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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.
#include "PxVehicleDrive4W.h"
#include "PxVehicleDrive.h"
#include "PxVehicleSDK.h"
#include "PxVehicleSuspWheelTire4.h"
#include "PxVehicleSuspLimitConstraintShader.h"
#include "PxVehicleDefaults.h"
#include "PxRigidDynamic.h"
#include "PxShape.h"
#include "PsFoundation.h"
#include "PsUtilities.h"
#include "CmPhysXCommon.h"
#include "PxScene.h"
#include "CmUtils.h"
namespace physx
{
extern PxF32 gToleranceScaleLength;
bool PxVehicleDriveSimData4W::isValid() const
{
PX_CHECK_AND_RETURN_VAL(PxVehicleDriveSimData::isValid(), "Invalid PxVehicleDriveSimData4W", false);
PX_CHECK_AND_RETURN_VAL(mDiff.isValid(), "Invalid PxVehicleCoreSimulationData.mDiff", false);
PX_CHECK_AND_RETURN_VAL(mAckermannGeometry.isValid(), "Invalid PxVehicleCoreSimulationData.mAckermannGeometry", false);
return true;
}
void PxVehicleDriveSimData4W::setDiffData(const PxVehicleDifferential4WData& diff)
{
PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mFrontRearSplit>=0 && diff.mFrontRearSplit<=1.0f), "Diff torque split between front and rear must be in range (0,1)");
PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mCentreBias>=1), "Diff centre bias must be greater than or equal to 1");
PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_FRONTWD) || (diff.mFrontBias>=1), "Diff front bias must be greater than or equal to 1");
PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_REARWD) || (diff.mRearBias>=1), "Diff rear bias must be greater than or equal to 1");
PX_CHECK_AND_RETURN(diff.mType<PxVehicleDifferential4WData::eMAX_NB_DIFF_TYPES, "Illegal differential type");
mDiff=diff;
}
void PxVehicleDriveSimData4W::setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData)
{
PX_CHECK_AND_RETURN(ackermannData.mFrontWidth > 0, "Illegal ackermannData.mFrontWidth - must be greater than zero");
PX_CHECK_AND_RETURN(ackermannData.mRearWidth > 0, "Illegal ackermannData.mRearWidth - must be greater than zero");
PX_CHECK_AND_RETURN(ackermannData.mAxleSeparation > 0, "Illegal ackermannData.mAxleSeparation - must be greater than zero");
mAckermannGeometry = ackermannData;
}
///////////////////////////////////
bool PxVehicleDrive4W::isValid() const
{
PX_CHECK_AND_RETURN_VAL(PxVehicleDrive::isValid(), "invalid PxVehicleDrive", false);
PX_CHECK_AND_RETURN_VAL(mDriveSimData.isValid(), "Invalid PxVehicleNW.mCoreSimData", false);
return true;
}
PxVehicleDrive4W* PxVehicleDrive4W::allocate(const PxU32 numWheels)
{
PX_CHECK_AND_RETURN_NULL(numWheels>=4, "PxVehicleDrive4W::allocate - needs to have at least 4 wheels");
PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleDrive4W::allocate - need to call PxInitVehicleSDK");
//Compute the bytes needed.
const PxU32 byteSize = sizeof(PxVehicleDrive4W) + PxVehicleDrive::computeByteSize(numWheels);
//Allocate the memory.
PxVehicleDrive4W* veh = static_cast<PxVehicleDrive4W*>(PX_ALLOC(byteSize, "PxVehicleDrive4W"));
Cm::markSerializedMem(veh, byteSize);
new(veh) PxVehicleDrive4W();
//Patch up the pointers.
PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleDrive4W);
ptr=PxVehicleDrive::patchupPointers(numWheels, veh, ptr);
//Initialise wheels.
veh->init(numWheels);
//Set the vehicle type.
veh->mType = PxVehicleTypes::eDRIVE4W;
return veh;
}
void PxVehicleDrive4W::free()
{
PxVehicleDrive::free();
}
void PxVehicleDrive4W::setup
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
const PxU32 numNonDrivenWheels)
{
PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDrive4W::setup - invalid driveData");
PX_CHECK_AND_RETURN(wheelsData.getNbWheels() >= 4, "PxVehicleDrive4W::setup - needs to have at least 4 wheels");
//Set up the wheels.
PxVehicleDrive::setup(physics,vehActor,wheelsData,4,numNonDrivenWheels);
//Start setting up the drive.
PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
//Copy the simulation data.
mDriveSimData = driveData;
}
PxVehicleDrive4W* PxVehicleDrive4W::create
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
const PxU32 numNonDrivenWheels)
{
PxVehicleDrive4W* veh4W=PxVehicleDrive4W::allocate(4+numNonDrivenWheels);
veh4W->setup(physics,vehActor,wheelsData,driveData,numNonDrivenWheels);
return veh4W;
}
void PxVehicleDrive4W::setToRestState()
{
//Set core to rest state.
PxVehicleDrive::setToRestState();
}
} //namespace physx
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