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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) 2008-2014 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 VEHICLE_CONTROLLER_H
#define VEHICLE_CONTROLLER_H
#include "common/PxPhysXCommonConfig.h"
#include "foundation/PxVec3.h"
#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleUpdate.h"
#include "vehicle/PxVehicleUtilControl.h"
using namespace physx;
class VehicleController
{
public:
VehicleController();
~VehicleController();
void setCarKeyboardInputs
(const bool accel, const bool brake, const bool handbrake,
const bool steerleft, const bool steerright,
const bool gearup, const bool geardown)
{
mKeyPressedAccel = accel;
mKeyPressedBrake = brake;
mKeyPressedHandbrake = handbrake;
mKeyPressedSteerLeft = steerleft;
mKeyPressedSteerRight = steerright;
mKeyPressedGearUp = gearup;
mKeyPressedGearDown = geardown;
}
void setCarGamepadInputs
(const PxF32 accel, const PxF32 brake,
const PxF32 steer,
const bool gearup, const bool geardown,
const bool handbrake)
{
mGamepadAccel = accel;
mGamepadCarBrake = brake;
mGamepadCarSteer = steer;
mGamepadGearup = gearup;
mGamepadGeardown = geardown;
mGamepadCarHandbrake = handbrake;
}
void setTankKeyboardInputs
(const bool accel, const bool thrustLeft, const bool thrustRight, const bool brakeLeft, const bool brakeRight, const bool gearUp, const bool gearDown)
{
mKeyPressedAccel = accel;
mKeyPressedThrustLeft = thrustLeft;
mKeyPressedThrustRight = thrustRight;
mKeyPressedBrakeLeft = brakeLeft;
mKeyPressedBrakeRight = brakeRight;
mKeyPressedGearUp = gearUp;
mKeyPressedGearDown = gearDown;
}
void setTankGamepadInputs
(const PxF32 accel, const PxF32 thrustLeft, const PxF32 thrustRight, const PxF32 brakeLeft, const PxF32 brakeRight, const bool gearUp, const bool gearDown)
{
mGamepadAccel = accel;
mTankThrustLeft = thrustLeft;
mTankThrustRight = thrustRight;
mTankBrakeLeft = brakeLeft;
mTankBrakeRight = brakeRight;
mGamepadGearup = gearUp;
mGamepadGeardown = gearDown;
}
void toggleAutoGearFlag()
{
mToggleAutoGears = true;
}
void update(const PxF32 dtime, const PxVehicleWheelQueryResult& vehicleWheelQueryResults, PxVehicleWheels& focusVehicle);
void clear();
private:
//Raw driving inputs - keys (car + tank)
bool mKeyPressedAccel;
bool mKeyPressedGearUp;
bool mKeyPressedGearDown;
//Raw driving inputs - keys (car only)
bool mKeyPressedBrake;
bool mKeyPressedHandbrake;
bool mKeyPressedSteerLeft;
bool mKeyPressedSteerRight;
//Raw driving inputs - keys (tank only)
bool mKeyPressedThrustLeft;
bool mKeyPressedThrustRight;
bool mKeyPressedBrakeLeft;
bool mKeyPressedBrakeRight;
//Raw driving inputs - gamepad (car + tank)
PxF32 mGamepadAccel;
bool mGamepadGearup;
bool mGamepadGeardown;
//Raw driving inputs - gamepad (car only)
PxF32 mGamepadCarBrake;
PxF32 mGamepadCarSteer;
bool mGamepadCarHandbrake;
//Raw driving inputs - (tank only)
PxF32 mTankThrustLeft;
PxF32 mTankThrustRight;
PxF32 mTankBrakeLeft;
PxF32 mTankBrakeRight;
//Record and replay using raw driving inputs.
bool mRecord;
bool mReplay;
enum
{
MAX_NUM_RECORD_REPLAY_SAMPLES = 8192
};
// Keyboard
bool mKeyboardAccelValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardBrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardHandbrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardSteerLeftValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardSteerRightValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardGearupValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mKeyboardGeardownValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
// Gamepad - (tank + car)
PxF32 mGamepadAccelValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mGamepadGearupValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mGamepadGeardownValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
// Gamepad - car only
PxF32 mGamepadCarBrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
PxF32 mGamepadCarSteerValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
bool mGamepadCarHandbrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
//Gamepad - tank only.
PxF32 mGamepadTankThrustLeftValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
PxF32 mGamepadTankThrustRightValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
PxU32 mNumSamples;
PxU32 mNumRecordedSamples;
// Raw data taken from the correct stream (live input stream or replay stream)
bool mUseKeyInputs;
// Toggle autogears flag on focus vehicle
bool mToggleAutoGears;
//Auto-reverse mode.
bool mIsMovingForwardSlowly;
bool mInReverseMode;
//Update
void processRawInputs(const PxF32 timestep, const bool useAutoGears, PxVehicleDrive4WRawInputData& rawInputData);
void processRawInputs(const PxF32 timestep, const bool useAutoGears, PxVehicleDriveTankRawInputData& rawInputData);
void processAutoReverse(
const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
const PxVehicleDrive4WRawInputData& rawInputData,
bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const;
void processAutoReverse(
const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
const PxVehicleDriveTankRawInputData& rawInputData,
bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const;
////////////////////////////////
//Record and replay deprecated at the moment.
//Setting functions as private to avoid them being used.
///////////////////////////////
bool getIsInRecordReplayMode() const { return (mRecord || mReplay); }
bool getIsRecording() const { return mRecord; }
bool getIsReplaying() const { return mReplay; }
void enableRecordReplayMode()
{
PX_ASSERT(!getIsInRecordReplayMode());
mRecord = true;
mReplay = false;
mNumRecordedSamples = 0;
}
void disableRecordReplayMode()
{
PX_ASSERT(getIsInRecordReplayMode());
mRecord = false;
mReplay = false;
mNumRecordedSamples = 0;
}
void restart();
////////////////////////////
};
#endif //VehicleController
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