487 lines
15 KiB
C
487 lines
15 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_CONTROL_H
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#define PX_VEHICLE_CONTROL_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleSDK.h"
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#include "vehicle/PxVehicleDrive4W.h"
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#include "vehicle/PxVehicleDriveTank.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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class PxVehicleDrive4W;
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/**
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\brief Used to produce smooth vehicle driving control values from key inputs.
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@see PxVehicle4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicle4WSmoothAnalogRawInputsAndSetAnalogInputs
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*/
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struct PxVehicleKeySmoothingData
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{
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public:
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/**
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\brief Rise rate of each analog value if digital value is 1
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*/
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PxReal mRiseRates[PxVehicleDriveDynData::eMAX_NUM_ANALOG_INPUTS];
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/**
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\brief Fall rate of each analog value if digital value is 0
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*/
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PxReal mFallRates[PxVehicleDriveDynData::eMAX_NUM_ANALOG_INPUTS];
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleKeySmoothingData)& 0x0f));
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/**
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\brief Used to produce smooth analog vehicle control values from analog inputs.
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@see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
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*/
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struct PxVehiclePadSmoothingData
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{
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public:
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/**
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\brief Rise rate of each analog value from previous value towards target if target>previous
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*/
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PxReal mRiseRates[PxVehicleDriveDynData::eMAX_NUM_ANALOG_INPUTS];
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/**
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\brief Rise rate of each analog value from previous value towards target if target<previous
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*/
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PxReal mFallRates[PxVehicleDriveDynData::eMAX_NUM_ANALOG_INPUTS];
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehiclePadSmoothingData)& 0x0f));
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/**
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\brief Used to produce smooth vehicle driving control values from analog inputs.
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@see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
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*/
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class PxVehicleDrive4WRawInputData
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{
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public:
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PxVehicleDrive4WRawInputData()
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{
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for(PxU32 i=0;i<PxVehicleDrive4W::eMAX_NUM_DRIVE4W_ANALOG_INPUTS;i++)
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{
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mRawDigitalInputs[i]=false;
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mRawAnalogInputs[i]=0.0f;
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}
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mGearUp = false;
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mGearDown = false;
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}
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~PxVehicleDrive4WRawInputData()
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{
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}
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/**
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\brief Record if the accel button has been pressed on keyboard.
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*/
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void setDigitalAccel(const bool accelKeyPressed) {mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_ACCEL]=accelKeyPressed;}
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/**
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\brief Record if the brake button has been pressed on keyboard.
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*/
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void setDigitalBrake(const bool brakeKeyPressed) {mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_BRAKE]=brakeKeyPressed;}
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/**
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\brief Record if the handbrake button has been pressed on keyboard.
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*/
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void setDigitalHandbrake(const bool handbrakeKeyPressed) {mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_HANDBRAKE]=handbrakeKeyPressed;}
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/**
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\brief Record if the left steer button has been pressed on keyboard.
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*/
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void setDigitalSteerLeft(const bool steerLeftKeyPressed) {mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_LEFT]=steerLeftKeyPressed;}
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/**
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\brief Record if the right steer button has been pressed on keyboard.
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*/
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void setDigitalSteerRight(const bool steerRightKeyPressed) {mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_RIGHT]=steerRightKeyPressed;}
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/**
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\brief Return if the accel button has been pressed on keyboard.
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*/
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bool getDigitalAccel() const {return mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_ACCEL];}
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/**
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\brief Return if the brake button has been pressed on keyboard.
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*/
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bool getDigitalBrake() const {return mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_BRAKE];}
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/**
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\brief Return if the handbrake button has been pressed on keyboard.
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*/
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bool getDigitalHandbrake() const {return mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_HANDBRAKE];}
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/**
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\brief Return if the left steer button has been pressed on keyboard.
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*/
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bool getDigitalSteerLeft() const {return mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_LEFT];}
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/**
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\brief Return if the right steer button has been pressed on keyboard.
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*/
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bool getDigitalSteerRight() const {return mRawDigitalInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_RIGHT];}
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/**
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\brief Set the analog accel value from the gamepad
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*/
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void setAnalogAccel(const PxReal accel) {mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_ACCEL]=accel;}
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/**
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\brief Set the analog brake value from the gamepad
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*/
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void setAnalogBrake(const PxReal brake) {mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_BRAKE]=brake;}
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/**
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\brief Set the analog handbrake value from the gamepad
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*/
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void setAnalogHandbrake(const PxReal handbrake) {mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_HANDBRAKE]=handbrake;}
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/**
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\brief Set the analog steer value from the gamepad
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*/
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void setAnalogSteer(const PxReal steer) {mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_RIGHT]=steer;}
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/**
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\brief Return the analog accel value from the gamepad
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*/
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PxReal getAnalogAccel() const {return mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_ACCEL];}
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/**
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\brief Return the analog brake value from the gamepad
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*/
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PxReal getAnalogBrake() const {return mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_BRAKE];}
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/**
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\brief Return the analog handbrake value from the gamepad
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*/
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PxReal getAnalogHandbrake() const {return mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_HANDBRAKE];}
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/**
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\brief Return the analog steer value from the gamepad
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*/
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PxReal getAnalogSteer() const {return mRawAnalogInputs[PxVehicleDrive4W::eANALOG_INPUT_STEER_RIGHT];}
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/**
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\brief Record if the gearup button has been pressed on keyboard or gamepad
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*/
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void setGearUp(const bool gearUpKeyPressed) {mGearUp=gearUpKeyPressed;}
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/**
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\brief Record if the geardown button has been pressed on keyboard or gamepad
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*/
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void setGearDown(const bool gearDownKeyPressed) {mGearDown=gearDownKeyPressed;}
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/**
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\brief Return if the gearup button has been pressed on keyboard or gamepad
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*/
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bool getGearUp() const {return mGearUp;}
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/**
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\brief Record if the geardown button has been pressed on keyboard or gamepad
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*/
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bool getGearDown() const {return mGearDown;}
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private:
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bool mRawDigitalInputs[PxVehicleDrive4W::eMAX_NUM_DRIVE4W_ANALOG_INPUTS];
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PxReal mRawAnalogInputs[PxVehicleDrive4W::eMAX_NUM_DRIVE4W_ANALOG_INPUTS];
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bool mGearUp;
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bool mGearDown;
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};
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/**
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\brief Used to smooth and set analog vehicle control values (accel,brake,handbrake,steer) from digital inputs (keyboard).
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Also used to set boolean gearup, geardown values.
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*/
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void PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
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(const PxVehicleKeySmoothingData& keySmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
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const PxVehicleDrive4WRawInputData& rawInputData,
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const PxReal timestep,
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PxVehicleDrive4W& focusVehicle);
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/**
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\brief Used to smooth and set analog vehicle control values from analog inputs (gamepad).
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Also used to set boolean gearup, geardown values.
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*/
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void PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
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(const PxVehiclePadSmoothingData& padSmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
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const PxVehicleDrive4WRawInputData& rawInputData,
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const PxReal timestep,
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PxVehicleDrive4W& focusVehicle);
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/**
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\brief Used to produce smooth analog tank control values from analog inputs.
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@see PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
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*/
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class PxVehicleDriveTankRawInputData
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{
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public:
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PxVehicleDriveTankRawInputData(const PxVehicleDriveTank::eDriveModel mode)
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: mMode(mode)
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{
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for(PxU32 i=0;i<PxVehicleDriveTank::eMAX_NUM_DRIVETANK_ANALOG_INPUTS;i++)
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{
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mRawAnalogInputs[i]=0.0f;
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mRawDigitalInputs[i]=false;
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}
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mGearUp=false;
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mGearDown=false;
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}
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~PxVehicleDriveTankRawInputData()
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{
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}
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/**
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\brief Return the drive model (eDRIVE_MODEL_SPECIAL or eDRIVE_MODEL_STANDARD)
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*/
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PxVehicleDriveTank::eDriveModel getDriveModel() const
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{
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return mMode;
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}
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/**
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\brief Set if the accel button has been pressed on the keyboard
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*/
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void setDigitalAccel(const bool b) {mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_ACCEL]=b;}
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/**
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\brief Set if the left thrust button has been pressed on the keyboard
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*/
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void setDigitalLeftThrust(const bool b) {mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT]=b;}
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/**
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\brief Set if the right thrust button has been pressed on the keyboard
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*/
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void setDigitalRightThrust(const bool b) {mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT]=b;}
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/**
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\brief Set if the left brake button has been pressed on the keyboard
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*/
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void setDigitalLeftBrake(const bool b) {mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT]=b;}
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/**
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\brief Set if the right brake button has been pressed on the keyboard
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*/
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void setDigitalRightBrake(const bool b) {mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT]=b;}
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/**
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\brief Return if the accel button has been pressed on the keyboard
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*/
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bool getDigitalAccel() const {return mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_ACCEL];}
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/**
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\brief Return if the left thrust button has been pressed on the keyboard
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*/
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bool getDigitalLeftThrust() const {return mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];}
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/**
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\brief Return if the right thrust button has been pressed on the keyboard
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*/
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bool getDigitalRightThrust() const {return mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];}
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/**
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\brief Return if the left brake button has been pressed on the keyboard
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*/
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bool getDigitalLeftBrake() const {return mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT];}
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/**
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\brief Return if the right brake button has been pressed on the keyboard
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*/
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bool getDigitalRightBrake() const {return mRawDigitalInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT];}
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/**
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\brief Set the analog accel value from the gamepad
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In range (0,1).
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*/
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void setAnalogAccel(const PxF32 accel)
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{
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PX_ASSERT(accel>=-0.01f && accel<=1.01f);
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mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_ACCEL]=accel;
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}
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|
|
/**
|
||
|
|
\brief Set the analog left thrust value from the gamepad
|
||
|
|
In range (0,1) for standard mode, in range (-1,1) for special mode
|
||
|
|
*/
|
||
|
|
void setAnalogLeftThrust(const PxF32 leftAccel)
|
||
|
|
{
|
||
|
|
PX_ASSERT(leftAccel>=-1.01f && leftAccel<=1.01f);
|
||
|
|
PX_ASSERT(PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL==mMode || leftAccel>=-0.1f);
|
||
|
|
mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT]=leftAccel;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the analog right thrust value from the gamepad
|
||
|
|
In range (0,1) for standard mode, in range (-1,1) for special mode
|
||
|
|
*/
|
||
|
|
void setAnalogRightThrust(const PxF32 rightAccel)
|
||
|
|
{
|
||
|
|
PX_ASSERT(rightAccel>=-1.01f && rightAccel<=1.01f);
|
||
|
|
PX_ASSERT(PxVehicleDriveTank::eDRIVE_MODEL_SPECIAL==mMode || rightAccel>=-0.1f);
|
||
|
|
mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT]=rightAccel;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the analog left brake value from the gamepad
|
||
|
|
In range (0,1).
|
||
|
|
*/
|
||
|
|
void setAnalogLeftBrake(const PxF32 leftBrake)
|
||
|
|
{
|
||
|
|
PX_ASSERT(leftBrake>=-0.01f && leftBrake<=1.01f);
|
||
|
|
mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT]=leftBrake;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Set the analog right brake value from the gamepad
|
||
|
|
In range (0,1).
|
||
|
|
*/
|
||
|
|
void setAnalogRightBrake(const PxF32 rightBrake)
|
||
|
|
{
|
||
|
|
PX_ASSERT(rightBrake>=-0.01f && rightBrake<=1.01f);
|
||
|
|
mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT]=rightBrake;
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the analog accel value from the gamepad
|
||
|
|
*/
|
||
|
|
PxF32 getAnalogAccel() const
|
||
|
|
{
|
||
|
|
return mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_ACCEL];
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the analog left thrust value from the gamepad
|
||
|
|
*/
|
||
|
|
PxF32 getAnalogLeftThrust() const
|
||
|
|
{
|
||
|
|
return mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_LEFT];
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the analog right thrust value from the gamepad
|
||
|
|
*/
|
||
|
|
PxF32 getAnalogRightThrust() const
|
||
|
|
{
|
||
|
|
return mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_THRUST_RIGHT];
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the analog left brake value from the gamepad
|
||
|
|
*/
|
||
|
|
PxF32 getAnalogLeftBrake() const
|
||
|
|
{
|
||
|
|
return mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_LEFT];
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return the analog right brake value from the gamepad
|
||
|
|
*/
|
||
|
|
PxF32 getAnalogRightBrake() const
|
||
|
|
{
|
||
|
|
return mRawAnalogInputs[PxVehicleDriveTank::eANALOG_INPUT_BRAKE_RIGHT];
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Record if the gearup button has been pressed on keyboard or gamepad
|
||
|
|
*/
|
||
|
|
void setGearUp(const bool gearUp) {mGearUp=gearUp;}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Record if the geardown button has been pressed on keyboard or gamepad
|
||
|
|
*/
|
||
|
|
void setGearDown(const bool gearDown) {mGearDown=gearDown;}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return if the gearup button has been pressed on keyboard or gamepad
|
||
|
|
*/
|
||
|
|
bool getGearUp() const {return mGearUp;}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Return if the geardown button has been pressed on keyboard or gamepad
|
||
|
|
*/
|
||
|
|
bool getGearDown() const {return mGearDown;}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
PxVehicleDriveTank::eDriveModel mMode;
|
||
|
|
|
||
|
|
PxReal mRawAnalogInputs[PxVehicleDriveTank::eMAX_NUM_DRIVETANK_ANALOG_INPUTS];
|
||
|
|
bool mRawDigitalInputs[PxVehicleDriveTank::eMAX_NUM_DRIVETANK_ANALOG_INPUTS];
|
||
|
|
bool mGearUp;
|
||
|
|
bool mGearDown;
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Used to smooth and set analog tank control values from digital inputs (gamepad).
|
||
|
|
Also used to set boolean gearup, geardown values.
|
||
|
|
*/
|
||
|
|
void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
|
||
|
|
(const PxVehicleKeySmoothingData& padSmoothing,
|
||
|
|
const PxVehicleDriveTankRawInputData& rawInputData,
|
||
|
|
const PxReal timestep,
|
||
|
|
PxVehicleDriveTank& focusVehicle);
|
||
|
|
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Used to smooth and set analog tank control values from analog inputs (gamepad).
|
||
|
|
Also used to set boolean gearup, geardown values.
|
||
|
|
*/
|
||
|
|
void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
|
||
|
|
(const PxVehiclePadSmoothingData& padSmoothing,
|
||
|
|
const PxVehicleDriveTankRawInputData& rawInputData,
|
||
|
|
const PxReal timestep,
|
||
|
|
PxVehicleDriveTank& focusVehicle);
|
||
|
|
|
||
|
|
|
||
|
|
#ifndef PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif //PX_VEHICLE_CONTROL_H
|