230 lines
7.9 KiB
C++
230 lines
7.9 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_DRIVE_TANK_H
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#define PX_VEHICLE_DRIVE_TANK_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 with instanced dynamics data and configuration data of a tank.
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*/
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class PxVehicleDriveTank : 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 wheels
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*/
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enum eWheelOrdering
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{
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eTANK_WHEEL_FRONT_LEFT=0,
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eTANK_WHEEL_FRONT_RIGHT,
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eTANK_WHEEL_1ST_FROM_FRONT_LEFT,
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eTANK_WHEEL_1ST_FROM_FRONT_RIGHT,
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eTANK_WHEEL_2ND_FROM_FRONT_LEFT,
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eTANK_WHEEL_2ND_FROM_FRONT_RIGHT,
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eTANK_WHEEL_3RD_FROM_FRONT_LEFT,
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eTANK_WHEEL_3RD_FROM_FRONT_RIGHT,
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eTANK_WHEEL_4TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_4TH_FROM_FRONT_RIGHT,
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eTANK_WHEEL_5TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_5TH_FROM_FRONT_RIGHT,
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eTANK_WHEEL_6TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_6TH_FROM_FRONT_RIGHT,
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eTANK_WHEEL_7TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_7TH_FROM_FRONT_RIGHT,
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eTANK_WHEEL_8TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_8TH_FROM_FRONT_RIGHT,
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eTANK_WHEEL_9TH_FROM_FRONT_LEFT,
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eTANK_WHEEL_9TH_FROM_FRONT_RIGHT
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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_LEFT,
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eANALOG_INPUT_BRAKE_RIGHT,
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eANALOG_INPUT_THRUST_LEFT,
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eANALOG_INPUT_THRUST_RIGHT,
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eMAX_NUM_DRIVETANK_ANALOG_INPUTS
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};
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/**
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\brief Two driving models supported
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@see setDrivingModel
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*/
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enum eDriveModel
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{
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eDRIVE_MODEL_STANDARD=0,
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eDRIVE_MODEL_SPECIAL
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};
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/**
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\brief Allocate a PxVehicleTankDrive instance for a tank with numWheels
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\brief It is assumed that all wheels are driven wheels.
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@see free, setup
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*/
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static PxVehicleDriveTank* allocate(const PxU32 numWheels);
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/**
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\brief Deallocate a PxVehicleDriveTank 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 tank 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 tank in the physx sdk.
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\brief (iii)a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the tank instance takes a copy of this input data.
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\brief (iv) a PxVehicleDriveSimData instance describing the drive data - the tank instance takes a copy of this input data.
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\brief (v) the number of driven wheels.
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\brief (vi) it is assumed that the first numDrivenWheel shapes of vehActor correspond to the wheel shapes of the tank
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\brief (vii)it is assumed that the even-numbered wheel shapes are the left-hand wheels ordered in sequence from front to back
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\brief (viii)it is assumed that the odd-numbered wheel shapes are the right-hand wheels ordered in sequence from front to back
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\brief (ix) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor.
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\brief (x) it is assumed that the ordering of the wheel shapes in the actor matches the ordering in PxVehicleWheelsSimData.
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\brief (xi) to break assumpgions (vi)-(x) see PxVehicleWheels::setWheelShapeMapping
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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 PxVehicleDriveSimData& driveData,
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const PxU32 numDrivenWheels);
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/**
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\brief Create a tank 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 tank in the physx sdk.
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\brief (iii)a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the tank instance takes a copy of this input data.
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\brief (iv) a PxVehicleDriveSimData instance describing the drive data - the tank instance takes a copy of this input data.
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\brief (v) the number of driven wheels (the number of tank wheels)
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\brief (vi) it is assumed that the first numDrivenWheel shapes of vehActor correspond to the wheel shapes of the tank
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\brief (vii)it is assumed that the even-numbered wheel shapes are the left-hand wheels ordered in sequence from front to back
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\brief (viii)it is assumed that the odd-numbered wheel shapes are the right-hand wheels ordered in sequence from front to back
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\brief (ix) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor.
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\brief (x) it is assumed that the ordering of the wheel shapes in the actor matches the ordering in PxVehicleWheelsSimData.
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\brief (xi) to break assumptions (vi)-(x) see PxVehicleWheels::setWheelShapeMapping
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@see free, setToRestState, setup
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*/
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static PxVehicleDriveTank* create
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(PxPhysics* physics, PxRigidDynamic* vehActor,
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const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
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const PxU32 numDrivenWheels);
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/**
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\brief Set driving model
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\brief eDRIVE_MODEL_STANDARD: turning achieved by braking on one side, accelerating on the other side.
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\brief eDRIVE_MODEL_SPECIAL: turning achieved by accelerating forwards on one side, accelerating backwards on the other side.
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\brief default value is eDRIVE_MODEL_STANDARD
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*/
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void setDriveModel(const eDriveModel driveModel)
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{
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mDriveModel=driveModel;
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}
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/**
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\brief Return the driving model
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*/
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eDriveModel getDriveModel() const {return mDriveModel;}
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/**
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\brief Set a vehicle to its rest state.
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\brief Call after setup
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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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PxVehicleDriveSimData mDriveSimData;
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private:
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PxVehicleDriveTank()
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: mDriveModel(eDRIVE_MODEL_STANDARD)
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{
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}
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~PxVehicleDriveTank()
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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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\brief Drive model
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@see setDriveModel, eDriveModel
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*/
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eDriveModel mDriveModel;
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PxU32 mPad[3];
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 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_DRIVE_TANK_H
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