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14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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_TANK_H |
31 | #define PX_VEHICLE_DRIVE_TANK_H |
32 | /** \addtogroup vehicle |
33 | @{ |
34 | */ |
35 | |
36 | #include "vehicle/PxVehicleDrive.h" |
37 | #include "vehicle/PxVehicleWheels.h" |
38 | #include "vehicle/PxVehicleComponents.h" |
39 | |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | struct PxFilterData; |
47 | class PxGeometry; |
48 | class PxPhysics; |
49 | class PxVehicleDrivableSurfaceToTireFrictionPairs; |
50 | class PxShape; |
51 | class PxMaterial; |
52 | class PxRigidDynamic; |
53 | |
54 | /** |
55 | \brief The ordering of the wheels of a PxVehicleDriveTank. |
56 | |
57 | @see PxVehicleWheelsSimData, PxVehicleWheelsDynData |
58 | */ |
59 | struct PxVehicleDriveTankWheelOrder |
60 | { |
61 | enum Enum |
62 | { |
63 | eFRONT_LEFT=0, |
64 | eFRONT_RIGHT, |
65 | e1ST_FROM_FRONT_LEFT, |
66 | e1ST_FROM_FRONT_RIGHT, |
67 | e2ND_FROM_FRONT_LEFT, |
68 | e2ND_FROM_FRONT_RIGHT, |
69 | e3RD_FROM_FRONT_LEFT, |
70 | e3RD_FROM_FRONT_RIGHT, |
71 | e4TH_FROM_FRONT_LEFT, |
72 | e4TH_FROM_FRONT_RIGHT, |
73 | e5TH_FROM_FRONT_LEFT, |
74 | e5TH_FROM_FRONT_RIGHT, |
75 | e6TH_FROM_FRONT_LEFT, |
76 | e6TH_FROM_FRONT_RIGHT, |
77 | e7TH_FROM_FRONT_LEFT, |
78 | e7TH_FROM_FRONT_RIGHT, |
79 | e8TH_FROM_FRONT_LEFT, |
80 | e8TH_FROM_FRONT_RIGHT, |
81 | e9TH_FROM_FRONT_LEFT, |
82 | e9TH_FROM_FRONT_RIGHT |
83 | }; |
84 | }; |
85 | |
86 | |
87 | /** |
88 | \brief The control inputs for a PxVehicleDriveTank. |
89 | |
90 | \note The values of eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT determine how much |
91 | of the total available drive torque is diverted to the left and right wheels. These entries in the |
92 | enumerated list represent the state of the left and right control sticks of a tank. The total available |
93 | drive torque available is controlled by eANALOG_INPUT_ACCEL, which represents the state of the acceleration |
94 | pedal and controls how much torque will be applied to the engine. |
95 | |
96 | \note To accelerate forwards eANALOG_INPUT_ACCEL must be greater than zero so that torque is applied to drive the |
97 | engine, while eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT must also be greater than zero |
98 | to divert the available drive torque to the left and wheels. If eANALOG_INPUT_THRUST_LEFT > eANALOG_INPUT_THRUST_RIGHT |
99 | the tank will turn to the right. If eANALOG_INPUT_THRUST_RIGHT > eANALOG_INPUT_THRUST_LEFT |
100 | the tank will turn to the left. |
101 | |
102 | @see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput |
103 | */ |
104 | |
105 | struct PxVehicleDriveTankControl |
106 | { |
107 | enum Enum |
108 | { |
109 | eANALOG_INPUT_ACCEL=0, |
110 | eANALOG_INPUT_BRAKE_LEFT, |
111 | eANALOG_INPUT_BRAKE_RIGHT, |
112 | eANALOG_INPUT_THRUST_LEFT, |
113 | eANALOG_INPUT_THRUST_RIGHT, |
114 | eMAX_NB_DRIVETANK_ANALOG_INPUTS |
115 | }; |
116 | }; |
117 | |
118 | /** |
119 | \brief Two driving models are supported. |
120 | |
121 | \note If eSTANDARD is chosen the left and right wheels are always driven in the same direction. If the tank is in |
122 | a forward gear the left and right wheels will all be driven forwards, while in reverse gear the left and right wheels |
123 | will all be driven backwards. With eSTANDARD the legal range of left and right thrust is (0,1). |
124 | |
125 | \note If eSPECIAL is chosen it is possible to drive the left and right wheels in different directions. |
126 | With eSPECIAL the legal range of left and right thrust is (-1,1). In forward(reverse) gear negative thrust values drive the wheels |
127 | backwards(forwards), while positive thrust values drives the wheels forwards(backwards). |
128 | |
129 | \note A sharp left turn can be achieved in eSTANDARD mode by braking with the left wheels and thrusting forward with the |
130 | right wheels. A smaller turning circle can theoretically be achieved in eSPECIAL mode by applying negative thrust to the left wheels and positive |
131 | thrust to the right wheels. |
132 | |
133 | \note In both modes the legal ranges of acceleration and left/right brake are all (0,1). |
134 | |
135 | @see PxVehicleDriveTank::setDriveModel |
136 | */ |
137 | struct PxVehicleDriveTankControlModel |
138 | { |
139 | enum Enum |
140 | { |
141 | eSTANDARD=0, |
142 | eSPECIAL |
143 | }; |
144 | }; |
145 | |
146 | |
147 | /** |
148 | \brief Data structure with instanced dynamics data and configuration data of a tank. |
149 | */ |
150 | class PxVehicleDriveTank : public PxVehicleDrive |
151 | { |
152 | //= ATTENTION! ===================================================================================== |
153 | // Changing the data layout of this class breaks the binary serialization format. See comments for |
154 | // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData |
155 | // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION |
156 | // accordingly. |
157 | //================================================================================================== |
158 | public: |
159 | |
160 | friend class PxVehicleUpdate; |
161 | |
162 | |
163 | /** |
164 | \brief Allocate a PxVehicleTankDrive instance for a tank with nbWheels |
165 | |
166 | \param[in] nbWheels is the number of wheels on the vehicle. |
167 | |
168 | \note It is assumed that all wheels are driven wheels. |
169 | |
170 | \return The instantiated vehicle. |
171 | |
172 | @see free, setup |
173 | */ |
174 | static PxVehicleDriveTank* allocate(const PxU32 nbWheels); |
175 | |
176 | /** |
177 | \brief Deallocate a PxVehicleDriveTank instance. |
178 | @see allocate |
179 | */ |
180 | void free(); |
181 | |
182 | /** |
183 | \brief Set up a tank using simulation data for the wheels and drive model. |
184 | \param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle. |
185 | \param[in] vehActor is a PxRigidDynamic instance that is used to represent the tank in the PhysX SDK. |
186 | \param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data. |
187 | \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. |
188 | \param[in] nbDrivenWheels is the number of wheels on the tank. |
189 | \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. |
190 | @see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping |
191 | \note nbDrivenWheels must be an even number |
192 | \note The wheels must be arranged according to PxVehicleDriveTankWheelOrder; that is, |
193 | the even wheels are on the left side of the tank and the odd wheels are on the right side of the tank. |
194 | */ |
195 | void setup |
196 | (PxPhysics* physics, PxRigidDynamic* vehActor, |
197 | const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData, |
198 | const PxU32 nbDrivenWheels); |
199 | |
200 | /** |
201 | \brief Allocate and set up a tank using simulation data for the wheels and drive model. |
202 | \param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the tank. |
203 | \param[in] vehActor is a PxRigidDynamic instance that is used to represent the tank in the PhysX SDK. |
204 | \param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data. |
205 | \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. |
206 | \param[in] nbDrivenWheels is the number of wheels on the tank. |
207 | \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. |
208 | \return The instantiated vehicle. |
209 | @see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping |
210 | */ |
211 | static PxVehicleDriveTank* create |
212 | (PxPhysics* physics, PxRigidDynamic* vehActor, |
213 | const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData, |
214 | const PxU32 nbDrivenWheels); |
215 | |
216 | /** |
217 | \brief Set the control model used by the tank. |
218 | \note eDRIVE_MODEL_STANDARD: turning achieved by braking on one side, accelerating on the other side. |
219 | \note eDRIVE_MODEL_SPECIAL: turning achieved by accelerating forwards on one side, accelerating backwards on the other side. |
220 | \note The default value is eDRIVE_MODEL_STANDARD |
221 | */ |
222 | void setDriveModel(const PxVehicleDriveTankControlModel::Enum driveModel) |
223 | { |
224 | mDriveModel=driveModel; |
225 | } |
226 | |
227 | /** |
228 | \brief Return the control model used by the tank. |
229 | */ |
230 | PxVehicleDriveTankControlModel::Enum getDriveModel() const {return mDriveModel;} |
231 | |
232 | /** |
233 | \brief Set a vehicle to its rest state. Aside from the rigid body transform, this will set the vehicle and rigid body |
234 | to the state they were in immediately after setup or create. |
235 | \note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line |
236 | raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates. |
237 | @see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates |
238 | */ |
239 | void setToRestState(); |
240 | |
241 | /** |
242 | \brief Simulation data that models vehicle components |
243 | @see setup, create |
244 | */ |
245 | PxVehicleDriveSimData mDriveSimData; |
246 | |
247 | private: |
248 | /** |
249 | \brief Test if the instanced dynamics and configuration data has legal values. |
250 | */ |
251 | bool isValid() const; |
252 | |
253 | /** |
254 | \brief Drive model |
255 | @see setDriveModel, getDriveModel, PxVehicleDriveTankControlModel |
256 | */ |
257 | PxVehicleDriveTankControlModel::Enum mDriveModel; |
258 | |
259 | PxU32 mPad[3]; |
260 | |
261 | //serialization |
262 | public: |
263 | PxVehicleDriveTank(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags) {} |
264 | static PxVehicleDriveTank* createObject(PxU8*& address, PxDeserializationContext& context); |
265 | static void getBinaryMetaData(PxOutputStream& stream); |
266 | virtual const char* getConcreteTypeName() const { return "PxVehicleDriveTank" ; } |
267 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxVehicleDriveTank" , s2: name) || PxBase::isKindOf(superClass: name); } |
268 | protected: |
269 | PxVehicleDriveTank(); |
270 | ~PxVehicleDriveTank(){} |
271 | //~serialization |
272 | }; |
273 | PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 15)); |
274 | |
275 | #if !PX_DOXYGEN |
276 | } // namespace physx |
277 | #endif |
278 | |
279 | /** @} */ |
280 | #endif //PX_VEHICLE_DRIVE_TANK_H |
281 | |