244 lines
9.0 KiB
C++
244 lines
9.0 KiB
C++
// 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_4WDRIVE_H
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#define PX_VEHICLE_4WDRIVE_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleDrive.h"
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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 configuration data of a vehicle with up to 4 driven wheels,
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\brief up to 16 undriven wheels,
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\brief and engine, clutch, gears, autobox, differential, and Ackermann steer correction.
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@see PxVehicleDriveSimData
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*/
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class PxVehicleDriveSimData4W : public PxVehicleDriveSimData
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{
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public:
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friend class PxVehicleDrive4W;
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/**
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\brief Return the data describing the differential of a vehicle with up to 4 driven wheels.
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*/
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PX_FORCE_INLINE const PxVehicleDifferential4WData& getDiffData() const
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{
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return mDiff;
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}
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/**
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\brief Return the data describing the Ackerkmann steer-correction of a vehicle with up to 4 driven wheels.
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*/
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PX_FORCE_INLINE const PxVehicleAckermannGeometryData& getAckermannGeometryData() const
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{
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return mAckermannGeometry;
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}
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/**
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\brief Set the data describing the differential of a vehicle with up to 4 driven wheels.
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*/
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void setDiffData(const PxVehicleDifferential4WData& diff);
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/**
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\brief Set the data describing the Ackerkmann steer-correction of a vehicle with up to 4 driven wheels.
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*/
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void setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData);
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private:
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/**
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\brief Differential simulation data
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@see setDiffData, getDiffData
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*/
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PxVehicleDifferential4WData mDiff;
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/**
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\brief Data for ackermann steer angle computation.
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@see setAckermannGeometryData, getAckermannGeometryData
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*/
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PxVehicleAckermannGeometryData mAckermannGeometry;
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/**
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\brief Test if the 4W-drive simulation data has been setup with legal data.
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\brief Call only after setting all components.
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@see setEnginedata, setClutchData, setGearsData, setAutoboxData, setDiffData, setAckermannGeometryData
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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(PxVehicleDriveSimData4W) & 15));
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/**
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\brief Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels.
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\brief and up to 16 non-driven wheels.
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*/
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class PxVehicleDrive4W : public PxVehicleDrive
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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 The ordering of the driven and steered wheels
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*/
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enum eWheelOrdering
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{
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eFRONT_LEFT_WHEEL=0,
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eFRONT_RIGHT_WHEEL,
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eREAR_LEFT_WHEEL,
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eREAR_RIGHT_WHEEL
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};
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/**
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@see PxVehicleDrive::setAnalogInput, PxVehicleDrive::getAnalogInput
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*/
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enum
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{
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eANALOG_INPUT_ACCEL=PxVehicleDriveDynData::eANALOG_INPUT_ACCEL,
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eANALOG_INPUT_BRAKE,
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eANALOG_INPUT_HANDBRAKE,
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eANALOG_INPUT_STEER_LEFT,
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eANALOG_INPUT_STEER_RIGHT,
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eMAX_NUM_DRIVE4W_ANALOG_INPUTS
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};
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/**
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\brief Allocate a PxVehicleDrive4W instance for a 4WDrive vehicle with numWheels (= num driven wheels + num undriven wheels)
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@see free, setup
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*/
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static PxVehicleDrive4W* allocate(const PxU32 numWheels);
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/**
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\brief Deallocate a PxVehicleDrive4W instance.
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@see allocate
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*/
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void free();
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/**
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\brief Set up a vehicle with
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\brief(i) a PxPhysics instance - needed to setup special vehicle constraints maintained by the vehicle.
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\brief(ii) a PxRigidDynamic instance - the rigid body representation of the vehicle in the physx sdk.
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\brief(iii) a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the vehicle instance takes a copy of this input data.
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\brief(iv) a PxVehicle4WDriveSimData instance describing the drive data (engine/Ackermann steer correction/differential etc) - the vehicle instance takes a copy of this input data.
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\brief(v) the number of non-driven wheels (it is assumed that the vehicle has up to 4 wheels that could be driven by the engine).
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\brief(vi) it is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes.
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\brief(viii)it is assumed that the front-left wheel shape is shape 0 of the actor
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\brief(ix) it is assumed that the front-right wheel shape is shape 1 of the actor
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\brief(x) it is assumed that the rear-left wheel shape is shape 2 of the actor
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\brief(xi) it is assumed that the rear-right wheel shape is shape 3 of the actor
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\brief(xii) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor.
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\brief(xiii)it is assumed that the wheel shapes ordered in the actor match the wheels specified in PxVehicleWheelsSimData.
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\brief(xiv) to break assumptions (vi)-(xiii) and have arbitary shape ordering see PxVehicleWheels::setWheelShapeMapping
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\brief(xiv) only the first four wheels (the driven wheels) are connected to the steering.
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@see allocate, free, setToRestState, eWheelOrdering
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*/
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void setup
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
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const PxU32 numNonDrivenWheels);
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/**
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\brief Set up a vehicle with
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\brief(i) a PxPhysics instance - needed to setup special vehicle constraints maintained by the vehicle.
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\brief(ii) a PxRigidDynamic instance - the rigid body representation of the vehicle in the physx sdk.
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\brief(iii) a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the vehicle instance takes a copy of this input data.
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\brief(iv) a PxVehicle4WDriveSimData instance describing the drive data (engine/Ackermann steer correction/differential etc) - the vehicle instance takes a copy of this input data.
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\brief(v) the number of non-driven wheels (it is assumed that the vehicle has up to 4 wheels that could be driven by the engine).
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\brief(vi) it is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes.
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\brief(viii)it is assumed that the front-left wheel shape is shape 0 of the actor
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\brief(ix) it is assumed that the front-right wheel shape is shape 1 of the actor
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\brief(x) it is assumed that the rear-left wheel shape is shape 2 of the actor
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\brief(xi) it is assumed that the rear-right wheel shape is shape 3 of the actor
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\brief(xii) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor.
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\brief(xiii)it is assumed that the wheel shapes ordered in the actor match the wheels specified in PxVehicleWheelsSimData.
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\brief(xiv) to break assumptions (vi)-(xiii) and have arbitary shape ordering see PxVehicleWheels::setWheelShapeMapping
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\brief(xv) only the first four wheels (the driven wheels) are connected to the steering.
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@see free, setToRestState, setup, eWheelOrdering
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*/
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static PxVehicleDrive4W* create
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
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const PxU32 numNonDrivenWheels);
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/**
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\brief Set a vehicle to its rest state.
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@see setup
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*/
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void setToRestState();
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/**
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\brief Simulation data that models vehicle components
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@see setup
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*/
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PxVehicleDriveSimData4W mDriveSimData;
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private:
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PxVehicleDrive4W()
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{
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}
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~PxVehicleDrive4W()
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{
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}
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/**
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\brief Test if the instanced dynamics and configuration data has legal values.
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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(PxVehicleDrive4W) & 15));
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif //PX_VEHICLE_4WDRIVE_H
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