436 lines
10 KiB
C
436 lines
10 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_VEHICLE_DRIVE_H
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#define PX_VEHICLE_DRIVE_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleWheels.h"
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#include "vehicle/PxVehicleComponents.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxFilterData;
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class PxGeometry;
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class PxPhysics;
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class PxBatchQuery;
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struct PxRaycastQueryResult;
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class PxVehicleDrivableSurfaceToTireFrictionPairs;
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class PxShape;
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class PxMaterial;
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class PxRigidDynamic;
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/**
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\brief Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box.
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@see PxVehicleWheelsSimData for wheels configuration data.
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*/
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class PxVehicleDriveSimData
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{
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public:
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friend class PxVehicleDriveTank;
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/**
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\brief Return the engine data
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*/
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PX_FORCE_INLINE const PxVehicleEngineData& getEngineData() const
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{
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return mEngine;
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}
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/**
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\brief Return the gears data
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*/
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PX_FORCE_INLINE const PxVehicleGearsData& getGearsData() const
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{
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return mGears;
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}
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/**
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\brief Return the clutch data
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*/
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PX_FORCE_INLINE const PxVehicleClutchData& getClutchData() const
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{
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return mClutch;
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}
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/**
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\brief Return the autobox data
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*/
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PX_FORCE_INLINE const PxVehicleAutoBoxData& getAutoBoxData() const
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{
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return mAutoBox;
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}
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/**
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\brief Set the engine data
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*/
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void setEngineData(const PxVehicleEngineData& engine);
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/**
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\brief Set the gears data
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*/
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void setGearsData(const PxVehicleGearsData& gears);
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/**
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\brief Set the clutch datta
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*/
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void setClutchData(const PxVehicleClutchData& clutch);
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/**
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\brief Set the autobox data
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*/
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void setAutoBoxData(const PxVehicleAutoBoxData& autobox);
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protected:
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/*
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\brief Engine simulation data
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@see setEngineData, getEngineData
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*/
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PxVehicleEngineData mEngine;
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/*
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\brief Gear simulation data
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@see setGearsData, getGearsData
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*/
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PxVehicleGearsData mGears;
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/*
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\brief Clutch simulation data
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@see setClutchData, getClutchData
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*/
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PxVehicleClutchData mClutch;
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/*
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\brief Autobox simulation data
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@see setAutoboxData, getAutoboxData
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*/
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PxVehicleAutoBoxData mAutoBox;
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/**
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\brief Test that a PxVehicleDriveSimData instance has been configured with legal data.
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\brief Call only after setting all components with setEngineData,setGearsData,setClutchData,setAutoBoxData
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@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
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*/
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bool isValid() const;
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData) & 15));
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/**
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\brief Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox
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@see PxVehicleWheelsDynData for wheels dynamics data.
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*/
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class PxVehicleDriveDynData
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{
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public:
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friend class PxVehicleDrive;
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PxVehicleDriveDynData();
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/**
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\brief Set all dynamics data to zero to bring the vehicle to rest.
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*/
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void setToRestState();
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/**
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\brief Set an analog control value to drive the vehicle.
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*/
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void setAnalogInput(const PxReal analogVal, const PxU32 type);
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/**
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\brief Get the analog control value that has been applied to the vehicle.
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*/
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PxReal getAnalogInput(const PxU32 type);
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/**
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\brief Set that the gearup button has been pressed
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*/
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void setGearUp(const bool digitalVal)
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{
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mGearUpPressed = digitalVal;
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}
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/**
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\brief Set that the geardown button has been pressed
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*/
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void setGearDown(const bool digitalVal)
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{
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mGearDownPressed = digitalVal;
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}
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/**
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\brief Check if the gearup button has been pressed
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*/
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bool getGearUp() const
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{
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return mGearUpPressed;
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}
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/**
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\brief Check if the geardown button has been pressed
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*/
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bool getGearDown() const
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{
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return mGearDownPressed;
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}
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/**
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\brief Get the flag status that is used to select auto-gears
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*/
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PX_FORCE_INLINE bool getUseAutoGears() const
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{
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return mUseAutoGears;
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}
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/**
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\brief Toggle the autogears flag
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*/
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PX_FORCE_INLINE void toggleAutoGears()
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{
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mUseAutoGears = !mUseAutoGears;
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}
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/**
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\brief Get the current gear
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*/
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PX_FORCE_INLINE PxU32 getCurrentGear() const
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{
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return mCurrentGear;
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}
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/**
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\brief Get the target gear
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*/
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PX_FORCE_INLINE PxU32 getTargetGear() const
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{
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return mTargetGear;
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}
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/**
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\brief Start a gear change to a target gear
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*/
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PX_FORCE_INLINE void startGearChange(const PxU32 targetGear)
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{
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mTargetGear=targetGear;
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}
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/**
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\brief Force an immediate gear change to a target gear
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*/
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PX_FORCE_INLINE void forceGearChange(const PxU32 targetGear)
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{
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mTargetGear=targetGear;
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mCurrentGear=targetGear;
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}
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/**
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\brief Set the rotation speed of the engine (radians per second)
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*/
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PX_FORCE_INLINE void setEngineRotationSpeed(const PxF32 speed)
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{
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mEnginespeed = speed;
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}
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/**
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\brief Return the rotation speed of the engine.
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*/
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PX_FORCE_INLINE PxReal getEngineRotationSpeed() const
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{
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return mEnginespeed;
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}
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/**
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\brief Set the flag that will be used to select auto-gears
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*/
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PX_FORCE_INLINE void setUseAutoGears(const bool useAutoGears)
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{
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mUseAutoGears=useAutoGears;
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}
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public:
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enum
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{
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eANALOG_INPUT_ACCEL=0,
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eMAX_NUM_ANALOG_INPUTS=16
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};
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/**
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\brief All dynamic data values are public for fast access.
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*/
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/**
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\brief Analog control values used by vehicle simulation.
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\brief Accelerator pedal value used for vehicle simulation is equal to mControlAnalogVals[eVEHICLE_ANALOG_INPUT_ACCEL].
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\brief Brake pedal value used by vehicle simulation is equal to mControlAnalogVals[eVEHICLE_ANALOG_INPUT_BRAKE].
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\brief Handbrake value used by vehicle simulation is equal to mControlAnalogVals[eVEHICLE_ANALOG_INPUT_HANDBRAKE].
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\brief Steer value used by vehicle simulation is equal to mControlAnalogVals[eVEHICLE_ANALOG_INPUT_STEER_RIGHT]-mControlAnalogVals[eVEHICLE_ANALOG_INPUT_STEER_LEFT].
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@see setAnalogInput, getAnalogInput
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*/
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PxReal mControlAnalogVals[eMAX_NUM_ANALOG_INPUTS];
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/**
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\brief Autogear flag used by vehicle simulation. Set true to enable the autobox, false to disable the autobox.
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@see setUseAutoGears, setUseAutoGears, toggleAutoGears
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*/
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bool mUseAutoGears;
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/**
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\brief Gearup digital control value used by vehicle simulation. If true a gear change will be initiated towards currentGear+1 (or to first gear if in reverse).
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@see setDigitalInput, getDigitalInput
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*/
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bool mGearUpPressed;
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/**
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\brief Geardown digital control value used by vehicle simulation. If true a gear change will be initiated towards currentGear-1 (or to reverse if in first).
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@see setDigitalInput, getDigitalInput
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*/
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bool mGearDownPressed;
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/**
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\brief Current gear
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@see startGearChange, forceGearChange, getCurrentGear
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*/
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PxU32 mCurrentGear;
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/**
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\brief Target gear (different from current gear if a gear change is underway)
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@see startGearChange, forceGearChange, getTargetGear
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*/
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PxU32 mTargetGear;
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/**
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\brief Rotation speed of engine
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@see setToRestState, getEngineRotationSpeed
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*/
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PxReal mEnginespeed;
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/**
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\brief Reported time that has passed since gear change started.
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@see setToRestState, startGearChange
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*/
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PxReal mGearSwitchTime;
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/**
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\brief Reported time that has passed since last autobox gearup/geardown decision.
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@see setToRestState
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*/
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PxReal mAutoBoxSwitchTime;
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private:
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PxU32 mPad[2];
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/**
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\brief Test that a PxVehicleDriveDynData instance has legal values.
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@see setToRestState
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*/
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bool isValid() const;
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveDynData) & 15));
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/**
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\brief A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox.
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@see PxVehicleDrive4W, PxVehicleDriveTank
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*/
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class PxVehicleDrive : public PxVehicleWheels
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{
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public:
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friend class PxVehicleUpdate;
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/**
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\brief Dynamics data of vehicle instance.
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@see setup
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*/
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PxVehicleDriveDynData mDriveDynData;
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protected:
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PxVehicleDrive()
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{
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}
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~PxVehicleDrive()
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{
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}
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/**
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\brief Test that all instanced dynamics data and configuration data have legal values.
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*/
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bool isValid() const;
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/**
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\brief Set vehicle to rest.
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*/
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void setToRestState();
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/**
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@see PxVehicleDrive4W::allocate, PxVehicleDriveTank::allocate
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*/
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static PxU32 computeByteSize(const PxU32 numWheels4);
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/**
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@see PxVehicleDrive4W::allocate, PxVehicleDriveTank::allocate
|
||
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*/
|
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static PxU8* patchupPointers(PxVehicleDrive* vehDrive, PxU8* ptr, const PxU32 numWheels4, const PxU32 numWheels);
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||
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/**
|
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|
\brief Deallocate a PxVehicle4WDrive instance.
|
||
|
|
@see PxVehicleDrive4W::free, PxVehicleDriveTank::free
|
||
|
|
*/
|
||
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|
void free();
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||
|
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||
|
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/**
|
||
|
|
@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
|
||
|
|
*/
|
||
|
|
void setup
|
||
|
|
(PxPhysics* physics, PxRigidDynamic* vehActor,
|
||
|
|
const PxVehicleWheelsSimData& wheelsData,
|
||
|
|
const PxU32 numDrivenWheels, const PxU32 numNonDrivenWheels);
|
||
|
|
};
|
||
|
|
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive) & 15));
|
||
|
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||
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#ifndef PX_DOXYGEN
|
||
|
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} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif //PX_VEHICLE_DRIVE_H
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