126 lines
5.5 KiB
C++
126 lines
5.5 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_SHADERS_H
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#define PX_VEHICLE_SHADERS_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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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Prototype of shader function that computes wheel torque and tire forces.
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\brief Default implementation is PxVehicleComputeTireForceDefault.
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\brief shaderData - shader data for the tire being processed (see PxVehicleTireForceCalculator).
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\brief tireFriction - friction value of the tire contact.
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\brief longSlip - longitudinal slip of the tire.
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\brief latSlip - lateral slip of the tire.
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\brief camber - camber angle of the tire.
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\brief wheelOmega - rotational speed of the wheel.
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\brief wheelRadius - the distance from the tire surface and the center of the wheel.
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\brief recipWheelRadius - the reciprocal of wheelRadius.
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\brief restTireLoad - the load force experienced by the tire when the vehicle is at rest.
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\brief normalisedTireLoad - a value equal to the load force on the tire divided by the restTireLoad.
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\brief tireLoad - the load force currently experienced by the tire.
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\brief gravity - magnitude of gravitational acceleration.
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\brief recipGravity - the reciprocal of the magnitude of gravitational acceleration.
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\brief wheelTorque - the torque to be applied to the wheel around the wheel axle.
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\brief tireLongForceMag - the magnitude of the longitudinal tire force to be applied to the vehicle's rigid body.
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\brief tireLatForceMag - the magnitude of the lateral tire force to be applied to the vehicle's rigid body.
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\brief tireAlignMoment - the aligning moment of the tire that is to be applied to the vehicle's rigid body (not currently used).
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@see PxVehicleComputeTireForceDefault
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*/
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typedef void (*PxVehicleComputeTireForce)
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(const void* shaderData,
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const PxF32 tireFriction,
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const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber,
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const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius,
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const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad,
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const PxF32 gravity, const PxF32 recipGravity,
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PxF32& wheelTorque, PxF32& tireLongForceMag, PxF32& tireLatForceMag, PxF32& tireAlignMoment);
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/**
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\brief Default implementation of PxVehicleComputeTireForce
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@see PxVehicleComputeTireForce, PxVehicleTireForceCalculator
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*/
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void PxVehicleComputeTireForceDefault
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(const void* shaderData,
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const PxF32 tireFriction,
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const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber,
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const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius,
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const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad,
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const PxF32 gravity, const PxF32 recipGravity,
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PxF32& wheelTorque, PxF32& tireLongForceMag, PxF32& tireLatForceMag, PxF32& tireAlignMoment);
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/**
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\brief Structure containing shader data for each tire of a vehicle and a shader function that computes individual tire forces
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*/
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class PxVehicleTireForceCalculator
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{
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public:
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PxVehicleTireForceCalculator()
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: mShader(PxVehicleComputeTireForceDefault)
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{
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}
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/**
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\brief Array of shader data - one data entry per tire.
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Default values are pointers to PxVehicleTireData (stored in PxVehicleWheelsSimData) and are set in PxVehicleDriveTank::setup or PxVehicleDrive4W::setup
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@see PxVehicleComputeTireForce, PxVehicleComputeTireForceDefault, PxVehicleWheelsSimData, PxVehicleDriveTank::setup, PxVehicleDrive4W::setup
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*/
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const void** mShaderData;
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/**
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\brief Shader function.
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Default value is PxVehicleComputeTireForceDefault and is set in PxVehicleDriveTank::setup or PxVehicleDrive4W::setup
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@see PxVehicleComputeTireForce, PxVehicleComputeTireForceDefault, PxVehicleWheelsSimData, PxVehicleDriveTank::setup, PxVehicleDrive4W::setup
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*/
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PxVehicleComputeTireForce mShader;
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#ifndef PX_X64
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PxU32 mPad[2];
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#endif
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTireForceCalculator) & 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_SHADERS_H
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