Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 191 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspWheelTire4.cpp b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspWheelTire4.cpp
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+++ b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspWheelTire4.cpp
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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.  
+
+#include "PxVehicleSuspWheelTire4.h"
+#include "PxVehicleDefaults.h"
+#include "PsFoundation.h"
+#include "CmPhysXCommon.h"
+#include "PsUtilities.h"
+
+namespace physx
+{
+
+PxVehicleWheels4SimData::PxVehicleWheels4SimData()
+{
+	for(PxU32 i=0;i<4;i++)
+	{
+		mSuspDownwardTravelDirections[i]=PxVec3(0,0,0);	//Must be filled out
+		mSuspForceAppPointOffsets[i]=PxVec3(0,0,0);		//Must be filled out
+		mTireForceAppPointOffsets[i]=PxVec3(0,0,0);		//Must be filled out
+		mWheelCentreOffsets[i]=PxVec3(0,0,0);			//Must be filled out
+
+		mTireRestLoads[i]=20.0f + 1500.0f;
+		mRecipTireRestLoads[i]=1.0f/mTireRestLoads[i];
+	}
+}
+
+bool PxVehicleWheels4SimData::isValid(const PxU32 id) const
+{
+	PX_ASSERT(id<4);
+	PX_CHECK_AND_RETURN_VAL(mSuspensions[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspensions", false);
+	PX_CHECK_AND_RETURN_VAL(mWheels[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mWheels", false);
+	PX_CHECK_AND_RETURN_VAL(mTires[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mTires", false);
+	PX_CHECK_AND_RETURN_VAL(mSuspDownwardTravelDirections[id].magnitude()>=0.999f && mSuspDownwardTravelDirections[id].magnitude()<=1.001f, "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspDownwardTravelDirections", false);
+	PX_CHECK_AND_RETURN_VAL(mSuspForceAppPointOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspForceAppPointOffsets.mSuspForceAppPointOffsets", false);
+	PX_CHECK_AND_RETURN_VAL(mTireForceAppPointOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mTireForceAppPointOffsets.mTireForceAppPointOffsets", false);
+	PX_CHECK_AND_RETURN_VAL(mWheelCentreOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mWheelCentreOffsets.mWheelCentreOffsets", false);
+	PX_CHECK_AND_RETURN_VAL(mTireRestLoads[id]>0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mTireRestLoads", false);
+	PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/mTireRestLoads[id]) - mRecipTireRestLoads[id]) <= 0.001f, "Invalid PxVehicleSuspWheelTire4SimulationData.mRecipTireRestLoads", false);
+	PX_UNUSED(id);
+	return true;
+}
+
+void PxVehicleWheels4SimData::setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal suspension id");
+	PX_CHECK_AND_RETURN(susp.mSpringStrength>0, "Susp spring strength must be greater than zero");
+	PX_CHECK_AND_RETURN(susp.mSpringDamperRate>=0, "Susp spring damper rate must be greater than or equal to zero");
+	PX_CHECK_AND_RETURN(susp.mMaxCompression>=0, "Susp max compression must be greater than or equal to zero");
+	PX_CHECK_AND_RETURN(susp.mMaxDroop>=0, "Susp max droop must be greater than or equal to zero");
+	PX_CHECK_AND_RETURN(susp.mMaxDroop>0 || susp.mMaxCompression>0, "Either one of max droop or max compression must be greater than zero");
+	PX_CHECK_AND_RETURN(susp.mSprungMass>0, "Susp spring mass must be greater than zero");
+
+	mSuspensions[id]=susp;
+	mSuspensions[id].mRecipMaxCompression = 1.0f/((susp.mMaxCompression > 0.0f) ? susp.mMaxCompression : 1.0f);
+	mSuspensions[id].mRecipMaxDroop = 1.0f/((susp.mMaxDroop > 0.0f) ? susp.mMaxDroop : 1.0f);
+
+	mTireRestLoads[id]=mWheels[id].mMass+mSuspensions[id].mSprungMass;
+	mRecipTireRestLoads[id]=1.0f/mTireRestLoads[id];
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setWheelData(const PxU32 id, const PxVehicleWheelData& wheel)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal wheel id");
+	PX_CHECK_AND_RETURN(wheel.mRadius>0, "Wheel radius must be greater than zero");
+	PX_CHECK_AND_RETURN(wheel.mMaxBrakeTorque>=0, "Wheel brake torque must be zero or be a positive value");
+	PX_CHECK_AND_RETURN(wheel.mMaxHandBrakeTorque>=0, "Wheel handbrake torque must be zero or be a positive value");
+	PX_CHECK_AND_RETURN(PxAbs(wheel.mMaxSteer)<PxHalfPi, "Wheel max steer must be in range (-Pi/2,Pi/2)");
+	PX_CHECK_AND_RETURN(wheel.mMass>0, "Wheel mass must be greater than zero");
+	PX_CHECK_AND_RETURN(wheel.mMOI>0, "Wheel moi must be greater than zero");
+	PX_CHECK_AND_RETURN(wheel.mToeAngle>-PxHalfPi && wheel.mToeAngle<PxHalfPi, "Wheel toe angle must be in range (-Pi/2,Pi/2)");
+	PX_CHECK_AND_RETURN(wheel.mWidth>0, "Wheel width must be greater than zero");
+	PX_CHECK_AND_RETURN(wheel.mDampingRate>=0, "Wheel damping rate must be greater than or equal to zero");
+
+	mWheels[id]=wheel;
+	mWheels[id].mRecipRadius=1.0f/mWheels[id].mRadius;
+	mWheels[id].mRecipMOI=1.0f/mWheels[id].mMOI;
+
+	mTireRestLoads[id]=mWheels[id].mMass+mSuspensions[id].mSprungMass;
+	mRecipTireRestLoads[id]=1.0f/mTireRestLoads[id];
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setTireData(const PxU32 id, const PxVehicleTireData& tire)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal tire id");
+	PX_CHECK_AND_RETURN(tire.mLatStiffX>0, "Tire mLatStiffX must greater than zero");
+	PX_CHECK_AND_RETURN(tire.mLatStiffY>0, "Tire mLatStiffY must greater than zero");
+	PX_CHECK_AND_RETURN(tire.mLongitudinalStiffnessPerUnitGravity>0, "Tire longitudinal stiffness must greater than zero");
+	PX_CHECK_AND_RETURN(tire.mCamberStiffnessPerUnitGravity>=0, "Tire camber stiffness must greater than or equal to zero");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[0][0]==0, "mFrictionVsSlipGraph[0][0] must be zero");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[0][1]>0, "mFrictionVsSlipGraph[0][0] must be greater than zero");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[1][0]>0, "mFrictionVsSlipGraph[1][0] must be greater than zero");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[1][1]>=tire.mFrictionVsSlipGraph[0][1], "mFrictionVsSlipGraph[1][1] must be greater than mFrictionVsSlipGraph[0][1]");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[2][0]> tire.mFrictionVsSlipGraph[1][0], "mFrictionVsSlipGraph[2][0] must be greater than mFrictionVsSlipGraph[1][0]");
+	PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[2][1]<=tire.mFrictionVsSlipGraph[1][1], "mFrictionVsSlipGraph[2][1] must be less than or equal to mFrictionVsSlipGraph[1][1]");
+
+	mTires[id]=tire;
+	mTires[id].mRecipLongitudinalStiffnessPerUnitGravity=1.0f/mTires[id].mLongitudinalStiffnessPerUnitGravity;
+	mTires[id].mFrictionVsSlipGraphRecipx1Minusx0=1.0f/(mTires[id].mFrictionVsSlipGraph[1][0]-mTires[id].mFrictionVsSlipGraph[0][0]);
+	mTires[id].mFrictionVsSlipGraphRecipx2Minusx1=1.0f/(mTires[id].mFrictionVsSlipGraph[2][0]-mTires[id].mFrictionVsSlipGraph[1][0]);
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setSuspTravelDirection(const PxU32 id, const PxVec3& dir)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal suspension id");
+	PX_CHECK_AND_RETURN(dir.magnitude()>0.999f && dir.magnitude()<1.0001f, "Suspension travel dir must be unit vector");
+
+	mSuspDownwardTravelDirections[id]=dir;
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal suspension id");
+	PX_CHECK_AND_RETURN(offset.magnitude()>0, "Susp force app point must be offset from centre of mass");
+
+	mSuspForceAppPointOffsets[id]=offset;
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal tire id");
+	PX_CHECK_AND_RETURN(offset.magnitude()>0, "Tire force app point must be offset from centre of mass");
+
+	mTireForceAppPointOffsets[id]=offset;
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setWheelCentreOffset(const PxU32 id, const PxVec3& offset)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal wheel id");
+	PX_CHECK_AND_RETURN(offset.magnitude()>0, "Tire force app point must be offset from centre of mass");
+
+	mWheelCentreOffsets[id]=offset;
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setWheelShapeMapping(const PxU32 id, const PxI32 shapeId)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal wheel id");
+	PX_CHECK_AND_RETURN((-1==shapeId) || (PxU32(shapeId) < PX_MAX_U8), "Illegal shapeId: must be -1 or less than PX_MAX_U8");
+	mWheelShapeMap[id] = Ps::to8(-1!=shapeId ? shapeId : PX_MAX_U8);
+}
+
+/////////////////////////////
+
+void PxVehicleWheels4SimData::setSceneQueryFilterData(const PxU32 id, const PxFilterData& sqFilterData)
+{
+	PX_CHECK_AND_RETURN(id<4, "Illegal wheel id");
+	mSqFilterData[id]=sqFilterData;
+}
+
+
+} //namespace physx
+