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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_CONTROL_H |
31 | #define PX_VEHICLE_CONTROL_H |
32 | /** \addtogroup vehicle |
33 | @{ |
34 | */ |
35 | #include "vehicle/PxVehicleSDK.h" |
36 | #include "vehicle/PxVehicleDrive4W.h" |
37 | #include "vehicle/PxVehicleDriveNW.h" |
38 | #include "vehicle/PxVehicleDriveTank.h" |
39 | |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | #if PX_CHECKED |
47 | void testValidAnalogValue(const PxF32 actualValue, const PxF32 minVal, const PxF32 maxVal, const char* errorString); |
48 | #endif |
49 | |
50 | /** |
51 | \brief Used to produce smooth vehicle driving control values from key inputs. |
52 | @see PxVehicle4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicle4WSmoothAnalogRawInputsAndSetAnalogInputs |
53 | */ |
54 | struct PxVehicleKeySmoothingData |
55 | { |
56 | public: |
57 | |
58 | /** |
59 | \brief Rise rate of each analog value if digital value is 1 |
60 | */ |
61 | PxReal mRiseRates[PxVehicleDriveDynData::eMAX_NB_ANALOG_INPUTS]; |
62 | |
63 | /** |
64 | \brief Fall rate of each analog value if digital value is 0 |
65 | */ |
66 | PxReal mFallRates[PxVehicleDriveDynData::eMAX_NB_ANALOG_INPUTS]; |
67 | }; |
68 | PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleKeySmoothingData)& 0x0f)); |
69 | |
70 | /** |
71 | \brief Used to produce smooth analog vehicle control values from analog inputs. |
72 | @see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs |
73 | */ |
74 | struct PxVehiclePadSmoothingData |
75 | { |
76 | public: |
77 | |
78 | /** |
79 | \brief Rise rate of each analog value from previous value towards target if target>previous |
80 | */ |
81 | PxReal mRiseRates[PxVehicleDriveDynData::eMAX_NB_ANALOG_INPUTS]; |
82 | |
83 | /** |
84 | \brief Rise rate of each analog value from previous value towards target if target<previous |
85 | */ |
86 | PxReal mFallRates[PxVehicleDriveDynData::eMAX_NB_ANALOG_INPUTS]; |
87 | }; |
88 | PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehiclePadSmoothingData)& 0x0f)); |
89 | |
90 | /** |
91 | \brief Used to produce smooth vehicle driving control values from analog and digital inputs. |
92 | @see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs |
93 | */ |
94 | class PxVehicleDrive4WRawInputData |
95 | { |
96 | public: |
97 | |
98 | PxVehicleDrive4WRawInputData() |
99 | { |
100 | for(PxU32 i=0;i<PxVehicleDrive4WControl::eMAX_NB_DRIVE4W_ANALOG_INPUTS;i++) |
101 | { |
102 | mRawDigitalInputs[i]=false; |
103 | mRawAnalogInputs[i]=0.0f; |
104 | } |
105 | |
106 | mGearUp = false; |
107 | mGearDown = false; |
108 | } |
109 | |
110 | virtual ~PxVehicleDrive4WRawInputData() |
111 | { |
112 | } |
113 | |
114 | /** |
115 | \brief Record if the accel button has been pressed on keyboard. |
116 | \param[in] accelKeyPressed is true if the accelerator key has been pressed and false otherwise. |
117 | */ |
118 | void setDigitalAccel(const bool accelKeyPressed) {mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL]=accelKeyPressed;} |
119 | |
120 | /** |
121 | \brief Record if the brake button has been pressed on keyboard. |
122 | \param[in] brakeKeyPressed is true if the brake key has been pressed and false otherwise. |
123 | */ |
124 | void setDigitalBrake(const bool brakeKeyPressed) {mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE]=brakeKeyPressed;} |
125 | |
126 | /** |
127 | \brief Record if the handbrake button has been pressed on keyboard. |
128 | \param[in] handbrakeKeyPressed is true if the handbrake key has been pressed and false otherwise. |
129 | */ |
130 | void setDigitalHandbrake(const bool handbrakeKeyPressed) {mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE]=handbrakeKeyPressed;} |
131 | |
132 | /** |
133 | \brief Record if the left steer button has been pressed on keyboard. |
134 | \param[in] steerLeftKeyPressed is true if the steer-left key has been pressed and false otherwise. |
135 | */ |
136 | void setDigitalSteerLeft(const bool steerLeftKeyPressed) {mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_LEFT]=steerLeftKeyPressed;} |
137 | |
138 | /** |
139 | \brief Record if the right steer button has been pressed on keyboard. |
140 | \param[in] steerRightKeyPressed is true if the steer-right key has been pressed and false otherwise. |
141 | */ |
142 | void setDigitalSteerRight(const bool steerRightKeyPressed) {mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT]=steerRightKeyPressed;} |
143 | |
144 | |
145 | /** |
146 | \brief Return if the accel button has been pressed on keyboard. |
147 | \return True if the accel button has been pressed, false otherwise. |
148 | */ |
149 | bool getDigitalAccel() const {return mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL];} |
150 | |
151 | /** |
152 | \brief Return if the brake button has been pressed on keyboard. |
153 | \return True if the brake button has been pressed, false otherwise. |
154 | */ |
155 | bool getDigitalBrake() const {return mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE];} |
156 | |
157 | /** |
158 | \brief Return if the handbrake button has been pressed on keyboard. |
159 | \return True if the handbrake button has been pressed, false otherwise. |
160 | */ |
161 | bool getDigitalHandbrake() const {return mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE];} |
162 | |
163 | /** |
164 | \brief Return if the left steer button has been pressed on keyboard. |
165 | \return True if the steer-left button has been pressed, false otherwise. |
166 | */ |
167 | bool getDigitalSteerLeft() const {return mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_LEFT];} |
168 | |
169 | /** |
170 | \brief Return if the right steer button has been pressed on keyboard. |
171 | \return True if the steer-right button has been pressed, false otherwise. |
172 | */ |
173 | bool getDigitalSteerRight() const {return mRawDigitalInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT];} |
174 | |
175 | |
176 | /** |
177 | \brief Set the analog accel value from the gamepad |
178 | \param[in] accel is the analog accelerator pedal value in range(0,1) where 1 represents the pedal fully pressed and 0 represents the pedal in its rest state. |
179 | */ |
180 | void setAnalogAccel(const PxReal accel) |
181 | { |
182 | #if PX_CHECKED |
183 | testValidAnalogValue(accel, 0.0f, 1.0f, "Analog accel must be in range (0,1)" ); |
184 | #endif |
185 | mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL]=accel; |
186 | } |
187 | |
188 | /** |
189 | \brief Set the analog brake value from the gamepad |
190 | \param[in] brake is the analog brake pedal value in range(0,1) where 1 represents the pedal fully pressed and 0 represents the pedal in its rest state. |
191 | */ |
192 | void setAnalogBrake(const PxReal brake) |
193 | { |
194 | #if PX_CHECKED |
195 | testValidAnalogValue(brake, 0.0f, 1.0f, "Analog brake must be in range (0,1)" ); |
196 | #endif |
197 | mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE]=brake; |
198 | } |
199 | |
200 | /** |
201 | \brief Set the analog handbrake value from the gamepad |
202 | \param[in] handbrake is the analog handbrake value in range(0,1) where 1 represents the handbrake fully engaged and 0 represents the handbrake in its rest state. |
203 | */ |
204 | void setAnalogHandbrake(const PxReal handbrake) |
205 | { |
206 | #if PX_CHECKED |
207 | testValidAnalogValue(handbrake, 0.0f, 1.0f, "Analog handbrake must be in range (0,1)" ); |
208 | #endif |
209 | mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE]=handbrake; |
210 | } |
211 | |
212 | /** |
213 | \brief Set the analog steer value from the gamepad |
214 | \param[in] steer is the analog steer value in range(-1,1) where -1 represents the steering wheel at left lock and +1 represents the steering wheel at right lock. |
215 | */ |
216 | void setAnalogSteer(const PxReal steer) |
217 | { |
218 | #if PX_CHECKED |
219 | testValidAnalogValue(steer, -1.0f, 1.0f, "Analog steer must be in range (-1,1)" ); |
220 | #endif |
221 | mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT]=steer; |
222 | } |
223 | |
224 | /** |
225 | \brief Return the analog accel value from the gamepad |
226 | \return The analog accel value. |
227 | */ |
228 | PxReal getAnalogAccel() const {return mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL];} |
229 | |
230 | /** |
231 | \brief Return the analog brake value from the gamepad |
232 | \return The analog brake value. |
233 | */ |
234 | PxReal getAnalogBrake() const {return mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE];} |
235 | |
236 | /** |
237 | \brief Return the analog handbrake value from the gamepad |
238 | \return The analog handbrake value. |
239 | */ |
240 | PxReal getAnalogHandbrake() const {return mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE];} |
241 | |
242 | /** |
243 | \brief Return the analog steer value from the gamepad |
244 | */ |
245 | PxReal getAnalogSteer() const {return mRawAnalogInputs[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT];} |
246 | |
247 | /** |
248 | \brief Record if the gearup button has been pressed on keyboard or gamepad |
249 | \param[in] gearUpKeyPressed is true if the gear-up button has been pressed, false otherwise. |
250 | */ |
251 | void setGearUp(const bool gearUpKeyPressed) {mGearUp=gearUpKeyPressed;} |
252 | |
253 | /** |
254 | \brief Record if the geardown button has been pressed on keyboard or gamepad |
255 | \param[in] gearDownKeyPressed is true if the gear-down button has been pressed, false otherwise. |
256 | */ |
257 | void setGearDown(const bool gearDownKeyPressed) {mGearDown=gearDownKeyPressed;} |
258 | |
259 | /** |
260 | \brief Return if the gearup button has been pressed on keyboard or gamepad |
261 | \return The value of the gear-up button. |
262 | */ |
263 | bool getGearUp() const {return mGearUp;} |
264 | |
265 | /** |
266 | \brief Record if the geardown button has been pressed on keyboard or gamepad |
267 | \return The value of the gear-down button. |
268 | */ |
269 | bool getGearDown() const {return mGearDown;} |
270 | |
271 | private: |
272 | |
273 | bool mRawDigitalInputs[PxVehicleDrive4WControl::eMAX_NB_DRIVE4W_ANALOG_INPUTS]; |
274 | PxReal mRawAnalogInputs[PxVehicleDrive4WControl::eMAX_NB_DRIVE4W_ANALOG_INPUTS]; |
275 | |
276 | bool mGearUp; |
277 | bool mGearDown; |
278 | }; |
279 | |
280 | /** |
281 | \brief Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). |
282 | Also used to set boolean gearup, geardown values. |
283 | \param[in] keySmoothing describes the rise and fall rates of the corresponding analog values when keys are pressed on and off. |
284 | \param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed. |
285 | \param[in] rawInputData is the state of all digital inputs that control the vehicle. |
286 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
287 | \param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable. |
288 | \param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs. |
289 | */ |
290 | void PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
291 | (const PxVehicleKeySmoothingData& keySmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable, |
292 | const PxVehicleDrive4WRawInputData& rawInputData, |
293 | const PxReal timestep, |
294 | const bool isVehicleInAir, |
295 | PxVehicleDrive4W& focusVehicle); |
296 | |
297 | /** |
298 | \brief Used to smooth and set analog vehicle control values from analog inputs (gamepad). |
299 | Also used to set boolean gearup, geardown values. |
300 | \param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad. |
301 | \param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed. |
302 | \param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle. |
303 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
304 | \param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable. |
305 | \param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs. |
306 | */ |
307 | void PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs |
308 | (const PxVehiclePadSmoothingData& padSmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable, |
309 | const PxVehicleDrive4WRawInputData& rawInputData, |
310 | const PxReal timestep, |
311 | const bool isVehicleInAir, |
312 | PxVehicleDrive4W& focusVehicle); |
313 | |
314 | |
315 | /** |
316 | \brief Used to produce smooth vehicle driving control values from analog and digital inputs. |
317 | @see PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs |
318 | */ |
319 | class PxVehicleDriveNWRawInputData : public PxVehicleDrive4WRawInputData |
320 | { |
321 | public: |
322 | |
323 | PxVehicleDriveNWRawInputData() : PxVehicleDrive4WRawInputData(){} |
324 | ~PxVehicleDriveNWRawInputData(){} |
325 | }; |
326 | |
327 | /** |
328 | \brief Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard). |
329 | Also used to set boolean gearup, geardown values. |
330 | \param[in] keySmoothing describes the rise and fall rates of the corresponding analog values when keys are pressed on and off. |
331 | \param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed. |
332 | \param[in] rawInputData is the state of all digital inputs that control the vehicle. |
333 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
334 | \param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable. |
335 | \param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs. |
336 | */ |
337 | void PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs |
338 | (const PxVehicleKeySmoothingData& keySmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable, |
339 | const PxVehicleDriveNWRawInputData& rawInputData, |
340 | const PxReal timestep, |
341 | const bool isVehicleInAir, |
342 | PxVehicleDriveNW& focusVehicle); |
343 | |
344 | /** |
345 | \brief Used to smooth and set analog vehicle control values from analog inputs (gamepad). |
346 | Also used to set boolean gearup, geardown values. |
347 | \param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad. |
348 | \param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed. |
349 | \param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle. |
350 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
351 | \param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable. |
352 | \param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs. |
353 | */ |
354 | void PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs |
355 | (const PxVehiclePadSmoothingData& padSmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable, |
356 | const PxVehicleDriveNWRawInputData& rawInputData, |
357 | const PxReal timestep, |
358 | const bool isVehicleInAir, |
359 | PxVehicleDriveNW& focusVehicle); |
360 | |
361 | |
362 | /** |
363 | \brief Used to produce smooth analog tank control values from analog and digital inputs. |
364 | @see PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs |
365 | */ |
366 | class PxVehicleDriveTankRawInputData |
367 | { |
368 | public: |
369 | |
370 | PxVehicleDriveTankRawInputData(const PxVehicleDriveTankControlModel::Enum mode) |
371 | : mMode(mode) |
372 | { |
373 | for(PxU32 i=0;i<PxVehicleDriveTankControl::eMAX_NB_DRIVETANK_ANALOG_INPUTS;i++) |
374 | { |
375 | mRawAnalogInputs[i]=0.0f; |
376 | mRawDigitalInputs[i]=false; |
377 | } |
378 | |
379 | mGearUp=false; |
380 | mGearDown=false; |
381 | } |
382 | |
383 | ~PxVehicleDriveTankRawInputData() |
384 | { |
385 | } |
386 | |
387 | /** |
388 | \brief Return the drive model (eDRIVE_MODEL_SPECIAL or eDRIVE_MODEL_STANDARD) |
389 | \return The chosen tank drive model. |
390 | */ |
391 | PxVehicleDriveTankControlModel::Enum getDriveModel() const |
392 | { |
393 | return mMode; |
394 | } |
395 | |
396 | /** |
397 | \brief Set if the accel button has been pressed on the keyboard |
398 | \param[in] b is true if the digital accel button has been pressed, false otherwise. |
399 | */ |
400 | void setDigitalAccel(const bool b) {mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL]=b;} |
401 | |
402 | /** |
403 | \brief Set if the left thrust button has been pressed on the keyboard |
404 | \param[in] b is true if the digital left thrust button has been pressed, false otherwise. |
405 | */ |
406 | void setDigitalLeftThrust(const bool b) {mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]=b;} |
407 | |
408 | /** |
409 | \brief Set if the right thrust button has been pressed on the keyboard |
410 | \param[in] b is true if the digital right thrust button has been pressed, false otherwise. |
411 | */ |
412 | void setDigitalRightThrust(const bool b) {mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]=b;} |
413 | |
414 | /** |
415 | \brief Set if the left brake button has been pressed on the keyboard |
416 | \param[in] b is true if the digital left brake button has been pressed, false otherwise. |
417 | */ |
418 | void setDigitalLeftBrake(const bool b) {mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT]=b;} |
419 | |
420 | /** |
421 | \brief Set if the right brake button has been pressed on the keyboard |
422 | \param[in] b is true if the digital right brake button has been pressed, false otherwise. |
423 | */ |
424 | void setDigitalRightBrake(const bool b) {mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT]=b;} |
425 | |
426 | /** |
427 | \brief Return if the accel button has been pressed on the keyboard |
428 | \return True if the accel button has been pressed, false otherwise. |
429 | */ |
430 | bool getDigitalAccel() const {return mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL];} |
431 | |
432 | /** |
433 | \brief Return if the left thrust button has been pressed on the keyboard |
434 | \return True if the left thrust button has been pressed, false otherwise. |
435 | */ |
436 | bool getDigitalLeftThrust() const {return mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT];} |
437 | |
438 | /** |
439 | \brief Return if the right thrust button has been pressed on the keyboard |
440 | \return True if the right thrust button has been pressed, false otherwise. |
441 | */ |
442 | bool getDigitalRightThrust() const {return mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT];} |
443 | |
444 | /** |
445 | \brief Return if the left brake button has been pressed on the keyboard |
446 | \return True if the left brake button has been pressed, false otherwise. |
447 | */ |
448 | bool getDigitalLeftBrake() const {return mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT];} |
449 | |
450 | /** |
451 | \brief Return if the right brake button has been pressed on the keyboard |
452 | \return True if the right brake button has been pressed, false otherwise. |
453 | */ |
454 | bool getDigitalRightBrake() const {return mRawDigitalInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT];} |
455 | |
456 | |
457 | /** |
458 | \brief Set the analog accel value from the gamepad |
459 | \param[in] accel is a value in range (0,1) where 1 represents the accelerator pedal fully pressed and 0 represents the pedal in its rest state. |
460 | In range (0,1). |
461 | */ |
462 | void setAnalogAccel(const PxF32 accel) |
463 | { |
464 | #if PX_CHECKED |
465 | testValidAnalogValue(accel, 0.0f, 1.0f, "Tank analog accel must be in range (-1,1)" ); |
466 | #endif |
467 | mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL]=accel; |
468 | } |
469 | |
470 | /** |
471 | \brief Set the analog left thrust value from the gamepad |
472 | \param[in] leftThrust represents the state of the left stick. |
473 | \note In range (0,1) for standard mode (eSTANDARD), in range (-1,1) for special mode (eSPECIAL) |
474 | */ |
475 | void setAnalogLeftThrust(const PxF32 leftThrust) |
476 | { |
477 | #if PX_CHECKED |
478 | if(mMode == PxVehicleDriveTankControlModel::eSPECIAL) |
479 | { |
480 | testValidAnalogValue(leftThrust, -1.0f, 1.0f, "Tank left thrust must be in range (-1,1) in eSPECIAL mode." ); |
481 | } |
482 | else |
483 | { |
484 | testValidAnalogValue(leftThrust, 0.0f, 1.0f, "Tank left thrust must be in range (0,1) in eSTANDARD mode." ); |
485 | } |
486 | #endif |
487 | mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]=leftThrust; |
488 | } |
489 | |
490 | /** |
491 | \brief Set the analog right thrust value from the gamepad |
492 | \param[in] rightThrust represents the state of the right stick. |
493 | \note In range (0,1) for standard mode (eSTANDARD), in range (-1,1) for special mode (eSPECIAL) |
494 | */ |
495 | void setAnalogRightThrust(const PxF32 rightThrust) |
496 | { |
497 | #if PX_CHECKED |
498 | if(mMode == PxVehicleDriveTankControlModel::eSPECIAL) |
499 | { |
500 | testValidAnalogValue(rightThrust, -1.0f, 1.0f, "Tank right thrust must be in range (-1,1) in eSPECIAL mode." ); |
501 | } |
502 | else |
503 | { |
504 | testValidAnalogValue(rightThrust, 0.0f, 1.0f, "Tank right thrust must be in range (0,1) in eSTANDARD mode." ); |
505 | } |
506 | #endif |
507 | mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]=rightThrust; |
508 | } |
509 | |
510 | /** |
511 | \brief Set the analog left brake value from the gamepad |
512 | \param[in] leftBrake is a value in range (0,1) where 1 represents the left brake pedal fully pressed and 0 represents the left brake pedal in its rest state. |
513 | \note In range (0,1). |
514 | */ |
515 | void setAnalogLeftBrake(const PxF32 leftBrake) |
516 | { |
517 | #if PX_CHECKED |
518 | testValidAnalogValue(leftBrake, 0.0f, 1.0f, "Tank left brake must be in range (0,1)." ); |
519 | #endif |
520 | mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT]=leftBrake; |
521 | } |
522 | |
523 | /** |
524 | \brief Set the analog right brake value from the gamepad |
525 | \param[in] rightBrake is a value in range (0,1) where 1 represents the right brake pedal fully pressed and 0 represents the right brake pedal in its rest state. |
526 | \note In range (0,1). |
527 | */ |
528 | void setAnalogRightBrake(const PxF32 rightBrake) |
529 | { |
530 | #if PX_CHECKED |
531 | testValidAnalogValue(rightBrake, 0.0f, 1.0f, "Tank right brake must be in range (0,1)." ); |
532 | #endif |
533 | mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT]=rightBrake; |
534 | } |
535 | |
536 | /** |
537 | \brief Return the analog accel value from the gamepad |
538 | \return The analog accel value. |
539 | */ |
540 | PxF32 getAnalogAccel() const |
541 | { |
542 | return mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL]; |
543 | } |
544 | |
545 | /** |
546 | \brief Return the analog left thrust value from the gamepad |
547 | \return The analog left thrust value. |
548 | */ |
549 | PxF32 getAnalogLeftThrust() const |
550 | { |
551 | return mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]; |
552 | } |
553 | |
554 | /** |
555 | \brief Return the analog right thrust value from the gamepad |
556 | \return The analog right thrust value. |
557 | */ |
558 | PxF32 getAnalogRightThrust() const |
559 | { |
560 | return mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]; |
561 | } |
562 | |
563 | /** |
564 | \brief Return the analog left brake value from the gamepad |
565 | \return The analog left brake value. |
566 | */ |
567 | PxF32 getAnalogLeftBrake() const |
568 | { |
569 | return mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT]; |
570 | } |
571 | |
572 | /** |
573 | \brief Return the analog right brake value from the gamepad |
574 | \return The analog right brake value. |
575 | */ |
576 | PxF32 getAnalogRightBrake() const |
577 | { |
578 | return mRawAnalogInputs[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT]; |
579 | } |
580 | |
581 | /** |
582 | \brief Record if the gear-up button has been pressed on keyboard or gamepad |
583 | \param[in] gearUp is true if the gear-up button has been pressed, false otherwise. |
584 | */ |
585 | void setGearUp(const bool gearUp) {mGearUp=gearUp;} |
586 | |
587 | /** |
588 | \brief Record if the gear-down button has been pressed on keyboard or gamepad |
589 | \param[in] gearDown is true if the gear-down button has been pressed, false otherwise. |
590 | */ |
591 | void setGearDown(const bool gearDown) {mGearDown=gearDown;} |
592 | |
593 | /** |
594 | \brief Return if the gear-up button has been pressed on keyboard or gamepad |
595 | \return True if the gear-up button has been pressed, false otherwise. |
596 | */ |
597 | bool getGearUp() const {return mGearUp;} |
598 | |
599 | /** |
600 | \brief Return if the gear-down button has been pressed on keyboard or gamepad |
601 | \return True if the gear-down button has been pressed, false otherwise. |
602 | */ |
603 | bool getGearDown() const {return mGearDown;} |
604 | |
605 | private: |
606 | |
607 | PxVehicleDriveTankControlModel::Enum mMode; |
608 | |
609 | PxReal mRawAnalogInputs[PxVehicleDriveTankControl::eMAX_NB_DRIVETANK_ANALOG_INPUTS]; |
610 | bool mRawDigitalInputs[PxVehicleDriveTankControl::eMAX_NB_DRIVETANK_ANALOG_INPUTS]; |
611 | |
612 | bool mGearUp; |
613 | bool mGearDown; |
614 | }; |
615 | |
616 | /** |
617 | \brief Used to smooth and set analog tank control values from digital inputs (keyboard). |
618 | Also used to set boolean gearup, geardown values. |
619 | \param[in] keySmoothing describes the rise and fall rates of the corresponding analog values when keys are pressed on and off. |
620 | \param[in] rawInputData is the state of all digital inputs that control the vehicle. |
621 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
622 | \param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs. |
623 | */ |
624 | void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs |
625 | (const PxVehicleKeySmoothingData& keySmoothing, |
626 | const PxVehicleDriveTankRawInputData& rawInputData, |
627 | const PxReal timestep, |
628 | PxVehicleDriveTank& focusVehicle); |
629 | |
630 | |
631 | /** |
632 | \brief Used to smooth and set analog tank control values from analog inputs (gamepad). |
633 | Also used to set boolean gearup, geardown values. |
634 | \param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad. |
635 | \param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle. |
636 | \param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs |
637 | \param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs. |
638 | */ |
639 | void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs |
640 | (const PxVehiclePadSmoothingData& padSmoothing, |
641 | const PxVehicleDriveTankRawInputData& rawInputData, |
642 | const PxReal timestep, |
643 | PxVehicleDriveTank& focusVehicle); |
644 | |
645 | |
646 | #if !PX_DOXYGEN |
647 | } // namespace physx |
648 | #endif |
649 | |
650 | /** @} */ |
651 | #endif //PX_VEHICLE_CONTROL_H |
652 | |