NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxVehicleUpdate.h Source File

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+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 #ifndef PX_VEHICLE_UPDATE_H
+00031 #define PX_VEHICLE_UPDATE_H
+00032 
+00036 #include "vehicle/PxVehicleSDK.h"
+00037 #include "vehicle/PxVehicleTireFriction.h"
+00038 #include "foundation/PxSimpleTypes.h"
+00039 #include "foundation/PxMemory.h"
+00040 #include "foundation/PxTransform.h"
+00041 #include "PxBatchQueryDesc.h"
+00042 
+00043 #if !PX_DOXYGEN
+00044 namespace physx
+00045 {
+00046 #endif
+00047 
+00048     class PxBatchQuery;
+00049     class PxContactModifyPair;
+00050     class PxVehicleWheels;
+00051     class PxVehicleDrivableSurfaceToTireFrictionPairs;
+00052     class PxVehicleTelemetryData;
+00053 
+00059     struct PxWheelQueryResult
+00060     {
+00061         PxWheelQueryResult()
+00062         {
+00063             PxMemZero(this, sizeof(PxWheelQueryResult));
+00064             isInAir=true;
+00065             tireSurfaceType = PxU32(PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN);
+00066             localPose = PxTransform(PxIdentity);
+00067         }
+00068 
+00074         PxVec3 suspLineStart;
+00075 
+00081         PxVec3 suspLineDir;
+00082 
+00088         PxReal suspLineLength;
+00089 
+00096         bool isInAir;
+00097 
+00103         PxActor* tireContactActor;
+00104 
+00110         PxShape* tireContactShape;
+00111 
+00117         const PxMaterial* tireSurfaceMaterial;
+00118 
+00128         PxU32 tireSurfaceType;
+00129 
+00135         PxVec3 tireContactPoint;
+00136 
+00142         PxVec3 tireContactNormal;
+00143 
+00152         PxReal tireFriction;
+00153 
+00162         PxReal suspJounce;
+00163 
+00171         PxReal suspSpringForce;
+00172 
+00179         PxVec3 tireLongitudinalDir;
+00180 
+00187         PxVec3 tireLateralDir;
+00188 
+00197         PxReal longitudinalSlip;
+00198 
+00207         PxReal lateralSlip;
+00208 
+00213         PxReal steerAngle;
+00214 
+00218         PxTransform localPose;
+00219     };
+00220 
+00221     struct PxVehicleWheelQueryResult
+00222     {
+00231         PxWheelQueryResult* wheelQueryResults;
+00232 
+00237         PxU32 nbWheelQueryResults;
+00238     };
+00239 
+00246     struct PxVehicleWheelConcurrentUpdateData
+00247     {
+00248         friend class PxVehicleUpdate;
+00249 
+00250         PxVehicleWheelConcurrentUpdateData()
+00251             : localPose(PxTransform(PxIdentity)),
+00252               hitActor(NULL),
+00253               hitActorForce(PxVec3(0,0,0)),
+00254               hitActorForcePosition(PxVec3(0,0,0))
+00255         {
+00256         }
+00257 
+00258     private:
+00259 
+00260         PxTransform localPose;
+00261         PxRigidDynamic* hitActor;
+00262         PxVec3 hitActorForce;
+00263         PxVec3 hitActorForcePosition;
+00264     };
+00265 
+00273     struct PxVehicleConcurrentUpdateData
+00274     {
+00275         friend class PxVehicleUpdate;
+00276 
+00277         PxVehicleConcurrentUpdateData()
+00278             : concurrentWheelUpdates(NULL),
+00279               nbConcurrentWheelUpdates(0),
+00280               linearMomentumChange(PxVec3(0,0,0)),
+00281               angularMomentumChange(PxVec3(0,0,0)),
+00282               staySleeping(false),
+00283               wakeup(false)
+00284         {
+00285         }
+00286 
+00293         PxVehicleWheelConcurrentUpdateData* concurrentWheelUpdates;
+00294 
+00299         PxU32 nbConcurrentWheelUpdates;
+00300 
+00301     private:
+00302 
+00303         PxVec3 linearMomentumChange;
+00304         PxVec3 angularMomentumChange;
+00305         bool staySleeping;
+00306         bool wakeup;
+00307     };
+00308 
+00346     void PxVehicleSuspensionRaycasts
+00347         (PxBatchQuery* batchQuery, 
+00348          const PxU32 nbVehicles, PxVehicleWheels** vehicles,
+00349          const PxU32 nbSceneQueryResults, PxRaycastQueryResult* sceneQueryResults, 
+00350          const bool* vehiclesToRaycast = NULL);
+00351 
+00352 
+00408     void PxVehicleSuspensionSweeps
+00409         (PxBatchQuery* batchQuery, 
+00410          const PxU32 nbVehicles, PxVehicleWheels** vehicles, 
+00411          const PxU32 nbSceneQueryResults, PxSweepQueryResult* sceneQueryResults,  const PxU16 nbHitsPerQuery, 
+00412          const bool* vehiclesToSweep = NULL,
+00413          const PxF32 sweepWidthScale = 1.0f, const PxF32 sweepRadiusScale = 1.0f);
+00414 
+00447     PxU32 PxVehicleModifyWheelContacts
+00448         (const PxVehicleWheels& vehicle, const PxU32 wheelId,
+00449         const PxF32 wheelTangentVelocityMultiplier, const PxReal maxImpulse,
+00450         PxContactModifyPair& contactModifyPair);
+00451 
+00452 
+00497     void PxVehicleUpdates(
+00498         const PxReal timestep, const PxVec3& gravity, 
+00499         const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
+00500         const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL);
+00501 
+00502 
+00515     void PxVehiclePostUpdates(
+00516         const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
+00517 
+00518 
+00535     void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
+00536 
+00537 #if PX_DEBUG_VEHICLE_ON
+00538 
+00567     void PxVehicleUpdateSingleVehicleAndStoreTelemetryData
+00568         (const PxReal timestep, const PxVec3& gravity, 
+00569          const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
+00570          PxVehicleWheels* focusVehicle, PxVehicleWheelQueryResult* vehicleWheelQueryResults, 
+00571          PxVehicleTelemetryData& telemetryData);
+00572 #endif
+00573 
+00574 #if !PX_DOXYGEN
+00575 } // namespace physx
+00576 #endif
+00577 
+00579 #endif //PX_VEHICLE_UPDATE_H
+