Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 226 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleManager.h b/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleManager.h
new file mode 100644
index 00000000..e1c1bc86
--- /dev/null
+++ b/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleManager.h
@@ -0,0 +1,226 @@
+// 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 SAMPLE_VEHICLE_VEHICLE_MANAGER_H
+#define SAMPLE_VEHICLE_VEHICLE_MANAGER_H
+
+#include "vehicle/PxVehicleSDK.h"
+#include "vehicle/PxVehicleDrive4W.h"
+#include "vehicle/PxVehicleDriveNW.h"
+#include "vehicle/PxVehicleDriveTank.h"
+#include "vehicle/PxVehicleUpdate.h"
+#include "foundation/PxFoundation.h"
+
+#if PX_DEBUG_VEHICLE_ON
+#include "vehicle/PxVehicleUtilTelemetry.h"
+#endif
+
+using namespace physx;
+
+namespace physx
+{
+	class PxScene;
+	class PxBatchQuery;
+	class PxCooking;
+	class PxMaterial;
+	class PxConvexMesh;
+	struct PxVehicleDrivableSurfaceType;
+}
+
+class SampleVehicleSceneQueryData;
+class SampleVehicleWheelQueryResults;
+
+class PxVehicle4WAlloc;
+
+//Collision types and flags describing collision interactions of each collision type.
+enum
+{
+	COLLISION_FLAG_GROUND			=	1 << 0,
+	COLLISION_FLAG_WHEEL			=	1 << 1,
+	COLLISION_FLAG_CHASSIS			=	1 << 2,
+	COLLISION_FLAG_OBSTACLE			=	1 << 3,
+	COLLISION_FLAG_DRIVABLE_OBSTACLE=	1 << 4,
+
+	COLLISION_FLAG_GROUND_AGAINST	=															COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_WHEEL_AGAINST	=									COLLISION_FLAG_WHEEL |	COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE,
+	COLLISION_FLAG_CHASSIS_AGAINST	=			COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL |	COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_OBSTACLE_AGAINST	=			COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL |	COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_DRIVABLE_OBSTACLE_AGAINST=	COLLISION_FLAG_GROUND 						 |	COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+};
+
+//Id of drivable surface (used by suspension raycast filtering).
+enum
+{
+	DRIVABLE_SURFACE_ID=0xffffffff
+};
+
+//Drivable surface types.
+enum
+{
+	SURFACE_TYPE_MUD=0,
+	SURFACE_TYPE_TARMAC,
+	SURFACE_TYPE_SNOW,
+	SURFACE_TYPE_GRASS,
+	MAX_NUM_SURFACE_TYPES
+};
+
+struct SurfaceTypeNames
+{
+	static const char* getName(PxU32 type)
+	{
+		static char surfaceTypes[MAX_NUM_SURFACE_TYPES+1][64]=
+		{
+			"mud",
+			"tarmac",
+			"ice",
+			"grass",
+		};
+		
+		return surfaceTypes[type];
+	}
+};
+
+//Tire types.
+enum
+{
+	TIRE_TYPE_WETS=0,
+	TIRE_TYPE_SLICKS,
+	TIRE_TYPE_ICE,
+	TIRE_TYPE_MUD,
+	MAX_NUM_TIRE_TYPES
+};
+
+struct TireFrictionMultipliers
+{
+	static float getValue(PxU32 surfaceType, PxU32 tireType)
+	{
+		//Tire model friction for each combination of drivable surface type and tire type.
+		static PxF32 tireFrictionMultipliers[MAX_NUM_SURFACE_TYPES][MAX_NUM_TIRE_TYPES]=
+		{
+			//WETS	SLICKS	ICE		MUD
+			{0.95f,	0.95f,	0.95f,	0.95f},		//MUD
+			{1.10f,	1.15f,	1.10f,	1.10f},		//TARMAC
+			{0.70f,	0.70f,	0.70f,	0.70f},		//ICE
+			{0.80f,	0.80f,	0.80f,	0.80f}		//GRASS
+		};
+		return tireFrictionMultipliers[surfaceType][tireType];
+	}
+};
+
+class SampleVehicle_VehicleManager
+{
+public:
+
+	enum
+	{
+		MAX_NUM_4W_VEHICLES=8,
+		MAX_NUM_6W_VEHICLES=2,
+		MAX_NUM_4W_TANKS=2
+	};
+
+	SampleVehicle_VehicleManager();
+	~SampleVehicle_VehicleManager();
+
+	void init(PxPhysics& physics, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
+
+	void shutdown();
+
+	//Create a vehicle ready to drive.
+	void create4WVehicle
+		(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
+		 const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
+		 const PxTransform& startTransform, const bool useAutoGearFlag);
+	void create6WVehicle
+		(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
+		const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
+		const PxTransform& startTransform, const bool useAutoGearFlag);
+	void create4WTank
+		(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
+		 const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
+		 const PxTransform& startTransform, const bool useAutoGearFlag, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
+	void create6WTank
+		(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
+		 const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
+		 const PxTransform& startTransform, const bool useAutoGearFlag, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
+
+	PX_FORCE_INLINE	PxU32						getNbVehicles()					const	{ return mNumVehicles;		}
+	PX_FORCE_INLINE	PxVehicleWheels*			getVehicle(const PxU32 i)				{ return mVehicles[i];		}
+	PX_FORCE_INLINE const PxVehicleWheelQueryResult& getVehicleWheelQueryResults(const PxU32 i) const { return mVehicleWheelQueryResults[i]; }
+					void						addVehicle(const PxU32 i, PxVehicleWheels* vehicle);		
+
+	//Start the suspension raycasts (always call before calling update)
+	void suspensionRaycasts(PxScene* scene);
+
+	//Update vehicle dynamics and compute forces/torques to apply to sdk rigid bodies.
+#if PX_DEBUG_VEHICLE_ON
+	void updateAndRecordTelemetryData(const PxF32 timestep, const PxVec3& gravity, PxVehicleWheels* focusVehicleNW, PxVehicleTelemetryData* telemetryDataNW);
+#else
+	void update(const PxF32 timestep, const PxVec3& gravity);
+#endif
+
+	//Reset the car back to its rest state with a specified transform.
+	void resetNWCar(const PxTransform& transform, const PxU32 vehicleId);
+
+	//Switch the player's vehicle to 3-wheeled modes and back to 4-wheeled mode.
+	void switchTo3WDeltaMode(const PxU32 vehicleId);
+	void switchTo3WTadpoleMode(const PxU32 vehicleId);
+	void switchTo4WMode(const PxU32 vehicleId);
+	
+	PxSerializationRegistry* getSerializationRegistry() { return mSerializationRegistry; }
+private:
+
+	//Array of all cars and report data for each car.
+	PxVehicleWheels* mVehicles[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
+	PxVehicleWheelQueryResult mVehicleWheelQueryResults[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
+	PxU32 mNumVehicles;
+
+	//sdk raycasts (for the suspension lines).
+	SampleVehicleSceneQueryData* mSqData;
+	PxBatchQuery* mSqWheelRaycastBatchQuery;
+
+	//Reports for each wheel.
+	SampleVehicleWheelQueryResults* mWheelQueryResults;
+
+	//Cached simulation data of focus vehicle in 4W mode.
+	PxVehicleWheelsSimData* mWheelsSimData4W;
+	PxVehicleDriveSimData4W mDriveSimData4W;
+	bool mIsIn3WMode;
+
+	//Friction from combinations of tire and surface types.
+	PxVehicleDrivableSurfaceToTireFrictionPairs* mSurfaceTirePairs;
+
+
+	//Initialise a car back to its start transform and state.
+	void resetNWCar(const PxTransform& startTransform, PxVehicleWheels* car);
+
+	//Serialization
+	PxSerializationRegistry*		mSerializationRegistry;
+};
+
+#endif //SAMPLE_VEHICLE_VEHICLE_MANAGER_H