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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) 2008-2018 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 CRAB_H
#define CRAB_H
#include "foundation/Px.h"
#include "foundation/PxSimpleTypes.h"
#include "common/PxPhysXCommonConfig.h"
#include "task/PxTask.h"
#include "SampleAllocator.h"
#include <vector>
class SampleSubmarine;
namespace physx
{
class PxRigidDynamic;
class PxRevoluteJoint;
}
// Edge Labels for Theo Jansen's Mechanism
// _.
// ,' | m
// ,' |2b .....
// ,' 2a | e |n
// +-------+---------+
// | |
// | |2c
// | |
// +-------+
// `. |
// `. |2d
// `. |
// `|
struct LegParameters
{
PxReal a; // half x-dim leg
PxReal b; // half height upper triangle
PxReal c; // half height distance joints (square)
PxReal d; // half height lower triangle
PxReal e; // x distance from main body centre
PxReal m; // half extent of the motor box
PxReal n; // y offset of the motor from the main body centre
};
struct CrabState
{
enum Enum
{
eWAITING,
eMOVE_FWD,
eMOVE_BKWD,
eROTATE_LEFT,
eROTATE_RIGHT,
ePANIC,
eNUM_STATES,
};
};
struct SqRayBuffer: public SampleAllocateable
{
SqRayBuffer(SampleSubmarine& sampleSubmarine, PxU32 numRays, PxU32 numHits);
~SqRayBuffer();
SampleSubmarine& mSampleSubmarine;
PxBatchQuery* mBatchQuery;
PxRaycastQueryResult* mRayCastResults;
PxRaycastHit* mRayCastHits;
PxU32 mQueryResultSize;
PxU32 mHitSize;
void* mOrigAddresses[2];
private:
SqRayBuffer& operator=(const SqRayBuffer&);
};
class Crab: public ClassType, public physx::PxLightCpuTask, public SampleAllocateable
{
public:
Crab(SampleSubmarine& sample, const PxVec3& crabPos, RenderMaterial* material);
Crab(SampleSubmarine& sample, const char* filename, RenderMaterial* material);
~Crab();
void update(PxReal dt);
void setAcceleration(PxReal leftAcc, PxReal rightAcc);
void flushAccelerationBuffer();
PX_INLINE const PxRigidDynamic* getCrabBody() const { return mCrabBody; }
PX_INLINE PxRigidDynamic* getCrabBody() { return mCrabBody; }
PX_INLINE bool needsRespawn() { return mRespawnMe; }
void save(const char* filename);
// Implements LightCpuTask
virtual const char* getName() const { return "Crab AI Task"; }
virtual void run();
private:
void initMembers();
void create(const PxVec3& _crabPos);
void load(const char* filename);
PxVec3 getPlaceOnFloor(PxVec3 pos);
void createLeg(PxRigidDynamic* mainBody, PxVec3 localPos, PxReal mass, const LegParameters& params, PxReal scale, PxRigidDynamic* motor, PxVec3 motorAttachmentPos);
void scanForObstacles();
void updateState();
void initState(CrabState::Enum state);
private:
SampleSubmarine* mSampleSubmarine;
PxRigidDynamic* mCrabBody;
PxRevoluteJoint* mMotorJoint[2];
std::vector<PxRigidDynamic*> mActors;
std::vector<PxJoint*> mJoints;
RenderMaterial* mMaterial;
PxReal mAcceleration[2];
SqRayBuffer* mSqRayBuffer;
PxReal mLegHeight;
bool mRespawnMe;
CrabState::Enum mCrabState;
PxReal mStateTime;
PxReal mDistances[10];
PxReal mAccumTime;
PxReal mElapsedTime;
PxVec3 mSubmarinePos;
PxReal mAccelerationBuffer[2];
volatile PxU32 mRunning;
void* mMemory;
};
#endif
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