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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#ifndef VEHICLE_H
#define VEHICLE_H
#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleDrive4W.h"
#include "vehicle/PxVehicleTireFriction.h"
#include "vehicle/PxVehicleUpdate.h"
#include "RawLoader.h"
#include "PxPhysics.h"
#include "PxCooking.h"
using namespace physx;
namespace physx
{
class PxBatchQuery;
namespace fracture
{
namespace base
{
class Compound;
}
}
}
class VehicleWheelQueryResults;
class VehicleSceneQueryData;
//Tire types.
enum
{
TIRE_TYPE_WETS = 0,
TIRE_TYPE_SLICKS,
TIRE_TYPE_ICE,
TIRE_TYPE_MUD,
MAX_NUM_TIRE_TYPES
};
//Drivable surface types.
enum
{
SURFACE_TYPE_MUD = 0,
SURFACE_TYPE_TARMAC,
SURFACE_TYPE_SNOW,
SURFACE_TYPE_GRASS,
MAX_NUM_SURFACE_TYPES
};
//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,
};
// ---------------------------------------------------------------------
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 VehicleManager
{
public:
VehicleManager();
virtual ~VehicleManager();
void init(PxPhysics& physics, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
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 createVehicle4WSimulationData(const PxF32 chassisMass, PxConvexMesh* chassisConvexMesh, const PxF32 wheelMass, PxConvexMesh** wheelConvexMeshes,
const PxVec3* wheelCentreOffsets, PxVehicleWheelsSimData& wheelsData, PxVehicleDriveSimData4W& driveData, PxVehicleChassisData& chassisData);
PxVec3 computeChassisAABBDimensions(const PxConvexMesh* chassisConvexMesh);
void computeWheelWidthsAndRadii(PxConvexMesh** wheelConvexMeshes, PxF32* wheelWidths, PxF32* wheelRadii);
void resetNWCar(const PxTransform& startTransform, PxVehicleWheels* vehWheels);
void suspensionRaycasts(PxScene* scene);
void suspensionSweeps(PxScene* scene);
void update(const PxF32 timestep, const PxVec3& gravity);
PxVehicleWheels* getVehicle() { return mVehicle; }
PxVehicleWheelQueryResult& getWheelQueryResult() { return mVehicleWheelQueryResults; };
void clearBatchQuery() { mSqWheelRaycastBatchQuery = NULL; }
private:
PxVehicleWheels* mVehicle;
PxVehicleWheelQueryResult mVehicleWheelQueryResults;
//sdk raycasts (for the suspension lines).
VehicleSceneQueryData* mSqData;
PxBatchQuery* mSqWheelRaycastBatchQuery;
//Reports for each wheel.
VehicleWheelQueryResults* mWheelQueryResults;
//Cached simulation data of focus vehicle in 4W mode.
PxVehicleWheelsSimData* mWheelsSimData4W;
PxVehicleDriveSimData4W mDriveSimData4W;
//Friction from combinations of tire and surface types.
PxVehicleDrivableSurfaceToTireFrictionPairs* mSurfaceTirePairs;
public:
fracture::base::Compound* mCompoundShape;
};
#endif // SCENE_BOXES_H
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