simulation data for the wheels and drive model.
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\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
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\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
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\param[in] driveData describes the properties of the vehicle's drive model (gears/engine/clutch/differential/autobox). The vehicle instance takes a copy of this data.
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\param[in] nbNonDrivenWheels is the number of wheels on the vehicle that cannot be connected to the differential (= numWheels - 4).
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\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
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\note wheelsData must contain data for at least 4 wheels. Unwanted wheels can be disabled with PxVehicleWheelsSimData::disableWheel after calling setup.
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\return The instantiated vehicle.
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@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
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*/
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static 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 nbNonDrivenWheels);
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/**
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\brief Set a vehicle to its rest state. Aside from the rigid body transform, this will set the vehicle and rigid body
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to the state they were in immediately after setup or create.
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\note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line
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raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates.
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@see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates
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*/
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void setToRestState();
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/**
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\brief Simulation data that describes the configuration of the vehicle's drive model.
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@see setup, create
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*/
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PxVehicleDriveSimData4W mDriveSimData;
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private:
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/**
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\brief Test if the instanced dynamics and configuration data has legal values.
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*/
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bool isValid() const;
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//serialization
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protected:
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PxVehicleDrive4W();
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~PxVehicleDrive4W(){}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleDrive4W", name) || PxBase::isKindOf(name); }
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public:
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static PxVehicleDrive4W* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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PxVehicleDrive4W(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags), mDriveSimData(PxEmpty) {}
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virtual const char* getConcreteTypeName() const { return "PxVehicleDrive4W"; }
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//~serialization
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive4W) & 15));
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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_4WDRIVE_H
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