path: root/PhysX_3.4/Include/vehicle/PxVehicleUtilTelemetry.h

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#ifndef PX_VEHICLE_UTILSTELEMETRY_H
#define PX_VEHICLE_UTILSTELEMETRY_H
/** \addtogroup vehicle
  @{
*/

#include "vehicle/PxVehicleSDK.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxVec3.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

#if PX_DEBUG_VEHICLE_ON

class PxVehicleGraphDesc
{

	friend class PxVehicleGraph;

	PxVehicleGraphDesc();

	/**
	\brief x-coord of graph centre.
	<b>Range:</b> (0,1)<br>
	*/	
	PxReal mPosX;

	/**
	\brief y-coord of graph centre.
	<b>Range:</b> (0,1)<br>
	*/	
	PxReal mPosY;

	/**
	\brief x-extents of graph (from mPosX-0.5f*mSizeX to mPosX+0.5f*mSizeX).
	<b>Range:</b> (0,1)<br>
	*/	
	PxReal mSizeX;

	/**
	\brief y-extents of graph (from mPosY-0.5f*mSizeY to mPosY+0.5f*mSizeY).
	<b>Range:</b> (0,1)<br>
	*/	
	PxReal mSizeY;

	/**
	\brief Background color of graph.
	*/	
	PxVec3 mBackgroundColor;

	/**
	\brief Alpha value of background color.
	*/	
	PxReal mAlpha;

private:

	bool isValid() const;
};

struct PxVehicleGraphChannelDesc
{
public:

	friend class PxVehicleGraph;

	PxVehicleGraphChannelDesc();

	/**
	\brief Data values less than mMinY will be clamped at mMinY.
	*/	
	PxReal mMinY;

	/**
	\brief Data values greater than mMaxY will be clamped at mMaxY.
	*/	
	PxReal mMaxY;

	/**
	\brief Data values greater than mMidY will be drawn with color mColorHigh.
	Data values less than mMidY will be drawn with color mColorLow.
	*/	
	PxReal mMidY;

	/**
	\brief Color used to render data values lower than mMidY.
	*/	
	PxVec3 mColorLow;

	/**
	\brief Color used to render data values greater than mMidY.
	*/	
	PxVec3 mColorHigh;

	/**
	\brief String to describe data channel.
	*/	
	char* mTitle;

private:

	bool isValid() const;
};

struct PxVehicleWheelGraphChannel
{
	enum Enum
	{
		eJOUNCE=0,
		eSUSPFORCE,
		eTIRELOAD,
		eNORMALIZED_TIRELOAD,
		eWHEEL_OMEGA, 
		eTIRE_FRICTION,
		eTIRE_LONG_SLIP,
		eNORM_TIRE_LONG_FORCE,
		eTIRE_LAT_SLIP,
		eNORM_TIRE_LAT_FORCE,
		eNORM_TIRE_ALIGNING_MOMENT,
		eMAX_NB_WHEEL_CHANNELS
	};
};

struct PxVehicleDriveGraphChannel
{
	enum Enum
	{
		eENGINE_REVS=0,
		eENGINE_DRIVE_TORQUE,
		eCLUTCH_SLIP,
		eACCEL_CONTROL,					//TANK_ACCEL
		eBRAKE_CONTROL,					//TANK_BRAKE_LEFT
		eHANDBRAKE_CONTROL,				//TANK_BRAKE_RIGHT
		eSTEER_LEFT_CONTROL,			//TANK_THRUST_LEFT
		eSTEER_RIGHT_CONTROL,			//TANK_THRUST_RIGHT
		eGEAR_RATIO,
		eMAX_NB_DRIVE_CHANNELS
	};
};

struct PxVehicleGraphType
{
	enum Enum
	{
		eWHEEL=0,
		eDRIVE
	};
};


class PxVehicleGraph
{
public:

	friend class PxVehicleTelemetryData;
	friend class PxVehicleUpdate;

	enum
	{
		eMAX_NB_SAMPLES=256
	};

	enum
	{
		eMAX_NB_TITLE_CHARS=256
	};

	enum
	{
		eMAX_NB_CHANNELS=12
	};

	/**
	\brief Setup a graph from a descriptor.
	*/
	void setup(const PxVehicleGraphDesc& desc, const PxVehicleGraphType::Enum graphType);

	/**
	\brief Clear all data recorded in a graph.
	*/
	void clearRecordedChannelData();

	/**
	\brief Get the color of the graph background.  Used for rendering a graph.
	*/
	const PxVec3& getBackgroundColor() const {return mBackgroundColor;}

	/**
	\brief Get the alpha transparency of the color of the graph background.  Used for rendering a graph.
	*/
	PxReal getBackgroundAlpha() const {return mBackgroundAlpha;}

	/**
	\brief Get the coordinates of the graph background.  Used for rendering a graph

	\param[out] xMin is the x-coord of the lower-left corner
	\param[out] yMin is the y-coord of the lower-left corner
	\param[out] xMax is the x-coord of the upper-right corner
	\param[out] yMax is the y-coord of the upper-right corner
	*/	
	void getBackgroundCoords(PxReal& xMin, PxReal& yMin, PxReal& xMax, PxReal& yMax) const {xMin = mBackgroundMinX;xMax = mBackgroundMaxX;yMin = mBackgroundMinY;yMax = mBackgroundMaxY;}

	/**
	\brief Compute the coordinates of the graph data of a specific graph channel.

	\param[out] xy is an array of graph sample coordinates stored in order x0,y0,x1,y1,x2,y2...xn,yn.
	\param[out] colors stores the color of each point on the graph.
	\param[out] title is the title of the graph.
	*/
	void computeGraphChannel(const PxU32 channel, PxReal* xy, PxVec3* colors, char* title) const;

	/**
	\brief Return the latest value stored in the specified graph channel
	*/
	PxF32 getLatestValue(const PxU32 channel) const ;

private:

	//Min and max of each sample.
	PxReal mChannelMinY[eMAX_NB_CHANNELS];
	PxReal mChannelMaxY[eMAX_NB_CHANNELS];
	//Discriminate between high and low values with different colors.
	PxReal mChannelMidY[eMAX_NB_CHANNELS];
	//Different colors for values than midY and less than midY.
	PxVec3 mChannelColorLow[eMAX_NB_CHANNELS];
	PxVec3 mChannelColorHigh[eMAX_NB_CHANNELS];
	//Title of graph
	char mChannelTitle[eMAX_NB_CHANNELS][eMAX_NB_TITLE_CHARS];
	//Graph data.
	PxReal mChannelSamples[eMAX_NB_CHANNELS][eMAX_NB_SAMPLES];

	//Background color,alpha,coords
	PxVec3 mBackgroundColor;
	PxReal mBackgroundAlpha;
	PxReal mBackgroundMinX;
	PxReal mBackgroundMaxX;
	PxReal mBackgroundMinY;
	PxReal mBackgroundMaxY;

	PxU32 mSampleTide;

	PxU32 mNbChannels;

	PxU32 mPad[2];


	void setup
		(const PxF32 graphSizeX, const PxF32 graphSizeY,
		const PxF32 engineGraphPosX, const PxF32 engineGraphPosY,
		const PxF32* const wheelGraphPosX, const PxF32* const wheelGraphPosY,
		const PxVec3& backgroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);

	void updateTimeSlice(const PxReal* const samples);

	void setChannel(PxVehicleGraphChannelDesc& desc, const PxU32 channel);

	void setupEngineGraph
		(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY, 
		const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);

	void setupWheelGraph
		(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY, 
		const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);

	PxVehicleGraph();
	~PxVehicleGraph();
};
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));
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGraph) & 15));

class PxVehicleTelemetryData
{
public:

	friend class PxVehicleUpdate;

	/**
	\brief Allocate a PxVehicleNWTelemetryData instance for a vehicle with nbWheels
	@see PxVehicleNWTelemetryDataFree
	*/
	static PxVehicleTelemetryData* allocate(const PxU32 nbWheels);

	/**
	\brief Free a PxVehicleNWTelemetryData instance for a vehicle.
	@see PxVehicleNWTelemetryDataAllocate
	*/
	void free();

	/**
	\brief Set up all the graphs so that they are ready to record data.
	*/
	void setup
		(const PxReal graphSizeX, const PxReal graphSizeY,
		 const PxReal engineGraphPosX, const PxReal engineGraphPosY,
		 const PxReal* const wheelGraphPosX, const PxReal* const wheelGraphPosY,
		 const PxVec3& backGroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);

	/**
	\brief Clear the graphs of recorded data.
	*/
	void clear();

	/**
	\brief Get the graph data for the engine
	*/
	const PxVehicleGraph& getEngineGraph() const {return *mEngineGraph;}

	/**
	\brief Get the number of wheel graphs
	*/
	PxU32 getNbWheelGraphs() const {return mNbActiveWheels;}

	/**
	\brief Get the graph data for the kth wheel
	*/
	const PxVehicleGraph& getWheelGraph(const PxU32 k) const {return mWheelGraphs[k];}

	/**
	\brief Get the array of tire force application points so they can be rendered
	*/
	const PxVec3* getTireforceAppPoints() const {return mTireforceAppPoints;}

	/**
	\brief Get the array of susp force application points so they can be rendered
	*/
	const PxVec3* getSuspforceAppPoints() const {return mSuspforceAppPoints;}

private:

	/**
	\brief Graph data for engine.
	Used for storing single timeslices of debug data for engine graph.
	@see PxVehicleGraph
	*/
	PxVehicleGraph* mEngineGraph;

	/**
	\brief Graph data for each wheel.
	Used for storing single timeslices of debug data for wheel graphs.
	@see PxVehicleGraph
	*/
	PxVehicleGraph* mWheelGraphs;

	/**
	\brief Application point of tire forces.
	*/
	PxVec3* mTireforceAppPoints;

	/**
	\brief Application point of susp forces.
	*/
	PxVec3* mSuspforceAppPoints;

	/**
	\brief Total number of active wheels 
	*/
	PxU32 mNbActiveWheels;

	PxU32 mPad[3];

private:

	PxVehicleTelemetryData(){}
	~PxVehicleTelemetryData(){}
};

PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTelemetryData) & 15));

#endif //PX_DEBUG_VEHICLE_ON

//#endif // PX_DEBUG_VEHICLE_ON

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif //PX_VEHICLE_UTILSTELEMETRY_H