Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 566 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/vehicle/PxVehicleDrive.h b/PhysX_3.4/Include/vehicle/PxVehicleDrive.h
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#ifndef PX_VEHICLE_DRIVE_H
+#define PX_VEHICLE_DRIVE_H
+/** \addtogroup vehicle
+  @{
+*/
+
+#include "vehicle/PxVehicleWheels.h"
+#include "vehicle/PxVehicleComponents.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+struct PxFilterData;
+class PxGeometry;
+class PxPhysics;
+class PxBatchQuery;
+class PxVehicleDrivableSurfaceToTireFrictionPairs;
+class PxShape;
+class PxMaterial;
+class PxRigidDynamic;
+
+/**
+\brief Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box.
+@see PxVehicleWheelsSimData for wheels configuration data.
+*/
+class PxVehicleDriveSimData
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+public:
+
+	friend class PxVehicleDriveTank;
+
+	/**
+	\brief Return the engine data
+	*/
+	PX_FORCE_INLINE const PxVehicleEngineData& getEngineData() const 
+	{
+		return mEngine;
+	}
+	
+	/**
+	\brief Set the engine data
+	\param[in] engine - the data stored in engine is copied to the vehicle's engine.
+	*/
+	void setEngineData(const PxVehicleEngineData& engine);
+
+	/**
+	\brief Return the gears data
+	*/
+	PX_FORCE_INLINE const PxVehicleGearsData& getGearsData() const 
+	{
+		return mGears;
+	}
+	
+	/**
+	\brief Set the gears data
+	\param[in] gears - the data stored in gears is copied to the vehicle's gears.
+	*/
+	void setGearsData(const PxVehicleGearsData& gears);
+
+	/**
+	\brief Return the clutch data
+	*/
+	PX_FORCE_INLINE const PxVehicleClutchData& getClutchData() const 
+	{
+		return mClutch;
+	}
+	
+	/**
+	\brief Set the clutch data
+	\param[in] clutch - the data stored in clutch is copied to the vehicle's clutch.
+	*/
+	void setClutchData(const PxVehicleClutchData& clutch);
+
+	/**
+	\brief Return the autobox data
+	*/
+	PX_FORCE_INLINE const PxVehicleAutoBoxData& getAutoBoxData() const 
+	{
+		return mAutoBox;
+	}
+
+	/**
+	\brief Set the autobox data
+	\param[in] autobox - the data stored in autobox is copied to the vehicle's autobox.
+	*/
+	void setAutoBoxData(const PxVehicleAutoBoxData& autobox);
+
+protected:
+	/*
+	\brief Engine simulation data
+	@see setEngineData, getEngineData
+	*/
+	PxVehicleEngineData				mEngine;
+
+	/*
+	\brief Gear simulation data
+	@see setGearsData, getGearsData
+	*/
+	PxVehicleGearsData				mGears;
+
+	/*
+	\brief Clutch simulation data
+	@see setClutchData, getClutchData
+	*/
+	PxVehicleClutchData				mClutch;
+
+	/*
+	\brief Autobox simulation data
+	@see setAutoboxData, getAutoboxData
+	*/
+	PxVehicleAutoBoxData			mAutoBox;
+
+	/**
+	\brief Test that a PxVehicleDriveSimData instance has been configured with legal data.
+	Call only after setting all components with setEngineData,setGearsData,setClutchData,setAutoBoxData
+	@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
+	*/
+	bool isValid() const;
+
+
+//serialization
+public:
+	PxVehicleDriveSimData() {}
+	PxVehicleDriveSimData(const PxEMPTY) :  mEngine(PxEmpty), mGears(PxEmpty), mClutch(PxEmpty), mAutoBox(PxEmpty) {}
+	static void getBinaryMetaData(PxOutputStream& stream);
+//~serialization
+};
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData) & 15));
+
+
+/**
+\brief Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox
+@see PxVehicleWheelsDynData for wheels dynamics data.
+*/
+class PxVehicleDriveDynData
+{
+public:
+	
+	enum
+	{
+		eMAX_NB_ANALOG_INPUTS=16
+	};
+
+	friend class PxVehicleDrive;
+
+	/**
+	\brief Set all dynamics data to zero to bring the vehicle to rest.
+	*/
+	void setToRestState();
+
+	/**
+	\brief Set an analog control value to drive the vehicle.
+	\param[in] type describes the type of analog control being modified
+	\param[in] analogVal is the new value of the specific analog control.
+	@see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
+	*/
+	void setAnalogInput(const PxU32 type, const PxReal analogVal);
+
+	/**
+	\brief Get the analog control value that has been applied to the vehicle.
+	\return The value of the specified analog control value.
+	@see PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
+	*/
+	PxReal getAnalogInput(const PxU32 type) const;
+
+	/**
+	\brief Inform the vehicle that the gear-up button has been pressed.
+
+	\param[in] digitalVal is the state of the gear-up button.
+	
+	\note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
+
+	\note The value of mGearUpPressed is not reset by PxVehicleUpdates
+	*/
+	void setGearUp(const bool digitalVal) 
+	{
+		mGearUpPressed = digitalVal;
+	}
+
+	/**
+	\brief Set that the gear-down button has been pressed.
+
+	\param[in] digitalVal is the state of the gear-down button.
+
+	\note If digitalVal is true the vehicle will attempt to initiate a gear change at the next call to PxVehicleUpdates.
+
+	\note The value of mGearDownPressed is not reset by PxVehicleUpdates
+	*/
+	void setGearDown(const bool digitalVal) 
+	{
+		mGearDownPressed = digitalVal;
+	}
+
+	/**
+	\brief Check if the gear-up button has been pressed
+	\return The state of the gear-up button.
+	*/
+	bool getGearUp() const 
+	{
+		return mGearUpPressed;
+	}
+
+	/**
+	\brief Check if the gear-down button has been pressed
+	\return The state of the gear-down button.
+	*/
+	bool getGearDown() const 
+	{
+		return mGearDownPressed;
+	}
+
+	/**
+	\brief Set the flag that will be used to select auto-gears
+	If useAutoGears is true the auto-box will be active.
+	\param[in] useAutoGears is the active state of the auto-box.
+	*/
+	PX_FORCE_INLINE void setUseAutoGears(const bool useAutoGears)
+	{
+		mUseAutoGears=useAutoGears;
+	}
+
+	/**
+	\brief Get the flag status that is used to select auto-gears
+	\return The active status of the auto-box.
+	*/
+	PX_FORCE_INLINE bool getUseAutoGears() const
+	{
+		return mUseAutoGears;
+	}
+
+	/**
+	\brief Toggle the auto-gears flag
+	If useAutoGears is true the auto-box will be active.
+	*/
+	PX_FORCE_INLINE void toggleAutoGears() 
+	{
+		mUseAutoGears = !mUseAutoGears;
+	}
+
+	/**
+	\brief Set the current gear.
+
+	\param[in] currentGear is the vehicle's gear.
+
+	\note If the target gear is different from the current gear the vehicle will 
+	attempt to start a gear change from the current gear that has just been set 
+	towards the target gear at the next call to PxVehicleUpdates.
+
+	@see setTargetGear, PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE void setCurrentGear(PxU32 currentGear) 
+	{
+		mCurrentGear = currentGear;
+	}
+
+	/**
+	\brief Get the current gear.
+
+	\return The vehicle's current gear.
+
+	@see getTargetGear, PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE PxU32 getCurrentGear() const
+	{
+		return mCurrentGear;
+	}
+
+	/**
+	\brief Set the target gear.
+
+	\param[in] targetGear is the vehicle's target gear.
+
+	\note If the target gear is different from the current gear the vehicle will 
+	attempt to start a gear change towards the target gear at the next call to 
+	PxVehicleUpdates.
+
+	@see PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE void setTargetGear(PxU32 targetGear) 
+	{
+		mTargetGear = targetGear;
+	}
+
+	/**
+	\brief Get the target gear.
+
+	\return The vehicle's target gear.
+
+	@see setTargetGear, PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE PxU32 getTargetGear() const
+	{
+		return mTargetGear;
+	}
+	
+	/**
+	\brief Start a gear change to a target gear. 
+	
+	\param[in] targetGear is the gear the vehicle will begin a transition towards.
+
+	\note The gear change will begin at the next call to PxVehicleUpadates.
+
+	@see PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE void startGearChange(const PxU32 targetGear)
+	{
+		mTargetGear=targetGear;
+	}
+
+	/**
+	\brief Force an immediate gear change to a target gear
+
+	\param[in] targetGear is the gear the vehicle will be given immediately.
+
+	@see PxVehicleGearsData
+	*/
+	PX_FORCE_INLINE void forceGearChange(const PxU32 targetGear)
+	{
+		mTargetGear=targetGear;
+		mCurrentGear=targetGear;
+	}
+
+	/**
+	\brief Set the rotation speed of the engine (radians per second)
+
+	\param[in] speed is the rotational speed (radians per second) to apply to the engine.
+	*/
+	PX_FORCE_INLINE void setEngineRotationSpeed(const PxF32 speed)
+	{
+		mEnginespeed = speed;
+	}
+
+	/**
+	\brief Return the rotation speed of the engine (radians per second)
+
+	\return The rotational speed (radians per second) of the engine.
+	*/
+	PX_FORCE_INLINE PxReal getEngineRotationSpeed() const
+	{
+		return mEnginespeed;
+	}
+
+	/**
+	\brief Return the time that has passed since the current gear change was initiated.
+	
+	\return The time that has passed since the current gear change was initiated. 
+
+	\note If no gear change is in process the gear switch time will be zero.
+
+	@see PxVehicleGearsData.mSwitchTime
+	*/
+	PX_FORCE_INLINE PxReal getGearSwitchTime() const
+	{
+		return mGearSwitchTime;
+	}
+
+	/**
+	\brief Return the time that has passed since the autobox last initiated a gear change.
+
+	\return  The time that has passed since the autobox last initiated a gear change.
+
+	@see PxVehicleAutoBoxData::setLatency, PxVehicleAutoBoxData::getLatency
+	*/
+	PX_FORCE_INLINE PxReal getAutoBoxSwitchTime() const
+	{
+		return mAutoBoxSwitchTime;
+	}
+
+	/**
+	\brief All dynamic data values are public for fast access.
+	*/
+
+
+	/**
+	\brief Analog control values used by vehicle simulation. 
+	@see setAnalogInput, getAnalogInput, PxVehicleDrive4WControl, PxVehicleDriveNWControl, PxVehicleDriveTankControl
+	*/
+	PxReal mControlAnalogVals[eMAX_NB_ANALOG_INPUTS];
+
+	/**
+	\brief Auto-gear flag used by vehicle simulation.  Set true to enable the autobox, false to disable the autobox.
+	@see setUseAutoGears, setUseAutoGears, toggleAutoGears, PxVehicleAutoBoxData
+	*/
+	bool mUseAutoGears;
+
+	/**
+	\brief Gear-up digital control value used by vehicle simulation.  
+	
+	\note If true a gear change will be initiated towards currentGear+1 (or to first gear if in reverse).
+
+	@see setDigitalInput, getDigitalInput
+	*/
+	bool mGearUpPressed;
+
+	/**
+	\brief Gear-down digital control value used by vehicle simulation.  
+	
+	\note If true a gear change will be initiated towards currentGear-1 (or to reverse if in first).
+
+	@see setDigitalInput, getDigitalInput
+	*/
+	bool mGearDownPressed;
+
+	/**
+	\brief Current gear 
+	@see startGearChange, forceGearChange, getCurrentGear, PxVehicleGearsData
+	*/
+	PxU32 mCurrentGear;
+
+	/**
+	\brief Target gear (different from current gear if a gear change is underway) 
+	@see startGearChange, forceGearChange, getTargetGear, PxVehicleGearsData
+	*/
+	PxU32 mTargetGear;
+
+	/**
+	\brief Rotation speed of engine
+	@see setToRestState, getEngineRotationSpeed
+	*/	
+	PxReal mEnginespeed;
+
+	/**
+	\brief Reported time that has passed since gear change started.
+	@see setToRestState, startGearChange, PxVehicleGearsData::mSwitchTime
+	*/
+	PxReal mGearSwitchTime;
+
+	/**
+	\brief Reported time that has passed since last autobox gearup/geardown decision.
+	@see setToRestState, PxVehicleAutoBoxData::setLatency
+	*/
+	PxReal mAutoBoxSwitchTime;
+
+private:
+	PxU32 mPad[2];
+
+	/**
+	\brief Test that a PxVehicleDriveDynData instance has legal values.
+	@see setToRestState
+	*/
+	bool isValid() const;
+
+//serialization
+public:
+	PxVehicleDriveDynData();
+	PxVehicleDriveDynData(const PxEMPTY)  {}
+	PxU32 getNbAnalogInput() const { return eMAX_NB_ANALOG_INPUTS; }
+	PX_FORCE_INLINE void setGearChange(const PxU32 gearChange) { mTargetGear= gearChange; }
+	PX_FORCE_INLINE PxU32 getGearChange() const { return mTargetGear; }
+	PX_FORCE_INLINE void setGearSwitchTime(const PxReal switchTime) { mGearSwitchTime = switchTime; }
+	PX_FORCE_INLINE void setAutoBoxSwitchTime(const PxReal autoBoxSwitchTime) { mAutoBoxSwitchTime = autoBoxSwitchTime; }
+//~serialization
+};
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveDynData) & 15));
+
+/**
+\brief A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox.
+@see PxVehicleDrive4W, PxVehicleDriveTank
+*/
+class PxVehicleDrive : public PxVehicleWheels
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+public:
+
+	friend class PxVehicleUpdate;
+
+	/**
+	\brief Dynamics data of vehicle instance.
+	@see setup
+	*/
+	PxVehicleDriveDynData mDriveDynData;
+
+protected:
+	
+	/**
+	\brief Test that all instanced dynamics data and configuration data have legal values.
+	*/
+	bool isValid() const;
+
+	/**
+	\brief Set vehicle to rest.
+	*/
+	void setToRestState();
+
+	/**
+	@see PxVehicleDrive4W::allocate, PxVehicleDriveTank::allocate
+	*/
+	static PxU32 computeByteSize(const PxU32 numWheels);
+	static PxU8* patchupPointers(const PxU32 nbWheels, PxVehicleDrive* vehDrive, PxU8* ptr);
+	virtual void init(const PxU32 numWheels);
+
+	/**
+	\brief Deallocate a PxVehicle4WDrive instance.
+	@see PxVehicleDrive4W::free, PxVehicleDriveTank::free
+	*/
+	void free();
+
+	/**
+	@see PxVehicleDrive4W::setup, PxVehicleDriveTank::setup
+	*/
+	void setup
+		(PxPhysics* physics, PxRigidDynamic* vehActor, 
+		 const PxVehicleWheelsSimData& wheelsData,
+		 const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
+
+//serialization
+public:
+	static void getBinaryMetaData(PxOutputStream& stream);
+	PxVehicleDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags), mDriveDynData(PxEmpty) {}
+	virtual const char* getConcreteTypeName() const { return "PxVehicleDrive"; }
+protected:
+	PxVehicleDrive(PxType concreteType, PxBaseFlags baseFlags) : PxVehicleWheels(concreteType, baseFlags) {}	
+	~PxVehicleDrive() {}
+	virtual bool isKindOf(const char* name)	const { return !::strcmp("PxVehicleDrive", name) || PxBase::isKindOf(name); }
+//~serialization
+};
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive) & 15));
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif //PX_VEHICLE_DRIVE_H