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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 SAMPLE_VEHICLE_VEHICLE_MANAGER_H
#define SAMPLE_VEHICLE_VEHICLE_MANAGER_H
#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleDrive4W.h"
#include "vehicle/PxVehicleDriveNW.h"
#include "vehicle/PxVehicleDriveTank.h"
#include "vehicle/PxVehicleUpdate.h"
#include "foundation/PxFoundation.h"
#if PX_DEBUG_VEHICLE_ON
#include "vehicle/PxVehicleUtilTelemetry.h"
#endif
using namespace physx;
namespace physx
{
class PxScene;
class PxBatchQuery;
class PxCooking;
class PxMaterial;
class PxConvexMesh;
struct PxVehicleDrivableSurfaceType;
}
class SampleVehicleSceneQueryData;
class SampleVehicleWheelQueryResults;
class PxVehicle4WAlloc;
//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,
};
//Id of drivable surface (used by suspension raycast filtering).
enum
{
DRIVABLE_SURFACE_ID=0xffffffff
};
//Drivable surface types.
enum
{
SURFACE_TYPE_MUD=0,
SURFACE_TYPE_TARMAC,
SURFACE_TYPE_SNOW,
SURFACE_TYPE_GRASS,
MAX_NUM_SURFACE_TYPES
};
struct SurfaceTypeNames
{
static const char* getName(PxU32 type)
{
static char surfaceTypes[MAX_NUM_SURFACE_TYPES+1][64]=
{
"mud",
"tarmac",
"ice",
"grass",
};
return surfaceTypes[type];
}
};
//Tire types.
enum
{
TIRE_TYPE_WETS=0,
TIRE_TYPE_SLICKS,
TIRE_TYPE_ICE,
TIRE_TYPE_MUD,
MAX_NUM_TIRE_TYPES
};
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 SampleVehicle_VehicleManager
{
public:
enum
{
MAX_NUM_4W_VEHICLES=8,
MAX_NUM_6W_VEHICLES=2,
MAX_NUM_4W_TANKS=2
};
SampleVehicle_VehicleManager();
~SampleVehicle_VehicleManager();
void init(PxPhysics& physics, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
void shutdown();
//Create a vehicle ready to drive.
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 create6WVehicle
(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 create4WTank
(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, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
void create6WTank
(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, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
PX_FORCE_INLINE PxU32 getNbVehicles() const { return mNumVehicles; }
PX_FORCE_INLINE PxVehicleWheels* getVehicle(const PxU32 i) { return mVehicles[i]; }
PX_FORCE_INLINE const PxVehicleWheelQueryResult& getVehicleWheelQueryResults(const PxU32 i) const { return mVehicleWheelQueryResults[i]; }
void addVehicle(const PxU32 i, PxVehicleWheels* vehicle);
//Start the suspension raycasts (always call before calling update)
void suspensionRaycasts(PxScene* scene);
//Update vehicle dynamics and compute forces/torques to apply to sdk rigid bodies.
#if PX_DEBUG_VEHICLE_ON
void updateAndRecordTelemetryData(const PxF32 timestep, const PxVec3& gravity, PxVehicleWheels* focusVehicleNW, PxVehicleTelemetryData* telemetryDataNW);
#else
void update(const PxF32 timestep, const PxVec3& gravity);
#endif
//Reset the car back to its rest state with a specified transform.
void resetNWCar(const PxTransform& transform, const PxU32 vehicleId);
//Switch the player's vehicle to 3-wheeled modes and back to 4-wheeled mode.
void switchTo3WDeltaMode(const PxU32 vehicleId);
void switchTo3WTadpoleMode(const PxU32 vehicleId);
void switchTo4WMode(const PxU32 vehicleId);
PxSerializationRegistry* getSerializationRegistry() { return mSerializationRegistry; }
private:
//Array of all cars and report data for each car.
PxVehicleWheels* mVehicles[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
PxVehicleWheelQueryResult mVehicleWheelQueryResults[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
PxU32 mNumVehicles;
//sdk raycasts (for the suspension lines).
SampleVehicleSceneQueryData* mSqData;
PxBatchQuery* mSqWheelRaycastBatchQuery;
//Reports for each wheel.
SampleVehicleWheelQueryResults* mWheelQueryResults;
//Cached simulation data of focus vehicle in 4W mode.
PxVehicleWheelsSimData* mWheelsSimData4W;
PxVehicleDriveSimData4W mDriveSimData4W;
bool mIsIn3WMode;
//Friction from combinations of tire and surface types.
PxVehicleDrivableSurfaceToTireFrictionPairs* mSurfaceTirePairs;
//Initialise a car back to its start transform and state.
void resetNWCar(const PxTransform& startTransform, PxVehicleWheels* car);
//Serialization
PxSerializationRegistry* mSerializationRegistry;
};
#endif //SAMPLE_VEHICLE_VEHICLE_MANAGER_H
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