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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 SNIPPET_VEHICLE_COMMON_H
#define SNIPPET_VEHICLE_COMMON_H
#include "PxPhysicsAPI.h"
#include "vehicle/PxVehicleDriveTank.h"
#include "vehicle/PxVehicleNoDrive.h"
namespace snippetvehicle
{
using namespace physx;
////////////////////////////////////////////////
PxRigidStatic* createDrivablePlane(const PxFilterData& simFilterData, PxMaterial* material, PxPhysics* physics);
////////////////////////////////////////////////
struct ActorUserData
{
ActorUserData()
: vehicle(NULL),
actor(NULL)
{
}
const PxVehicleWheels* vehicle;
const PxActor* actor;
};
struct ShapeUserData
{
ShapeUserData()
: isWheel(false),
wheelId(0xffffffff)
{
}
bool isWheel;
PxU32 wheelId;
};
struct VehicleDesc
{
VehicleDesc()
: chassisMass(0.0f),
chassisDims(PxVec3(0.0f, 0.0f, 0.0f)),
chassisMOI(PxVec3(0.0f, 0.0f, 0.0f)),
chassisCMOffset(PxVec3(0.0f, 0.0f, 0.0f)),
chassisMaterial(NULL),
wheelMass(0.0f),
wheelWidth(0.0f),
wheelRadius(0.0f),
wheelMOI(0.0f),
wheelMaterial(NULL),
actorUserData(NULL),
shapeUserDatas(NULL)
{
}
PxF32 chassisMass;
PxVec3 chassisDims;
PxVec3 chassisMOI;
PxVec3 chassisCMOffset;
PxMaterial* chassisMaterial;
PxFilterData chassisSimFilterData; //word0 = collide type, word1 = collide against types, word2 = PxPairFlags
PxF32 wheelMass;
PxF32 wheelWidth;
PxF32 wheelRadius;
PxF32 wheelMOI;
PxMaterial* wheelMaterial;
PxU32 numWheels;
PxFilterData wheelSimFilterData; //word0 = collide type, word1 = collide against types, word2 = PxPairFlags
ActorUserData* actorUserData;
ShapeUserData* shapeUserDatas;
};
PxVehicleDrive4W* createVehicle4W(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
PxVehicleDriveTank* createVehicleTank(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
PxVehicleNoDrive* createVehicleNoDrive(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
////////////////////////////////////////////////
PxConvexMesh* createChassisMesh(const PxVec3 dims, PxPhysics& physics, PxCooking& cooking);
PxConvexMesh* createWheelMesh(const PxF32 width, const PxF32 radius, PxPhysics& physics, PxCooking& cooking);
////////////////////////////////////////////////
void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData* driveSimData);
void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData4W* driveSimData);
////////////////////////////////////////////////
PxRigidDynamic* createVehicleActor
(const PxVehicleChassisData& chassisData,
PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels, const PxFilterData& wheelSimFilterData,
PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, const PxFilterData& chassisSimFilterData,
PxPhysics& physics);
void configureUserData(PxVehicleWheels* vehicle, ActorUserData* actorUserData, ShapeUserData* shapeUserDatas);
////////////////////////////////////////////////
} // namespace snippetvehicle
#endif //SNIPPET_VEHICLE_COMMON_H
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