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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_TIREFRICTION_H |
31 | #define PX_VEHICLE_TIREFRICTION_H |
32 | /** \addtogroup vehicle |
33 | @{ |
34 | */ |
35 | |
36 | #include "foundation/PxSimpleTypes.h" |
37 | |
38 | #if !PX_DOXYGEN |
39 | namespace physx |
40 | { |
41 | #endif |
42 | |
43 | class PxMaterial; |
44 | |
45 | /** |
46 | \brief Driving surface type. Each PxMaterial is associated with a corresponding PxVehicleDrivableSurfaceType. |
47 | @see PxMaterial, PxVehicleDrivableSurfaceToTireFrictionPairs |
48 | */ |
49 | struct PxVehicleDrivableSurfaceType |
50 | { |
51 | enum |
52 | { |
53 | eSURFACE_TYPE_UNKNOWN=0xffffffff |
54 | }; |
55 | PxU32 mType; |
56 | }; |
57 | |
58 | /** |
59 | \brief Friction for each combination of driving surface type and tire type. |
60 | @see PxVehicleDrivableSurfaceType, PxVehicleTireData::mType |
61 | */ |
62 | class PxVehicleDrivableSurfaceToTireFrictionPairs |
63 | { |
64 | public: |
65 | |
66 | friend class VehicleSurfaceTypeHashTable; |
67 | |
68 | enum |
69 | { |
70 | eMAX_NB_SURFACE_TYPES=256 |
71 | }; |
72 | |
73 | /** |
74 | \brief Allocate the memory for a PxVehicleDrivableSurfaceToTireFrictionPairs instance |
75 | that can hold data for combinations of tire type and surface type with up to maxNbTireTypes types of tire and maxNbSurfaceTypes types of surface. |
76 | |
77 | \param[in] maxNbTireTypes is the maximum number of allowed tire types. |
78 | \param[in] maxNbSurfaceTypes is the maximum number of allowed surface types. Must be less than or equal to eMAX_NB_SURFACE_TYPES |
79 | |
80 | \return a PxVehicleDrivableSurfaceToTireFrictionPairs instance that can be reused later with new type and friction data. |
81 | |
82 | @see setup |
83 | */ |
84 | static PxVehicleDrivableSurfaceToTireFrictionPairs* allocate |
85 | (const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes); |
86 | |
87 | /** |
88 | \brief Set up a PxVehicleDrivableSurfaceToTireFrictionPairs instance for combinations of nbTireTypes tire types and nbSurfaceTypes surface types. |
89 | |
90 | \param[in] nbTireTypes is the number of different types of tire. This value must be less than or equal to maxNbTireTypes specified in allocate(). |
91 | \param[in] nbSurfaceTypes is the number of different types of surface. This value must be less than or equal to maxNbSurfaceTypes specified in allocate(). |
92 | \param[in] drivableSurfaceMaterials is an array of PxMaterial pointers of length nbSurfaceTypes. |
93 | \param[in] drivableSurfaceTypes is an array of PxVehicleDrivableSurfaceType instances of length nbSurfaceTypes. |
94 | |
95 | \note If the pointer to the PxMaterial that touches the tire is found in drivableSurfaceMaterials[x] then the surface type is drivableSurfaceTypes[x].mType |
96 | and the friction is the value that is set with setTypePairFriction(drivableSurfaceTypes[x].mType, PxVehicleTireData::mType, frictionValue). |
97 | |
98 | \note A friction value of 1.0 will be assigned as default to each combination of tire and surface type. To override this use setTypePairFriction. |
99 | @see release, setTypePairFriction, getTypePairFriction, PxVehicleTireData.mType |
100 | */ |
101 | void setup |
102 | (const PxU32 nbTireTypes, const PxU32 nbSurfaceTypes, |
103 | const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes); |
104 | |
105 | /** |
106 | \brief Deallocate a PxVehicleDrivableSurfaceToTireFrictionPairs instance |
107 | */ |
108 | void release(); |
109 | |
110 | /** |
111 | \brief Set the friction for a specified pair of tire type and drivable surface type. |
112 | |
113 | \param[in] surfaceType describes the surface type |
114 | \param[in] tireType describes the tire type. |
115 | \param[in] value describes the friction coefficient for the combination of surface type and tire type. |
116 | */ |
117 | void setTypePairFriction(const PxU32 surfaceType, const PxU32 tireType, const PxReal value); |
118 | |
119 | /** |
120 | \brief Return the friction for a specified combination of surface type and tire type. |
121 | \return The friction for a specified combination of surface type and tire type. |
122 | \note The final friction value used by the tire model is the value returned by getTypePairFriction |
123 | multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph |
124 | @see PxVehicleTireData::mFrictionVsSlipGraph |
125 | */ |
126 | PxReal getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const; |
127 | |
128 | /** |
129 | \brief Return the maximum number of surface types |
130 | \return The maximum number of surface types |
131 | @see allocate |
132 | */ |
133 | PxU32 getMaxNbSurfaceTypes() const {return mMaxNbSurfaceTypes;} |
134 | |
135 | /** |
136 | \brief Return the maximum number of tire types |
137 | \return The maximum number of tire types |
138 | @see allocate |
139 | */ |
140 | PxU32 getMaxNbTireTypes() const {return mMaxNbTireTypes;} |
141 | |
142 | private: |
143 | |
144 | /** |
145 | \brief Ptr to base address of a 2d PxReal array with dimensions [mNbSurfaceTypes][mNbTireTypes] |
146 | |
147 | \note Each element of the array describes the maximum friction provided by a surface type-tire type combination. |
148 | eg the friction corresponding to a combination of surface type x and tire type y is mPairs[x][y] |
149 | */ |
150 | PxReal* mPairs; |
151 | |
152 | /** |
153 | \brief Ptr to 1d array of material ptrs that is of length mNbSurfaceTypes. |
154 | |
155 | \note If the PxMaterial that touches the tire corresponds to mDrivableSurfaceMaterials[x] then the drivable surface |
156 | type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y], |
157 | assuming a tire type y. |
158 | |
159 | \note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is |
160 | mPairs[0][y], assuming a tire type y. |
161 | */ |
162 | const PxMaterial** mDrivableSurfaceMaterials; |
163 | |
164 | /** |
165 | \brief Ptr to 1d array of PxVehicleDrivableSurfaceType that is of length mNbSurfaceTypes. |
166 | |
167 | \note If the PxMaterial that touches the tire is found in mDrivableSurfaceMaterials[x] then the drivable surface |
168 | type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y], |
169 | assuming a tire type y. |
170 | |
171 | \note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is |
172 | mPairs[0][y], assuming a tire type y. |
173 | */ |
174 | PxVehicleDrivableSurfaceType* mDrivableSurfaceTypes; |
175 | |
176 | /** |
177 | \brief Number of different driving surface types. |
178 | |
179 | \note mDrivableSurfaceMaterials and mDrivableSurfaceTypes are both 1d arrays of length mMaxNbSurfaceTypes. |
180 | |
181 | \note mNbSurfaceTypes must be less than or equal to mMaxNbSurfaceTypes. |
182 | */ |
183 | PxU32 mNbSurfaceTypes; |
184 | |
185 | /** |
186 | \brief Maximum number of different driving surface types. |
187 | |
188 | \note mMaxNbSurfaceTypes must be less than or equal to eMAX_NB_SURFACE_TYPES. |
189 | */ |
190 | PxU32 mMaxNbSurfaceTypes; |
191 | |
192 | /** |
193 | \brief Number of different tire types. |
194 | |
195 | \note Tire types stored in PxVehicleTireData.mType |
196 | */ |
197 | PxU32 mNbTireTypes; |
198 | |
199 | /** |
200 | \brief Maximum number of different tire types. |
201 | |
202 | \note Tire types stored in PxVehicleTireData.mType |
203 | */ |
204 | PxU32 mMaxNbTireTypes; |
205 | |
206 | |
207 | #if !PX_P64_FAMILY |
208 | PxU32 mPad[1]; |
209 | #else |
210 | PxU32 mPad[2]; |
211 | #endif |
212 | |
213 | PxVehicleDrivableSurfaceToTireFrictionPairs(){} |
214 | ~PxVehicleDrivableSurfaceToTireFrictionPairs(){} |
215 | }; |
216 | PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) & 15)); |
217 | |
218 | #if !PX_DOXYGEN |
219 | } // namespace physx |
220 | #endif |
221 | |
222 | /** @} */ |
223 | #endif //PX_VEHICLE_TIREFRICTION_H |
224 | |