162 lines
5.0 KiB
C++
162 lines
5.0 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_NO_DRIVE_H
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#define PX_VEHICLE_NO_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 with instanced dynamics data and configuration data of a vehicle with no drive model.
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*/
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class PxVehicleNoDrive : 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 Allocate a PxVehicleNoDrive instance for a vehicle without drive model with numWheels
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@see free, setup
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*/
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static PxVehicleNoDrive* allocate(const PxU32 numWheels);
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/**
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\brief Deallocate a PxVehicleNoDrive 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 PxVehicleNoDrive instance 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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@see allocate, free, setToRestState
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*/
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void setup
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(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);
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/**
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\brief Create a PxVehicleNoDrive instance 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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@see free, setToRestState, setup
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*/
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static PxVehicleNoDrive* create
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(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);
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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 Set the brake torque to be applied to a specific wheel
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*/
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void setBrakeTorque(const PxU32 id, const PxReal brakeTorque);
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/**
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\brief Set the drive torque to be applied to a specific wheel
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*/
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void setDriveTorque(const PxU32 id, const PxReal driveTorque);
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/**
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\brief Set the steer angle to be applied to a specific wheel
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*/
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void setSteerAngle(const PxU32 id, const PxReal steerAngle);
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/**
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\brief Get the brake torque that has been applied to a specific wheel
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*/
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PxReal getBrakeTorque(const PxU32 id) const;
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/**
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\brief Get the drive torque that has been applied to a specific wheel
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*/
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PxReal getDriveTorque(const PxU32 id) const;
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/**
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\brief Get the steer angle that has been applied to a specific wheel
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*/
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PxReal getSteerAngle(const PxU32 id) const;
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private:
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PxVehicleNoDrive()
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{
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}
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~PxVehicleNoDrive()
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{
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}
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PxReal* mSteerAngles;
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PxReal* mDriveTorques;
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PxReal* mBrakeTorques;
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PxReal* mPad;
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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(PxVehicleNoDrive) & 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_NO_DRIVE_H
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