1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
|
//
// 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 "PxVehicleDriveTank.h"
#include "PxVehicleWheels.h"
#include "PxVehicleSDK.h"
#include "PxVehicleDefaults.h"
#include "PxRigidDynamic.h"
#include "CmPhysXCommon.h"
#include "CmUtils.h"
#include "PsFoundation.h"
namespace physx
{
extern PxF32 gToleranceScaleLength;
bool PxVehicleDriveTank::isValid() const
{
PX_CHECK_AND_RETURN_VAL(PxVehicleDrive::isValid(), "invalid PxVehicleDrive", false);
PX_CHECK_AND_RETURN_VAL(mDriveSimData.isValid(), "Invalid PxVehicleDriveTank.mCoreSimData", false);
return true;
}
PxVehicleDriveTank* PxVehicleDriveTank::allocate(const PxU32 numWheels)
{
PX_CHECK_AND_RETURN_NULL(numWheels>0, "Cars with zero wheels are illegal");
PX_CHECK_AND_RETURN_NULL(0 == (numWheels % 2), "PxVehicleDriveTank::allocate - needs to have even number of wheels");
PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleDriveTank::allocate - need to call PxInitVehicleSDK");
//Compute the bytes needed.
const PxU32 byteSize = sizeof(PxVehicleDriveTank) + PxVehicleDrive::computeByteSize(numWheels);
//Allocate the memory.
PxVehicleDriveTank* veh = static_cast<PxVehicleDriveTank*>(PX_ALLOC(byteSize, "PxVehicleDriveTank"));
Cm::markSerializedMem(veh, byteSize);
new(veh) PxVehicleDriveTank();
//Patch up the pointers.
PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleDriveTank);
PxVehicleDrive::patchupPointers(numWheels, veh, ptr);
//Initialise.
veh->init(numWheels);
//Set the vehicle type.
veh->mType = PxVehicleTypes::eDRIVETANK;
//Set the default drive model.
veh->mDriveModel = PxVehicleDriveTankControlModel::eSTANDARD;
return veh;
}
void PxVehicleDriveTank::free()
{
PxVehicleDrive::free();
}
void PxVehicleDriveTank::setup
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
const PxU32 numDrivenWheels)
{
PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDriveTank::setup - illegal drive data");
//Set up the wheels.
PxVehicleDrive::setup(physics,vehActor,wheelsData,numDrivenWheels,0);
//Start setting up the drive.
PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
//Copy the simulation data.
mDriveSimData = driveData;
}
PxVehicleDriveTank* PxVehicleDriveTank::create
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
const PxU32 numDrivenWheels)
{
PxVehicleDriveTank* tank=PxVehicleDriveTank::allocate(numDrivenWheels);
tank->setup(physics,vehActor,wheelsData,driveData,numDrivenWheels);
return tank;
}
void PxVehicleDriveTank::setToRestState()
{
//Set core to rest state.
PxVehicleDrive::setToRestState();
}
} //namespace physx
|