1 | // |
2 | // Redistribution and use in source and binary forms, with or without |
3 | // modification, are permitted provided that the following conditions |
4 | // are met: |
5 | // * Redistributions of source code must retain the above copyright |
6 | // notice, this list of conditions and the following disclaimer. |
7 | // * Redistributions in binary form must reproduce the above copyright |
8 | // notice, this list of conditions and the following disclaimer in the |
9 | // documentation and/or other materials provided with the distribution. |
10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
11 | // contributors may be used to endorse or promote products derived |
12 | // from this software without specific prior written permission. |
13 | // |
14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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_SDK_H |
31 | #define PX_VEHICLE_SDK_H |
32 | /** \addtogroup vehicle |
33 | @{ |
34 | */ |
35 | |
36 | #include "foundation/Px.h" |
37 | #include "common/PxTypeInfo.h" |
38 | |
39 | #if !PX_DOXYGEN |
40 | namespace physx |
41 | { |
42 | #endif |
43 | |
44 | class PxPhysics; |
45 | class PxSerializationRegistry; |
46 | |
47 | /** |
48 | \brief Initialize the PhysXVehicle library. |
49 | |
50 | Call this before using any of the vehicle functions. |
51 | |
52 | \param physics The PxPhysics instance. |
53 | \param serializationRegistry PxSerializationRegistry instance, if NULL vehicle serialization is not supported. |
54 | |
55 | \note This function must be called after PxFoundation and PxPhysics instances have been created. |
56 | \note If a PxSerializationRegistry instance is specified then PhysXVehicle is also dependent on PhysXExtensions. |
57 | |
58 | @see PxCloseVehicleSDK |
59 | */ |
60 | PX_C_EXPORT bool PX_CALL_CONV PxInitVehicleSDK(PxPhysics& physics, PxSerializationRegistry* serializationRegistry = NULL); |
61 | |
62 | |
63 | /** |
64 | \brief Shut down the PhysXVehicle library. |
65 | |
66 | Call this function as part of the physx shutdown process. |
67 | |
68 | \param serializationRegistry PxSerializationRegistry instance, if non-NULL must be the same as passed into PxInitVehicleSDK. |
69 | |
70 | \note This function must be called prior to shutdown of PxFoundation and PxPhysics. |
71 | \note If the PxSerializationRegistry instance is specified this function must additionally be called prior to shutdown of PhysXExtensions. |
72 | |
73 | @see PxInitVehicleSDK |
74 | */ |
75 | PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* serializationRegistry = NULL); |
76 | |
77 | |
78 | /** |
79 | \brief This number is the maximum number of wheels allowed for a vehicle. |
80 | */ |
81 | #define PX_MAX_NB_WHEELS (20) |
82 | |
83 | |
84 | /** |
85 | \brief Compiler setting to enable recording of telemetry data |
86 | |
87 | @see PxVehicleUpdateSingleVehicleAndStoreTelemetryData, PxVehicleTelemetryData |
88 | */ |
89 | #define PX_DEBUG_VEHICLE_ON (1) |
90 | |
91 | |
92 | /** |
93 | @see PxVehicleDrive4W, PxVehicleDriveTank, PxVehicleDriveNW, PxVehicleNoDrive, PxVehicleWheels::getVehicleType |
94 | */ |
95 | struct PxVehicleTypes |
96 | { |
97 | enum Enum |
98 | { |
99 | eDRIVE4W=0, |
100 | eDRIVENW, |
101 | eDRIVETANK, |
102 | eNODRIVE, |
103 | eUSER1, |
104 | eUSER2, |
105 | eUSER3, |
106 | eMAX_NB_VEHICLE_TYPES |
107 | }; |
108 | }; |
109 | |
110 | |
111 | /** |
112 | \brief An enumeration of concrete vehicle classes inheriting from PxBase. |
113 | \note This enum can be used to identify a vehicle object stored in a PxCollection. |
114 | @see PxBase, PxTypeInfo, PxBase::getConcreteType |
115 | */ |
116 | struct PxVehicleConcreteType |
117 | { |
118 | enum Enum |
119 | { |
120 | eVehicleNoDrive = PxConcreteType::eFIRST_VEHICLE_EXTENSION, |
121 | eVehicleDrive4W, |
122 | eVehicleDriveNW, |
123 | eVehicleDriveTank |
124 | }; |
125 | }; |
126 | |
127 | |
128 | /** |
129 | \brief Set the basis vectors of the vehicle simulation |
130 | |
131 | Default values PxVec3(0,1,0), PxVec3(0,0,1) |
132 | |
133 | Call this function before using PxVehicleUpdates unless the default values are correct. |
134 | */ |
135 | void PxVehicleSetBasisVectors(const PxVec3& up, const PxVec3& forward); |
136 | |
137 | |
138 | /** |
139 | @see PxVehicleSetUpdateMode |
140 | */ |
141 | struct PxVehicleUpdateMode |
142 | { |
143 | enum Enum |
144 | { |
145 | eVELOCITY_CHANGE, |
146 | eACCELERATION |
147 | }; |
148 | }; |
149 | |
150 | |
151 | /** |
152 | \brief Set the effect of PxVehicleUpdates to be either to modify each vehicle's rigid body actor |
153 | |
154 | with an acceleration to be applied in the next PhysX SDK update or as an immediate velocity modification. |
155 | |
156 | Default behavior is immediate velocity modification. |
157 | |
158 | Call this function before using PxVehicleUpdates for the first time if the default is not the desired behavior. |
159 | |
160 | @see PxVehicleUpdates |
161 | */ |
162 | void PxVehicleSetUpdateMode(PxVehicleUpdateMode::Enum vehicleUpdateMode); |
163 | |
164 | /** |
165 | |
166 | \brief Set threshold angles that are used to determine if a wheel hit is to be resolved by vehicle suspension or by rigid body collision. |
167 | |
168 | |
169 | \note ^ |
170 | N ___ |
171 | |** |
172 | ** |
173 | ** |
174 | %%% %%% ** |
175 | %%% %%% ** / |
176 | / |
177 | %%% %%% / |
178 | / |
179 | %%% %%% / |
180 | C / |
181 | %%% | ** %%% / |
182 | | ** / |
183 | %%% | **%%%/ |
184 | | X** |
185 | %%% | %%% / **_| ^ |
186 | | / D |
187 | %%% | %%% / |
188 | | / |
189 | | / |
190 | | / |
191 | | |
192 | ^ | |
193 | S \|/ |
194 | |
195 | The diagram above depicts a wheel centered at "C" that has hit an inclined plane at point "X". |
196 | The inclined plane has unit normal "N", while the suspension direction has unit vector "S". |
197 | The unit vector from the wheel center to the hit point is "D". |
198 | Hit points are analyzed by comparing the unit vectors D and N with the suspension direction S. |
199 | This analysis is performed in the contact modification callback PxVehicleModifyWheelContacts (when enabled) and in |
200 | PxVehicleUpdates (when non-blocking sweeps are enabled). |
201 | If the angle between D and S is less than pointRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected |
202 | by the contact modification callback PxVehicleModifyWheelContacts. |
203 | If the angle between -N and S is less than normalRejectAngle the hit is accepted by the suspension in PxVehicleUpdates and rejected |
204 | by the contact modification callback PxVehicleModifyWheelContacts. |
205 | |
206 | \param pointRejectAngle is the threshold angle used when comparing the angle between D and S. |
207 | |
208 | \param normalRejectAngle is the threshold angle used when comparing the angle between -N and S. |
209 | |
210 | \note PxVehicleUpdates ignores the rejection angles for raycasts and for sweeps that return blocking hits. |
211 | |
212 | \note Both angles have default values of Pi/4. |
213 | |
214 | @see PxVehicleSuspensionSweeps, PxVehicleModifyWheelContacts |
215 | */ |
216 | void PxVehicleSetSweepHitRejectionAngles(const PxF32 pointRejectAngle, const PxF32 normalRejectAngle); |
217 | |
218 | |
219 | /** |
220 | \brief Determine the maximum acceleration experienced by PxRigidDynamic instances that are found to be in contact |
221 | with a wheel. |
222 | |
223 | \note Newton's Third Law states that every force has an equal and opposite force. As a consequence, forces applied to |
224 | the suspension must be applied to dynamic objects that lie under the wheel. This can lead to instabilities, particularly |
225 | when a heavy wheel is driving on a light object. The value of maxHitActorAcceleration clamps the applied force so that it never |
226 | generates an acceleration greater than the specified value. |
227 | |
228 | \note Default value of maxHitActorAcceleration is PX_MAX_REAL |
229 | */ |
230 | void PxVehicleSetMaxHitActorAcceleration(const PxF32 maxHitActorAcceleration); |
231 | |
232 | #if !PX_DOXYGEN |
233 | } // namespace physx |
234 | #endif |
235 | |
236 | /** @} */ |
237 | #endif //PX_VEHICLE_SDK_H |
238 | |