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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 160 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/vehicle/PxVehicleUtilSetup.h b/PhysX_3.4/Include/vehicle/PxVehicleUtilSetup.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_UTILSSETUP_H
+#define PX_VEHICLE_UTILSSETUP_H
+/** \addtogroup vehicle
+  @{
+*/
+#include "foundation/PxSimpleTypes.h"
+#include "vehicle/PxVehicleSDK.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxVehicleWheelsSimData;
+class PxVehicleWheelsDynData;
+class PxVehicleDriveSimData4W;
+class PxVehicleWheels;
+
+
+/**
+\brief Reconfigure a PxVehicle4W instance as a three-wheeled car with tadpole config (2 front wheels, 1 rear wheel)
+
+\note The rear-left wheel is removed and the rear-right wheel is positioned at the centre of the rear axle.
+The suspension of the rear-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.
+
+\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
+\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
+\param[in,out] driveSimData is the data describing the drive model of the vehicle.
+*/
+void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
+
+/**
+\brief Reconfigure a PxVehicle4W instance as a three-wheeled car with delta config (1 front wheel, 2 rear wheels)
+
+\note The front-left wheel is removed and the front-right wheel is positioned at the centre of the front axle.
+The suspension of the front-right wheel is modified to support the entire mass of the front car while preserving its natural frequency and damping ratio.
+
+\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
+\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
+\param[in,out] driveSimData is the data describing the drive model of the vehicle.
+*/
+void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
+
+/**
+\brief Compute the sprung masses of the suspension springs given (i) the number of sprung masses, 
+(ii) coordinates of the sprung masses, (iii) the center of mass offset of the rigid body, (iv) the 
+total mass of the rigid body, and (v) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis).
+
+\param[in] nbSprungMasses is the number of sprung masses of the vehicle.  This value corresponds to the number of wheels on the vehicle.
+\param[in] sprungMassCoordinates are the coordinates of the sprung masses relative to the actor. The array sprungMassCoordinates must be of 
+length nbSprungMasses or greater.
+\param[in] centreOfMass is the coordinate of the center of mass of the rigid body relative to the actor.  This value corresponds to 
+the value set by PxRigidBody::setCMassLocalPose.
+\param[in] totalMass is the total mass of all the sprung masses.  This value corresponds to the value set by PxRigidBody::setMass.
+\param[in] gravityDirection is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (-1,0,0), 
+a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
+\param[out] sprungMasses are the masses to set in the associated suspension data with PxVehicleSuspensionData::mSprungMass.  The sprungMasses array must be of length 
+nbSprungMasses or greater. Each element in the sprungMasses array corresponds to the suspension located at the same array element in sprungMassCoordinates.
+The center of mass of the masses in sprungMasses with the coordinates in sprungMassCoordinates satisfy the specified centerOfMass.
+*/
+void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
+
+
+/**
+\brief Reconfigure the vehicle to reflect a new center of mass local pose that has been applied to the actor.  The function requires
+(i) the center of mass local pose that was last used to configure the vehicle and the vehicle's actor, (ii) the new center of mass local pose that 
+has been applied to the vehicle's actor and will now be applied to the vehicle, and (iii) the direction of gravity (0 for x-axis, 1 for y-axis, 2 for z-axis)
+
+\param[in] oldCMassLocalPose is the center of mass local pose that was last used to configure the vehicle.
+\param[in] newCMassLocalPose is the center of mass local pose that will be used to configure the vehicle so that it matches the vehicle's actor.
+\param[in] gravityDirection is an integer describing the direction of gravitational acceleration. A value of 0 corresponds to (0,0,-1), 
+a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
+\param[in,out] vehicle is the vehicle to be updated with a new center of mass local pose.
+
+\note This function does not update the center of mass of the vehicle actor.  That needs to updated separately with PxRigidBody::setCMassLocalPose
+
+\note The suspension sprung masses are updated so that the natural frequency and damping ratio of the springs are preserved.  This involves altering the
+stiffness and damping rate of the suspension springs.
+*/
+void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);
+
+/**
+\brief Used by PxVehicleCopyDynamicsData
+@see PxVehicleCopyDynamicsData
+*/
+class PxVehicleCopyDynamicsMap
+{
+public:
+
+	PxVehicleCopyDynamicsMap()
+	{
+		for(PxU32 i = 0; i < PX_MAX_NB_WHEELS; i++)
+		{
+			sourceWheelIds[i] = PX_MAX_U8;
+			targetWheelIds[i] = PX_MAX_U8;
+		}
+	}
+
+	PxU8 sourceWheelIds[PX_MAX_NB_WHEELS];
+	PxU8 targetWheelIds[PX_MAX_NB_WHEELS];
+};
+
+/**
+\brief Copy dynamics data from src to trg, including wheel rotation speed, wheel rotation angle, engine rotation speed etc.
+
+\param[in] wheelMap -  describes the mapping between the wheels in src and the wheels in trg.  
+
+\param[in] src - according to the wheel mapping stored in wheelMap, the dynamics data in src wheels are copied to the corresponding wheels in trg.
+
+\param[out] trg - according to wheel mapping stored in wheelMap, the wheels in trg are given the dynamics data of the corresponding wheels in src.
+
+\note wheelMap must specify a unique mapping between the wheels in src and the wheels in trg.
+
+\note In the event that src has fewer wheels than trg, wheelMap must specify a unique mapping between each src wheel to a trg wheel.
+
+\note In the event that src has more wheels than trg, wheelMap must specify a unique mapping to each trg wheel from a src wheel.
+
+\note In the event that src has fewer wheels than trg, the trg wheels that are not mapped to a src wheel are given the average wheel rotation 
+speed of all enabled src wheels.
+
+\note src and trg must be the same vehicle type.
+*/
+void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);
+
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif //PX_VEHICLE_UTILSSETUP_H