281 lines
11 KiB
C
281 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_DRIVE_TANK_H
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#define PX_VEHICLE_DRIVE_TANK_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 The ordering of the wheels of a PxVehicleDriveTank.
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@see PxVehicleWheelsSimData, PxVehicleWheelsDynData
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*/
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struct PxVehicleDriveTankWheelOrder
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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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e1ST_FROM_FRONT_LEFT,
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e1ST_FROM_FRONT_RIGHT,
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e2ND_FROM_FRONT_LEFT,
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e2ND_FROM_FRONT_RIGHT,
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e3RD_FROM_FRONT_LEFT,
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e3RD_FROM_FRONT_RIGHT,
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e4TH_FROM_FRONT_LEFT,
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e4TH_FROM_FRONT_RIGHT,
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e5TH_FROM_FRONT_LEFT,
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e5TH_FROM_FRONT_RIGHT,
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e6TH_FROM_FRONT_LEFT,
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e6TH_FROM_FRONT_RIGHT,
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e7TH_FROM_FRONT_LEFT,
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e7TH_FROM_FRONT_RIGHT,
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e8TH_FROM_FRONT_LEFT,
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e8TH_FROM_FRONT_RIGHT,
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e9TH_FROM_FRONT_LEFT,
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e9TH_FROM_FRONT_RIGHT
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};
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};
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/**
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\brief The control inputs for a PxVehicleDriveTank.
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\note The values of eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT determine how much
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of the total available drive torque is diverted to the left and right wheels. These entries in the
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enumerated list represent the state of the left and right control sticks of a tank. The total available
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drive torque available is controlled by eANALOG_INPUT_ACCEL, which represents the state of the acceleration
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pedal and controls how much torque will be applied to the engine.
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\note To accelerate forwards eANALOG_INPUT_ACCEL must be greater than zero so that torque is applied to drive the
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engine, while eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT must also be greater than zero
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to divert the available drive torque to the left and wheels. If eANALOG_INPUT_THRUST_LEFT > eANALOG_INPUT_THRUST_RIGHT
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the tank will turn to the right. If eANALOG_INPUT_THRUST_RIGHT > eANALOG_INPUT_THRUST_LEFT
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the tank will turn to the left.
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@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
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*/
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struct PxVehicleDriveTankControl
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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_LEFT,
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eANALOG_INPUT_BRAKE_RIGHT,
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eANALOG_INPUT_THRUST_LEFT,
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eANALOG_INPUT_THRUST_RIGHT,
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eMAX_NB_DRIVETANK_ANALOG_INPUTS
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};
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};
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/**
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\brief Two driving models are supported.
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\note If eSTANDARD is chosen the left and right wheels are always driven in the same direction. If the tank is in
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a forward gear the left and right wheels will all be driven forwards, while in reverse gear the left and right wheels
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will all be driven backwards. With eSTANDARD the legal range of left and right thrust is (0,1).
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\note If eSPECIAL is chosen it is possible to drive the left and right wheels in different directions.
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With eSPECIAL the legal range of left and right thrust is (-1,1). In forward(reverse) gear negative thrust values drive the wheels
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backwards(forwards), while positive thrust values drives the wheels forwards(backwards).
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\note A sharp left turn can be achieved in eSTANDARD mode by braking with the left wheels and thrusting forward with the
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right wheels. A smaller turning circle can theoretically be achieved in eSPECIAL mode by applying negative thrust to the left wheels and positive
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thrust to the right wheels.
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\note In both modes the legal ranges of acceleration and left/right brake are all (0,1).
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@see PxVehicleDriveTank::setDriveModel
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*/
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struct PxVehicleDriveTankControlModel
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{
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enum Enum
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{
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eSTANDARD=0,
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eSPECIAL
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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 tank.
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*/
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class PxVehicleDriveTank : 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 PxVehicleTankDrive instance for a tank with nbWheels
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\param[in] nbWheels is the number of wheels on the vehicle.
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\note It is assumed that all wheels are 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 PxVehicleDriveTank* allocate(const PxU32 nbWheels);
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/**
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\brief Deallocate a PxVehicleDriveTank 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 tank 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 tank in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data.
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\param[in] driveData describes the properties of the tank's drive model (gears/engine/clutch/autobox). The tank instance takes a copy of this data.
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\param[in] nbDrivenWheels is the number of wheels on the tank.
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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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@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
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\note nbDrivenWheels must be an even number
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\note The wheels must be arranged according to PxVehicleDriveTankWheelOrder; that is,
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the even wheels are on the left side of the tank and the odd wheels are on the right side of the tank.
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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 PxVehicleDriveSimData& driveData,
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const PxU32 nbDrivenWheels);
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/**
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\brief Allocate and set up a tank 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 tank.
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\param[in] vehActor is a PxRigidDynamic instance that is used to represent the tank in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data.
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\param[in] driveData describes the properties of the tank's drive model (gears/engine/clutch/differential/autobox). The tank instance takes a copy of this data.
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\param[in] nbDrivenWheels is the number of wheels on the tank.
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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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\return The instantiated vehicle.
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@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
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*/
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static PxVehicleDriveTank* create
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
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const PxU32 nbDrivenWheels);
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/**
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\brief Set the control model used by the tank.
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\note eDRIVE_MODEL_STANDARD: turning achieved by braking on one side, accelerating on the other side.
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\note eDRIVE_MODEL_SPECIAL: turning achieved by accelerating forwards on one side, accelerating backwards on the other side.
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\note The default value is eDRIVE_MODEL_STANDARD
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*/
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void setDriveModel(const PxVehicleDriveTankControlModel::Enum driveModel)
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{
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mDriveModel=driveModel;
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}
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/**
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\brief Return the control model used by the tank.
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*/
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PxVehicleDriveTankControlModel::Enum getDriveModel() const {return mDriveModel;}
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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 models vehicle components
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@see setup, create
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*/
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PxVehicleDriveSimData 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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/**
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\brief Drive model
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@see setDriveModel, getDriveModel, PxVehicleDriveTankControlModel
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*/
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PxVehicleDriveTankControlModel::Enum mDriveModel;
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PxU32 mPad[3];
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//serialization
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public:
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PxVehicleDriveTank(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags) {}
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static PxVehicleDriveTank* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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virtual const char* getConcreteTypeName() const { return "PxVehicleDriveTank"; }
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleDriveTank", name) || PxBase::isKindOf(name); }
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protected:
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PxVehicleDriveTank();
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~PxVehicleDriveTank(){}
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//~serialization
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 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_DRIVE_TANK_H
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