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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_NO_DRIVE_H |
31 | #define PX_VEHICLE_NO_DRIVE_H |
32 | /** \addtogroup vehicle |
33 | @{ |
34 | */ |
35 | |
36 | #include "vehicle/PxVehicleWheels.h" |
37 | #include "vehicle/PxVehicleComponents.h" |
38 | |
39 | |
40 | #if !PX_DOXYGEN |
41 | namespace physx |
42 | { |
43 | #endif |
44 | |
45 | struct PxFilterData; |
46 | class PxGeometry; |
47 | class PxPhysics; |
48 | class PxVehicleDrivableSurfaceToTireFrictionPairs; |
49 | class PxShape; |
50 | class PxMaterial; |
51 | class PxRigidDynamic; |
52 | |
53 | /** |
54 | \brief Data structure with instanced dynamics data and configuration data of a vehicle with no drive model. |
55 | */ |
56 | class PxVehicleNoDrive : public PxVehicleWheels |
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 | //================================================================================================== |
64 | public: |
65 | |
66 | friend class PxVehicleUpdate; |
67 | |
68 | /** |
69 | \brief Allocate a PxVehicleNoDrive instance for a vehicle without drive model and with nbWheels |
70 | |
71 | \param[in] nbWheels is the number of wheels on the vehicle. |
72 | |
73 | \return The instantiated vehicle. |
74 | |
75 | @see free, setup |
76 | */ |
77 | static PxVehicleNoDrive* allocate(const PxU32 nbWheels); |
78 | |
79 | /** |
80 | \brief Deallocate a PxVehicleNoDrive instance. |
81 | @see allocate |
82 | */ |
83 | void free(); |
84 | |
85 | /** |
86 | \brief Set up a vehicle using simulation data for the wheels. |
87 | \param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle. |
88 | \param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK. |
89 | \param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data. |
90 | \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 PxVehicleWheels::setWheelShapeMapping. |
91 | @see allocate, free, setToRestState, PxVehicleWheels::setWheelShapeMapping |
92 | */ |
93 | void setup |
94 | (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData); |
95 | |
96 | /** |
97 | \brief Allocate and set up a vehicle using simulation data for the wheels. |
98 | \param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle. |
99 | \param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK. |
100 | \param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data. |
101 | \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 PxVehicleWheels::setWheelShapeMapping. |
102 | \return The instantiated vehicle. |
103 | @see allocate, free, setToRestState, PxVehicleWheels::setWheelShapeMapping |
104 | */ |
105 | static PxVehicleNoDrive* create |
106 | (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData); |
107 | |
108 | /** |
109 | \brief Set a vehicle to its rest state. Aside from the rigid body transform, this will set the vehicle and rigid body |
110 | to the state they were in immediately after setup or create. |
111 | \note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line |
112 | raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates. |
113 | @see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates |
114 | */ |
115 | void setToRestState(); |
116 | |
117 | /** |
118 | \brief Set the brake torque to be applied to a specific wheel |
119 | |
120 | \note The applied brakeTorque persists until the next call to setBrakeTorque |
121 | |
122 | \note The brake torque is specified in Newton metres. |
123 | |
124 | \param[in] id is the wheel being given the brake torque |
125 | \param[in] brakeTorque is the value of the brake torque |
126 | */ |
127 | void setBrakeTorque(const PxU32 id, const PxReal brakeTorque); |
128 | |
129 | /** |
130 | \brief Set the drive torque to be applied to a specific wheel |
131 | |
132 | \note The applied driveTorque persists until the next call to setDriveTorque |
133 | |
134 | \note The brake torque is specified in Newton metres. |
135 | |
136 | \param[in] id is the wheel being given the brake torque |
137 | \param[in] driveTorque is the value of the brake torque |
138 | */ |
139 | void setDriveTorque(const PxU32 id, const PxReal driveTorque); |
140 | |
141 | /** |
142 | \brief Set the steer angle to be applied to a specific wheel |
143 | |
144 | \note The applied steerAngle persists until the next call to setSteerAngle |
145 | |
146 | \note The steer angle is specified in radians. |
147 | |
148 | \param[in] id is the wheel being given the steer angle |
149 | \param[in] steerAngle is the value of the steer angle in radians. |
150 | */ |
151 | void setSteerAngle(const PxU32 id, const PxReal steerAngle); |
152 | |
153 | /** |
154 | \brief Get the brake torque that has been applied to a specific wheel |
155 | \param[in] id is the wheel being queried for its brake torque |
156 | \return The brake torque applied to the queried wheel. |
157 | */ |
158 | PxReal getBrakeTorque(const PxU32 id) const; |
159 | |
160 | /** |
161 | \brief Get the drive torque that has been applied to a specific wheel |
162 | \param[in] id is the wheel being queried for its drive torque |
163 | \return The drive torque applied to the queried wheel. |
164 | */ |
165 | PxReal getDriveTorque(const PxU32 id) const; |
166 | |
167 | /** |
168 | \brief Get the steer angle that has been applied to a specific wheel |
169 | \param[in] id is the wheel being queried for its steer angle |
170 | \return The steer angle (in radians) applied to the queried wheel. |
171 | */ |
172 | PxReal getSteerAngle(const PxU32 id) const; |
173 | |
174 | private: |
175 | |
176 | PxReal* mSteerAngles; |
177 | PxReal* mDriveTorques; |
178 | PxReal* mBrakeTorques; |
179 | |
180 | #if PX_P64_FAMILY |
181 | PxU32 mPad[2]; |
182 | #else |
183 | PxU32 mPad[1]; |
184 | #endif |
185 | |
186 | /** |
187 | \brief Test if the instanced dynamics and configuration data has legal values. |
188 | */ |
189 | bool isValid() const; |
190 | |
191 | |
192 | //serialization |
193 | public: |
194 | PxVehicleNoDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags) {} |
195 | virtual void (PxSerializationContext&); |
196 | void (PxDeserializationContext&); |
197 | static PxVehicleNoDrive* createObject(PxU8*& address, PxDeserializationContext& context); |
198 | static void getBinaryMetaData(PxOutputStream& stream); |
199 | virtual const char* getConcreteTypeName() const { return "PxVehicleNoDrive" ; } |
200 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxVehicleNoDrive" , s2: name) || PxBase::isKindOf(superClass: name); } |
201 | PxU32 getNbSteerAngle() const { return mWheelsSimData.getNbWheels(); } |
202 | PxU32 getNbDriveTorque() const { return mWheelsSimData.getNbWheels(); } |
203 | PxU32 getNbBrakeTorque() const { return mWheelsSimData.getNbWheels(); } |
204 | protected: |
205 | PxVehicleNoDrive(); |
206 | ~PxVehicleNoDrive() {} |
207 | //~serialization |
208 | }; |
209 | PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleNoDrive) & 15)); |
210 | |
211 | #if !PX_DOXYGEN |
212 | } // namespace physx |
213 | #endif |
214 | |
215 | /** @} */ |
216 | #endif //PX_VEHICLE_NO_DRIVE_H |
217 | |