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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 281 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/vehicle/PxVehicleDriveTank.h b/PhysX_3.4/Include/vehicle/PxVehicleDriveTank.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_TANK_H
+#define PX_VEHICLE_DRIVE_TANK_H
+/** \addtogroup vehicle
+  @{
+*/
+
+#include "vehicle/PxVehicleDrive.h"
+#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 The ordering of the wheels of a PxVehicleDriveTank.
+
+@see PxVehicleWheelsSimData, PxVehicleWheelsDynData
+*/
+struct PxVehicleDriveTankWheelOrder
+{
+	enum Enum
+	{
+		eFRONT_LEFT=0,
+		eFRONT_RIGHT,
+		e1ST_FROM_FRONT_LEFT,
+		e1ST_FROM_FRONT_RIGHT,
+		e2ND_FROM_FRONT_LEFT,
+		e2ND_FROM_FRONT_RIGHT,
+		e3RD_FROM_FRONT_LEFT,
+		e3RD_FROM_FRONT_RIGHT,
+		e4TH_FROM_FRONT_LEFT,
+		e4TH_FROM_FRONT_RIGHT,
+		e5TH_FROM_FRONT_LEFT,
+		e5TH_FROM_FRONT_RIGHT,
+		e6TH_FROM_FRONT_LEFT,
+		e6TH_FROM_FRONT_RIGHT,
+		e7TH_FROM_FRONT_LEFT,
+		e7TH_FROM_FRONT_RIGHT,
+		e8TH_FROM_FRONT_LEFT,
+		e8TH_FROM_FRONT_RIGHT,
+		e9TH_FROM_FRONT_LEFT,
+		e9TH_FROM_FRONT_RIGHT
+	};
+};
+
+
+/**
+\brief The control inputs for a PxVehicleDriveTank.
+
+\note The values of eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT determine how much 
+of the total available drive torque is diverted to the left and right wheels.  These entries in the 
+enumerated list represent the state of the left and right control sticks of a tank. The total available 
+drive torque available is controlled by eANALOG_INPUT_ACCEL, which represents the state of the acceleration
+pedal and controls how much torque will be applied to the engine.  
+
+\note To accelerate forwards eANALOG_INPUT_ACCEL must be greater than zero so that torque is applied to drive the 
+engine, while eANALOG_INPUT_THRUST_LEFT and eANALOG_INPUT_THRUST_RIGHT must also be greater than zero
+to divert the available drive torque to the left and wheels. If eANALOG_INPUT_THRUST_LEFT > eANALOG_INPUT_THRUST_RIGHT
+the tank will turn to the right.  If eANALOG_INPUT_THRUST_RIGHT > eANALOG_INPUT_THRUST_LEFT
+the tank will turn to the left.
+
+@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
+*/
+
+struct PxVehicleDriveTankControl
+{
+	enum Enum
+	{
+		eANALOG_INPUT_ACCEL=0,
+		eANALOG_INPUT_BRAKE_LEFT,	
+		eANALOG_INPUT_BRAKE_RIGHT,	
+		eANALOG_INPUT_THRUST_LEFT,	
+		eANALOG_INPUT_THRUST_RIGHT,	
+		eMAX_NB_DRIVETANK_ANALOG_INPUTS
+	};
+};
+
+/**
+\brief Two driving models are supported.
+
+\note If eSTANDARD is chosen the left and right wheels are always driven in the same direction.  If the tank is in 
+a forward gear the left and right wheels will all be driven forwards, while in reverse gear the left and right wheels
+will all be driven backwards. With eSTANDARD the legal range of left and right thrust is (0,1).
+
+\note If eSPECIAL is chosen it is possible to drive the left and right wheels in different directions. 
+With eSPECIAL the legal range of left and right thrust is (-1,1).  In forward(reverse) gear negative thrust values drive the wheels 
+backwards(forwards), while positive thrust values drives the wheels forwards(backwards).  
+
+\note A sharp left turn can be achieved in eSTANDARD mode by braking with the left wheels and thrusting forward with the 
+right wheels. A smaller turning circle can theoretically be achieved in eSPECIAL mode by applying negative thrust to the left wheels and positive
+thrust to the right wheels.
+
+\note In both modes the legal ranges of acceleration and left/right brake are all (0,1).
+
+@see PxVehicleDriveTank::setDriveModel
+*/
+struct PxVehicleDriveTankControlModel
+{
+	enum Enum
+	{
+		eSTANDARD=0,
+		eSPECIAL
+	};
+};
+
+
+/**
+\brief Data structure with instanced dynamics data and configuration data of a tank.
+*/
+class PxVehicleDriveTank : public PxVehicleDrive
+{
+//= 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 Allocate a PxVehicleTankDrive instance for a tank with nbWheels
+
+	\param[in] nbWheels is the number of wheels on the vehicle.
+
+	\note It is assumed that all wheels are driven wheels.
+
+	\return The instantiated vehicle.
+
+	@see free, setup
+	*/
+	static PxVehicleDriveTank* allocate(const PxU32 nbWheels);
+
+	/**
+	\brief Deallocate a PxVehicleDriveTank instance.
+	@see allocate
+	*/
+	void free();
+
+	/**
+	\brief Set up a tank using simulation data for the wheels and drive model.
+	\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
+	\param[in] vehActor is a PxRigidDynamic instance that is used to represent the tank in the PhysX SDK.
+	\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data.
+	\param[in] driveData describes the properties of the tank's drive model (gears/engine/clutch/autobox).  The tank instance takes a copy of this data.
+	\param[in] nbDrivenWheels is the number of wheels on the tank.
+	\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes.  To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
+	@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
+	\note nbDrivenWheels must be an even number
+	\note The wheels must be arranged according to PxVehicleDriveTankWheelOrder; that is, 
+	the even wheels are on the left side of the tank and the odd wheels are on the right side of the tank. 
+	*/
+	void setup
+		(PxPhysics* physics, PxRigidDynamic* vehActor, 
+		 const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
+		 const PxU32 nbDrivenWheels);
+
+	/**
+	\brief Allocate and set up a tank using simulation data for the wheels and drive model.
+	\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the tank.
+	\param[in] vehActor is a PxRigidDynamic instance that is used to represent the tank in the PhysX SDK.
+	\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the tank. The tank instance takes a copy of this data.
+	\param[in] driveData describes the properties of the tank's drive model (gears/engine/clutch/differential/autobox).  The tank instance takes a copy of this data.
+	\param[in] nbDrivenWheels is the number of wheels on the tank.
+	\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes.  To break this assumption use PxVehicleWheelsSimData::setWheelShapeMapping.
+	\return The instantiated vehicle.
+	@see allocate, free, setToRestState, PxVehicleWheelsSimData::setWheelShapeMapping
+	*/
+	static PxVehicleDriveTank* create
+		(PxPhysics* physics, PxRigidDynamic* vehActor, 
+		 const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
+		 const PxU32 nbDrivenWheels);
+
+	/**
+	\brief Set the control model used by the tank.
+	\note eDRIVE_MODEL_STANDARD: turning achieved by braking on one side, accelerating on the other side.
+	\note eDRIVE_MODEL_SPECIAL: turning achieved by accelerating forwards on one side, accelerating backwards on the other side.
+	\note The default value is eDRIVE_MODEL_STANDARD
+	*/
+	void setDriveModel(const PxVehicleDriveTankControlModel::Enum driveModel)
+	{
+		mDriveModel=driveModel;
+	}
+
+	/**
+	\brief Return the control model used by the tank.
+	*/
+	PxVehicleDriveTankControlModel::Enum getDriveModel() const {return mDriveModel;}
+
+	/**
+	\brief Set a vehicle to its rest state.  Aside from the rigid body transform, this will set the vehicle and rigid body 
+	to the state they were in immediately after setup or create.
+	\note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line
+	raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates. 
+	@see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates
+	*/
+	void setToRestState();
+
+	/**
+	\brief Simulation data that models vehicle components
+	@see setup, create
+	*/
+	PxVehicleDriveSimData mDriveSimData;
+
+private:
+	/**
+	\brief Test if the instanced dynamics and configuration data has legal values.
+	*/
+	bool isValid() const;
+
+	/**
+	\brief Drive model
+	@see setDriveModel, getDriveModel, PxVehicleDriveTankControlModel
+	*/
+	PxVehicleDriveTankControlModel::Enum mDriveModel;
+
+	PxU32 mPad[3];
+
+//serialization
+public:
+											PxVehicleDriveTank(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags)			{}
+	static		PxVehicleDriveTank*			createObject(PxU8*& address, PxDeserializationContext& context);
+	static		void						getBinaryMetaData(PxOutputStream& stream);
+	virtual		const char*					getConcreteTypeName()		const	{	return "PxVehicleDriveTank";	}
+	virtual		bool						isKindOf(const char* name)	const	{	return !::strcmp("PxVehicleDriveTank", name) || PxBase::isKindOf(name); }
+protected:
+											PxVehicleDriveTank();
+											~PxVehicleDriveTank(){}
+//~serialization
+};
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 15));
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif //PX_VEHICLE_DRIVE_TANK_H