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27// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
28// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
29
30#ifndef PX_VEHICLE_DRIVE_H
31#define PX_VEHICLE_DRIVE_H
32/** \addtogroup vehicle
33 @{
34*/
35
36#include "vehicle/PxVehicleWheels.h"
37#include "vehicle/PxVehicleComponents.h"
38
39#if !PX_DOXYGEN
40namespace physx
41{
42#endif
43
44struct PxFilterData;
45class PxGeometry;
46class PxPhysics;
47class PxVehicleDrivableSurfaceToTireFrictionPairs;
48class PxShape;
49class PxMaterial;
50class PxRigidDynamic;
51
52/**
53\brief Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box.
54@see PxVehicleWheelsSimData for wheels configuration data.
55*/
56class PxVehicleDriveSimData
57{
58//= ATTENTION! =====================================================================================
59// Changing the data layout of this class breaks the binary serialization format. See comments for
60// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
61// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
62// accordingly.
63//==================================================================================================
64public:
65
66 friend class PxVehicleDriveTank;
67
68 /**
69 \brief Return the engine data
70 */
71 PX_FORCE_INLINE const PxVehicleEngineData& getEngineData() const
72 {
73 return mEngine;
74 }
75
76 /**
77 \brief Set the engine data
78 \param[in] engine - the data stored in engine is copied to the vehicle's engine.
79 */
80 void setEngineData(const PxVehicleEngineData& engine);
81
82 /**
83 \brief Return the gears data
84 */
85 PX_FORCE_INLINE const PxVehicleGearsData& getGearsData() const
86 {
87 return mGears;
88 }
89
90 /**
91 \brief Set the gears data
92 \param[in] gears - the data stored in gears is copied to the vehicle's gears.
93 */
94 void setGearsData(const PxVehicleGearsData& gears);
95
96 /**
97 \brief Return the clutch data
98 */
99 PX_FORCE_INLINE const PxVehicleClutchData& getClutchData() const
100 {
101 return mClutch;
102 }
103
104 /**
105 \brief Set the clutch data
106 \param[in] clutch - the data stored in clutch is copied to the vehicle's clutch.
107 */
108 void setClutchData(const PxVehicleClutchData& clutch);
109
110 /**
111 \brief Return the autobox data
112 */
113 PX_FORCE_INLINE const PxVehicleAutoBoxData& getAutoBoxData() const
114 {
115 return mAutoBox;
116 }
117
118 /**
119 \brief Set the autobox data
120 \param[in] autobox - the data stored in autobox is copied to the vehicle's autobox.
121 */
122 void setAutoBoxData(const PxVehicleAutoBoxData& autobox);
123
124protected:
125 /*
126 \brief Engine simulation data
127 @see setEngineData, getEngineData
128 */
129 PxVehicleEngineData mEngine;
130
131 /*
132 \brief Gear simulation data
133 @see setGearsData, getGearsData
134 */
135 PxVehicleGearsData mGears;
136
137 /*
138 \brief Clutch simulation data
139 @see setClutchData, getClutchData
140 */
141 PxVehicleClutchData mClutch;
142
143 /*
144 \brief Autobox simulation data
145 @see setAutoboxData, getAutoboxData
146 */
147 PxVehicleAutoBoxData mAutoBox;
148
149 /**
150 \brief Test that a PxVehicleDriveSimData instance has been configured with legal data.
151 Call only after setting all components with setEngineData,setGearsData,setClutchData,setAutoBoxData
152 @see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
153 */
154 bool isValid() const;
155
156
157//serialization
158public:
159 PxVehicleDriveSimData() {}
160 PxVehicleDriveSimData(const PxEMPTY) : mEngine(PxEmpty), mGears(PxEmpty), mClutch(PxEmpty), mAutoBox(PxEmpty) {}
161 static void getBinaryMetaData(PxOutputStream& stream);
162//~serialization
163};
164PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData) & 15));
165
166
167/**
168\brief Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox
169@see PxVehicleWheelsDynData for wheels dynamics data.
170*/
171class PxVehicleDriveDynData
172{
173public:
174
175 enum
176 {
177 eMAX_NB_ANALOG_INPUTS=16
178 };
179
180 friend class PxVehicleDrive;
181
182 /**
183 \brief Set all dynamics data to zero to bring the vehicle to rest.
184 */
185 void setToRestState();
186
187 /**
188 \brief Set an analog control value to drive the vehicle.
189 \param[in] type describes the type of analog control being modified
190 \param[in] analogVal is the new value of the specific analog control.
191 @see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
192 */
193 void setAnalogInput(const PxU32 type, const PxReal analogVal);
194
195 /**
196 \brief Get the analog control value that has been applied to the vehicle.
197 \return The value of the specified analog control value.
198 @see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
199 */
200 PxReal getAnalogInput(const PxU32 type) const;
201
202 /**
203 \brief Inform the vehicle that the gear-up button has been pressed.
204
205 \param[in] digitalVal is the state of the gear-up button.
206
207 \note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
208
209 \note The value of mGearUpPressed is not reset by PxVehicleUpdates
210 */
211 void setGearUp(const bool digitalVal)
212 {
213 mGearUpPressed = digitalVal;
214 }
215
216 /**
217 \brief Set that the gear-down button has been pressed.
218
219 \param[in] digitalVal is the state of the gear-down button.
220
221 \note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
222
223 \note The value of mGearDownPressed is not reset by PxVehicleUpdates
224 */
225 void setGearDown(const bool digitalVal)
226 {
227 mGearDownPressed = digitalVal;
228 }
229
230 /**
231 \brief Check if the gear-up button has been pressed
232 \return The state of the gear-up button.
233 */
234 bool getGearUp() const
235 {
236 return mGearUpPressed;
237 }
238
239 /**
240 \brief Check if the gear-down button has been pressed
241 \return The state of the gear-down button.
242 */
243 bool getGearDown() const
244 {
245 return mGearDownPressed;
246 }
247
248 /**
249 \brief Set the flag that will be used to select auto-gears
250 If useAutoGears is true the auto-box will be active.
251 \param[in] useAutoGears is the active state of the auto-box.
252 */
253 PX_FORCE_INLINE void setUseAutoGears(const bool useAutoGears)
254 {
255 mUseAutoGears=useAutoGears;
256 }
257
258 /**
259 \brief Get the flag status that is used to select auto-gears
260 \return The active status of the auto-box.
261 */
262 PX_FORCE_INLINE bool getUseAutoGears() const
263 {
264 return mUseAutoGears;
265 }
266
267 /**
268 \brief Toggle the auto-gears flag
269 If useAutoGears is true the auto-box will be active.
270 */
271 PX_FORCE_INLINE void toggleAutoGears()
272 {
273 mUseAutoGears = !mUseAutoGears;
274 }
275
276 /**
277 \brief Set the current gear.
278
279 \param[in] currentGear is the vehicle's gear.
280
281 \note If the target gear is different from the current gear the vehicle will
282 attempt to start a gear change from the current gear that has just been set
283 towards the target gear at the next call to PxVehicleUpdates.
284
285 @see setTargetGear, PxVehicleGearsData
286 */
287 PX_FORCE_INLINE void setCurrentGear(PxU32 currentGear)
288 {
289 mCurrentGear = currentGear;
290 }
291
292 /**
293 \brief Get the current gear.
294
295 \return The vehicle's current gear.
296
297 @see getTargetGear, PxVehicleGearsData
298 */
299 PX_FORCE_INLINE PxU32 getCurrentGear() const
300 {
301 return mCurrentGear;
302 }
303
304 /**
305 \brief Set the target gear.
306
307 \param[in] targetGear is the vehicle's target gear.
308
309 \note If the target gear is different from the current gear the vehicle will
310 attempt to start a gear change towards the target gear at the next call to
311 PxVehicleUpdates.
312
313 @see PxVehicleGearsData
314 */
315 PX_FORCE_INLINE void setTargetGear(PxU32 targetGear)
316 {
317 mTargetGear = targetGear;
318 }
319
320 /**
321 \brief Get the target gear.
322
323 \return The vehicle's target gear.
324
325 @see setTargetGear, PxVehicleGearsData
326 */
327 PX_FORCE_INLINE PxU32 getTargetGear() const
328 {
329 return mTargetGear;
330 }
331
332 /**
333 \brief Start a gear change to a target gear.
334
335 \param[in] targetGear is the gear the vehicle will begin a transition towards.
336
337 \note The gear change will begin at the next call to PxVehicleUpadates.
338
339 @see PxVehicleGearsData
340 */
341 PX_FORCE_INLINE void startGearChange(const PxU32 targetGear)
342 {
343 mTargetGear=targetGear;
344 }
345
346 /**
347 \brief Force an immediate gear change to a target gear
348
349 \param[in] targetGear is the gear the vehicle will be given immediately.
350
351 @see PxVehicleGearsData
352 */
353 PX_FORCE_INLINE void forceGearChange(const PxU32 targetGear)
354 {
355 mTargetGear=targetGear;
356 mCurrentGear=targetGear;
357 }
358
359 /**
360 \brief Set the rotation speed of the engine (radians per second)
361
362 \param[in] speed is the rotational speed (radians per second) to apply to the engine.
363 */
364 PX_FORCE_INLINE void setEngineRotationSpeed(const PxF32 speed)
365 {
366 mEnginespeed = speed;
367 }
368
369 /**
370 \brief Return the rotation speed of the engine (radians per second)
371
372 \return The rotational speed (radians per second) of the engine.
373 */
374 PX_FORCE_INLINE PxReal getEngineRotationSpeed() const
375 {
376 return mEnginespeed;
377 }
378
379 /**
380 \brief Return the time that has passed since the current gear change was initiated.
381
382 \return The time that has passed since the current gear change was initiated.
383
384 \note If no gear change is in process the gear switch time will be zero.
385
386 @see PxVehicleGearsData.mSwitchTime
387 */
388 PX_FORCE_INLINE PxReal getGearSwitchTime() const
389 {
390 return mGearSwitchTime;
391 }
392
393 /**
394 \brief Return the time that has passed since the autobox last initiated a gear change.
395
396 \return The time that has passed since the autobox last initiated a gear change.
397
398 @see PxVehicleAutoBoxData::setLatency, PxVehicleAutoBoxData::getLatency
399 */
400 PX_FORCE_INLINE PxReal getAutoBoxSwitchTime() const
401 {
402 return mAutoBoxSwitchTime;
403 }
404
405 /**
406 \brief All dynamic data values are public for fast access.
407 */
408
409
410 /**
411 \brief Analog control values used by vehicle simulation.
412 @see setAnalogInput, getAnalogInput, PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
413 */
414 PxReal mControlAnalogVals[eMAX_NB_ANALOG_INPUTS];
415
416 /**
417 \brief Auto-gear flag used by vehicle simulation. Set true to enable the autobox, false to disable the autobox.
418 @see setUseAutoGears, setUseAutoGears, toggleAutoGears, PxVehicleAutoBoxData
419 */
420 bool mUseAutoGears;
421
422 /**
423 \brief Gear-up digital control value used by vehicle simulation.
424
425 \note If true a gear change will be initiated towards currentGear+1 (or to first gear if in reverse).
426
427 @see setDigitalInput, getDigitalInput
428 */
429 bool mGearUpPressed;
430
431 /**
432 \brief Gear-down digital control value used by vehicle simulation.
433
434 \note If true a gear change will be initiated towards currentGear-1 (or to reverse if in first).
435
436 @see setDigitalInput, getDigitalInput
437 */
438 bool mGearDownPressed;
439
440 /**
441 \brief Current gear
442 @see startGearChange, forceGearChange, getCurrentGear, PxVehicleGearsData
443 */
444 PxU32 mCurrentGear;
445
446 /**
447 \brief Target gear (different from current gear if a gear change is underway)
448 @see startGearChange, forceGearChange, getTargetGear, PxVehicleGearsData
449 */
450 PxU32 mTargetGear;
451
452 /**
453 \brief Rotation speed of engine
454 @see setToRestState, getEngineRotationSpeed
455 */
456 PxReal mEnginespeed;
457
458 /**
459 \brief Reported time that has passed since gear change started.
460 @see setToRestState, startGearChange, PxVehicleGearsData::mSwitchTime
461 */
462 PxReal mGearSwitchTime;
463
464 /**
465 \brief Reported time that has passed since last autobox gearup/geardown decision.
466 @see setToRestState, PxVehicleAutoBoxData::setLatency
467 */
468 PxReal mAutoBoxSwitchTime;
469
470private:
471 PxU32 mPad[2];
472
473 /**
474 \brief Test that a PxVehicleDriveDynData instance has legal values.
475 @see setToRestState
476 */
477 bool isValid() const;
478
479//serialization
480public:
481 PxVehicleDriveDynData();
482 PxVehicleDriveDynData(const PxEMPTY) {}
483 PxU32 getNbAnalogInput() const { return eMAX_NB_ANALOG_INPUTS; }
484 PX_FORCE_INLINE void setGearChange(const PxU32 gearChange) { mTargetGear= gearChange; }
485 PX_FORCE_INLINE PxU32 getGearChange() const { return mTargetGear; }
486 PX_FORCE_INLINE void setGearSwitchTime(const PxReal switchTime) { mGearSwitchTime = switchTime; }
487 PX_FORCE_INLINE void setAutoBoxSwitchTime(const PxReal autoBoxSwitchTime) { mAutoBoxSwitchTime = autoBoxSwitchTime; }
488//~serialization
489};
490PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveDynData) & 15));
491
492/**
493\brief A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox.
494@see PxVehicleDrive4W, PxVehicleDriveTank
495*/
496class PxVehicleDrive : public PxVehicleWheels
497{
498//= ATTENTION! =====================================================================================
499// Changing the data layout of this class breaks the binary serialization format. See comments for
500// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
501// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
502// accordingly.
503//==================================================================================================
504public:
505
506 friend class PxVehicleUpdate;
507
508 /**
509 \brief Dynamics data of vehicle instance.
510 @see setup
511 */
512 PxVehicleDriveDynData mDriveDynData;
513
514protected:
515
516 /**
517 \brief Test that all instanced dynamics data and configuration data have legal values.
518 */
519 bool isValid() const;
520
521 /**
522 \brief Set vehicle to rest.
523 */
524 void setToRestState();
525
526 /**
527 @see PxVehicleDrive4W::allocate, PxVehicleDriveTank::allocate
528 */
529 static PxU32 computeByteSize(const PxU32 numWheels);
530 static PxU8* patchupPointers(const PxU32 nbWheels, PxVehicleDrive* vehDrive, PxU8* ptr);
531 virtual void init(const PxU32 numWheels);
532
533 /**
534 \brief Deallocate a PxVehicle4WDrive instance.
535 @see PxVehicleDrive4W::free, PxVehicleDriveTank::free
536 */
537 void free();
538
539 /**
540 @see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
541 */
542 void setup
543 (PxPhysics* physics, PxRigidDynamic* vehActor,
544 const PxVehicleWheelsSimData& wheelsData,
545 const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
546
547//serialization
548public:
549 static void getBinaryMetaData(PxOutputStream& stream);
550 PxVehicleDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags), mDriveDynData(PxEmpty) {}
551 virtual const char* getConcreteTypeName() const { return "PxVehicleDrive"; }
552protected:
553 PxVehicleDrive(PxType concreteType, PxBaseFlags baseFlags) : PxVehicleWheels(concreteType, baseFlags) {}
554 ~PxVehicleDrive() {}
555 virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxVehicleDrive", s2: name) || PxBase::isKindOf(superClass: name); }
556//~serialization
557};
558PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive) & 15));
559
560#if !PX_DOXYGEN
561} // namespace physx
562#endif
563
564/** @} */
565#endif //PX_VEHICLE_DRIVE_H
566

source code of qtquick3dphysics/src/3rdparty/PhysX/include/vehicle/PxVehicleDrive.h