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

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+00022 // NVIDIA Corporation products are not authorized for use as critical
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+00024 // NVIDIA Corporation.
+00025 //
+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_UTILSTELEMETRY_H
+00031 #define PX_VEHICLE_UTILSTELEMETRY_H
+00032 
+00036 #include "vehicle/PxVehicleSDK.h"
+00037 #include "foundation/PxSimpleTypes.h"
+00038 #include "foundation/PxVec3.h"
+00039 
+00040 #if !PX_DOXYGEN
+00041 namespace physx
+00042 {
+00043 #endif
+00044 
+00045 #if PX_DEBUG_VEHICLE_ON
+00046 
+00047 class PxVehicleGraphDesc
+00048 {
+00049 
+00050     friend class PxVehicleGraph;
+00051 
+00052     PxVehicleGraphDesc();
+00053 
+00058     PxReal mPosX;
+00059 
+00064     PxReal mPosY;
+00065 
+00070     PxReal mSizeX;
+00071 
+00076     PxReal mSizeY;
+00077 
+00081     PxVec3 mBackgroundColor;
+00082 
+00086     PxReal mAlpha;
+00087 
+00088 private:
+00089 
+00090     bool isValid() const;
+00091 };
+00092 
+00093 struct PxVehicleGraphChannelDesc
+00094 {
+00095 public:
+00096 
+00097     friend class PxVehicleGraph;
+00098 
+00099     PxVehicleGraphChannelDesc();
+00100 
+00104     PxReal mMinY;
+00105 
+00109     PxReal mMaxY;
+00110 
+00115     PxReal mMidY;
+00116 
+00120     PxVec3 mColorLow;
+00121 
+00125     PxVec3 mColorHigh;
+00126 
+00130     char* mTitle;
+00131 
+00132 private:
+00133 
+00134     bool isValid() const;
+00135 };
+00136 
+00137 struct PxVehicleWheelGraphChannel
+00138 {
+00139     enum Enum
+00140     {
+00141         eJOUNCE=0,
+00142         eSUSPFORCE,
+00143         eTIRELOAD,
+00144         eNORMALIZED_TIRELOAD,
+00145         eWHEEL_OMEGA, 
+00146         eTIRE_FRICTION,
+00147         eTIRE_LONG_SLIP,
+00148         eNORM_TIRE_LONG_FORCE,
+00149         eTIRE_LAT_SLIP,
+00150         eNORM_TIRE_LAT_FORCE,
+00151         eNORM_TIRE_ALIGNING_MOMENT,
+00152         eMAX_NB_WHEEL_CHANNELS
+00153     };
+00154 };
+00155 
+00156 struct PxVehicleDriveGraphChannel
+00157 {
+00158     enum Enum
+00159     {
+00160         eENGINE_REVS=0,
+00161         eENGINE_DRIVE_TORQUE,
+00162         eCLUTCH_SLIP,
+00163         eACCEL_CONTROL,                 //TANK_ACCEL
+00164         eBRAKE_CONTROL,                 //TANK_BRAKE_LEFT
+00165         eHANDBRAKE_CONTROL,             //TANK_BRAKE_RIGHT
+00166         eSTEER_LEFT_CONTROL,            //TANK_THRUST_LEFT
+00167         eSTEER_RIGHT_CONTROL,           //TANK_THRUST_RIGHT
+00168         eGEAR_RATIO,
+00169         eMAX_NB_DRIVE_CHANNELS
+00170     };
+00171 };
+00172 
+00173 struct PxVehicleGraphType
+00174 {
+00175     enum Enum
+00176     {
+00177         eWHEEL=0,
+00178         eDRIVE
+00179     };
+00180 };
+00181 
+00182 
+00183 class PxVehicleGraph
+00184 {
+00185 public:
+00186 
+00187     friend class PxVehicleTelemetryData;
+00188     friend class PxVehicleUpdate;
+00189 
+00190     enum
+00191     {
+00192         eMAX_NB_SAMPLES=256
+00193     };
+00194 
+00195     enum
+00196     {
+00197         eMAX_NB_TITLE_CHARS=256
+00198     };
+00199 
+00200     enum
+00201     {
+00202         eMAX_NB_CHANNELS=12
+00203     };
+00204 
+00208     void setup(const PxVehicleGraphDesc& desc, const PxVehicleGraphType::Enum graphType);
+00209 
+00213     void clearRecordedChannelData();
+00214 
+00218     const PxVec3& getBackgroundColor() const {return mBackgroundColor;}
+00219 
+00223     PxReal getBackgroundAlpha() const {return mBackgroundAlpha;}
+00224 
+00233     void getBackgroundCoords(PxReal& xMin, PxReal& yMin, PxReal& xMax, PxReal& yMax) const {xMin = mBackgroundMinX;xMax = mBackgroundMaxX;yMin = mBackgroundMinY;yMax = mBackgroundMaxY;}
+00234 
+00242     void computeGraphChannel(const PxU32 channel, PxReal* xy, PxVec3* colors, char* title) const;
+00243 
+00247     PxF32 getLatestValue(const PxU32 channel) const ;
+00248 
+00249 private:
+00250 
+00251     //Min and max of each sample.
+00252     PxReal mChannelMinY[eMAX_NB_CHANNELS];
+00253     PxReal mChannelMaxY[eMAX_NB_CHANNELS];
+00254     //Discriminate between high and low values with different colors.
+00255     PxReal mChannelMidY[eMAX_NB_CHANNELS];
+00256     //Different colors for values than midY and less than midY.
+00257     PxVec3 mChannelColorLow[eMAX_NB_CHANNELS];
+00258     PxVec3 mChannelColorHigh[eMAX_NB_CHANNELS];
+00259     //Title of graph
+00260     char mChannelTitle[eMAX_NB_CHANNELS][eMAX_NB_TITLE_CHARS];
+00261     //Graph data.
+00262     PxReal mChannelSamples[eMAX_NB_CHANNELS][eMAX_NB_SAMPLES];
+00263 
+00264     //Background color,alpha,coords
+00265     PxVec3 mBackgroundColor;
+00266     PxReal mBackgroundAlpha;
+00267     PxReal mBackgroundMinX;
+00268     PxReal mBackgroundMaxX;
+00269     PxReal mBackgroundMinY;
+00270     PxReal mBackgroundMaxY;
+00271 
+00272     PxU32 mSampleTide;
+00273 
+00274     PxU32 mNbChannels;
+00275 
+00276     PxU32 mPad[2];
+00277 
+00278 
+00279     void setup
+00280         (const PxF32 graphSizeX, const PxF32 graphSizeY,
+00281         const PxF32 engineGraphPosX, const PxF32 engineGraphPosY,
+00282         const PxF32* const wheelGraphPosX, const PxF32* const wheelGraphPosY,
+00283         const PxVec3& backgroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
+00284 
+00285     void updateTimeSlice(const PxReal* const samples);
+00286 
+00287     void setChannel(PxVehicleGraphChannelDesc& desc, const PxU32 channel);
+00288 
+00289     void setupEngineGraph
+00290         (const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY, 
+00291         const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
+00292 
+00293     void setupWheelGraph
+00294         (const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY, 
+00295         const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
+00296 
+00297     PxVehicleGraph();
+00298     ~PxVehicleGraph();
+00299 };
+00300 PX_COMPILE_TIME_ASSERT(PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleWheelGraphChannel::eMAX_NB_WHEEL_CHANNELS) && PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleDriveGraphChannel::eMAX_NB_DRIVE_CHANNELS));
+00301 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGraph) & 15));
+00302 
+00303 class PxVehicleTelemetryData
+00304 {
+00305 public:
+00306 
+00307     friend class PxVehicleUpdate;
+00308 
+00313     static PxVehicleTelemetryData* allocate(const PxU32 nbWheels);
+00314 
+00319     void free();
+00320 
+00324     void setup
+00325         (const PxReal graphSizeX, const PxReal graphSizeY,
+00326          const PxReal engineGraphPosX, const PxReal engineGraphPosY,
+00327          const PxReal* const wheelGraphPosX, const PxReal* const wheelGraphPosY,
+00328          const PxVec3& backGroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
+00329 
+00333     void clear();
+00334 
+00338     const PxVehicleGraph& getEngineGraph() const {return *mEngineGraph;}
+00339 
+00343     PxU32 getNbWheelGraphs() const {return mNbActiveWheels;}
+00344 
+00348     const PxVehicleGraph& getWheelGraph(const PxU32 k) const {return mWheelGraphs[k];}
+00349 
+00353     const PxVec3* getTireforceAppPoints() const {return mTireforceAppPoints;}
+00354 
+00358     const PxVec3* getSuspforceAppPoints() const {return mSuspforceAppPoints;}
+00359 
+00360 private:
+00361 
+00367     PxVehicleGraph* mEngineGraph;
+00368 
+00374     PxVehicleGraph* mWheelGraphs;
+00375 
+00379     PxVec3* mTireforceAppPoints;
+00380 
+00384     PxVec3* mSuspforceAppPoints;
+00385 
+00389     PxU32 mNbActiveWheels;
+00390 
+00391     PxU32 mPad[3];
+00392 
+00393 private:
+00394 
+00395     PxVehicleTelemetryData(){}
+00396     ~PxVehicleTelemetryData(){}
+00397 };
+00398 
+00399 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTelemetryData) & 15));
+00400 
+00401 #endif //PX_DEBUG_VEHICLE_ON
+00402 
+00403 //#endif // PX_DEBUG_VEHICLE_ON
+00404 
+00405 #if !PX_DOXYGEN
+00406 } // namespace physx
+00407 #endif
+00408 
+00410 #endif //PX_VEHICLE_UTILSTELEMETRY_H
+