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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 "foundation/PxMath.h"
#include "PxVehicleUtilSetup.h"
#include "PxVehicleDrive4W.h"
#include "PxVehicleDriveNW.h"
#include "PxVehicleDriveTank.h"
#include "PxVehicleNoDrive.h"
#include "PxVehicleWheels.h"
#include "PxVehicleUtil.h"
#include "PxVehicleUpdate.h"
#include "PsFoundation.h"
#include "CmPhysXCommon.h"
namespace physx
{
void enable3WMode(const PxU32 rightDirection, const PxU32 upDirection, const bool removeFrontWheel, PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
void computeDirection(PxU32& rightDirection, PxU32& upDirection);
void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData)
{
PX_CHECK_AND_RETURN
(!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eFRONT_LEFT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eREAR_LEFT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eREAR_RIGHT), "PxVehicle4WEnable3WTadpoleMode requires no wheels to be disabled");
PxU32 rightDirection=0xffffffff;
PxU32 upDirection=0xffffffff;
computeDirection(rightDirection, upDirection);
PX_CHECK_AND_RETURN(rightDirection<3 && upDirection<3, "PxVehicle4WEnable3WTadpoleMode requires the vectors set in PxVehicleSetBasisVectors to be axis-aligned");
enable3WMode(rightDirection, upDirection, false, wheelsSimData, wheelsDynData, driveSimData);
}
void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData)
{
PX_CHECK_AND_RETURN
(!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eFRONT_LEFT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eREAR_LEFT) &&
!wheelsSimData.getIsWheelDisabled(PxVehicleDrive4WWheelOrder::eREAR_RIGHT), "PxVehicle4WEnable3WDeltaMode requires no wheels to be disabled");
PxU32 rightDirection=0xffffffff;
PxU32 upDirection=0xffffffff;
computeDirection(rightDirection, upDirection);
PX_CHECK_AND_RETURN(rightDirection<3 && upDirection<3, "PxVehicle4WEnable3WTadpoleMode requires the vectors set in PxVehicleSetBasisVectors to be axis-aligned");
enable3WMode(rightDirection, upDirection, true, wheelsSimData, wheelsDynData, driveSimData);
}
void computeSprungMasses(const PxU32 numSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
void PxVehicleComputeSprungMasses(const PxU32 numSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses)
{
computeSprungMasses(numSprungMasses, sprungMassCoordinates, centreOfMass, totalMass, gravityDirection, sprungMasses);
}
void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg)
{
PX_CHECK_AND_RETURN(trg, "PxVehicleCopyDynamicsData requires that trg is a valid vehicle pointer");
PX_CHECK_AND_RETURN(src.getVehicleType() == trg->getVehicleType(), "PxVehicleCopyDynamicsData requires that both src and trg are the same type of vehicle");
#if PX_CHECKED
{
const PxU32 numWheelsSrc = src.mWheelsSimData.getNbWheels();
const PxU32 numWheelsTrg = trg->mWheelsSimData.getNbWheels();
PxU8 copiedWheelsSrc[PX_MAX_NB_WHEELS];
PxMemZero(copiedWheelsSrc, sizeof(PxU8) * PX_MAX_NB_WHEELS);
PxU8 setWheelsTrg[PX_MAX_NB_WHEELS];
PxMemZero(setWheelsTrg, sizeof(PxU8) * PX_MAX_NB_WHEELS);
for(PxU32 i = 0; i < PxMin(numWheelsSrc, numWheelsTrg); i++)
{
const PxU32 srcWheelId = wheelMap.sourceWheelIds[i];
PX_CHECK_AND_RETURN(srcWheelId < numWheelsSrc, "PxVehicleCopyDynamicsData - wheelMap contains illegal source wheel id");
PX_CHECK_AND_RETURN(0 == copiedWheelsSrc[srcWheelId], "PxVehicleCopyDynamicsData - wheelMap contains illegal source wheel id");
copiedWheelsSrc[srcWheelId] = 1;
const PxU32 trgWheelId = wheelMap.targetWheelIds[i];
PX_CHECK_AND_RETURN(trgWheelId < numWheelsTrg, "PxVehicleCopyDynamicsData - wheelMap contains illegal target wheel id");
PX_CHECK_AND_RETURN(0 == setWheelsTrg[trgWheelId], "PxVehicleCopyDynamicsData - wheelMap contains illegal target wheel id");
setWheelsTrg[trgWheelId]=1;
}
}
#endif
const PxU32 numWheelsSrc = src.mWheelsSimData.getNbWheels();
const PxU32 numWheelsTrg = trg->mWheelsSimData.getNbWheels();
//Set all dynamics data on the target to zero.
//Be aware that setToRestState sets the rigid body to
//rest so set the momentum back after calling setToRestState.
PxRigidDynamic* actorTrg = trg->getRigidDynamicActor();
PxVec3 linVel = actorTrg->getLinearVelocity();
PxVec3 angVel = actorTrg->getAngularVelocity();
switch(src.getVehicleType())
{
case PxVehicleTypes::eDRIVE4W:
static_cast<PxVehicleDrive4W*>(trg)->setToRestState();
break;
case PxVehicleTypes::eDRIVENW:
static_cast<PxVehicleDriveNW*>(trg)->setToRestState();
break;
case PxVehicleTypes::eDRIVETANK:
static_cast<PxVehicleDriveTank*>(trg)->setToRestState();
break;
case PxVehicleTypes::eNODRIVE:
static_cast<PxVehicleNoDrive*>(trg)->setToRestState();
break;
default:
break;
}
actorTrg->setLinearVelocity(linVel);
actorTrg->setAngularVelocity(angVel);
//Keep a track of the wheels on trg that have their dynamics data set as a copy from src.
PxU8 setWheelsTrg[PX_MAX_NB_WHEELS];
PxMemZero(setWheelsTrg, sizeof(PxU8) * PX_MAX_NB_WHEELS);
//Keep a track of the average wheel rotation speed of all enabled wheels on src.
PxU32 numEnabledWheelsSrc = 0;
PxF32 accumulatedWheelRotationSpeedSrc = 0.0f;
//Copy wheel dynamics data from src wheels to trg wheels.
//Track the target wheels that have been given dynamics data from src wheels.
//Compute the accumulated wheel rotation speed of all enabled src wheels.
const PxU32 numMappedWheels = PxMin(numWheelsSrc, numWheelsTrg);
for(PxU32 i = 0; i < numMappedWheels; i++)
{
const PxU32 srcWheelId = wheelMap.sourceWheelIds[i];
const PxU32 trgWheelId = wheelMap.targetWheelIds[i];
trg->mWheelsDynData.copy(src.mWheelsDynData, srcWheelId, trgWheelId);
setWheelsTrg[trgWheelId] = 1;
if(!src.mWheelsSimData.getIsWheelDisabled(srcWheelId))
{
numEnabledWheelsSrc++;
accumulatedWheelRotationSpeedSrc += src.mWheelsDynData.getWheelRotationSpeed(srcWheelId);
}
}
//Compute the average wheel rotation speed of src.
PxF32 averageWheelRotationSpeedSrc = 0;
if(numEnabledWheelsSrc > 0)
{
averageWheelRotationSpeedSrc = (accumulatedWheelRotationSpeedSrc/ (1.0f * numEnabledWheelsSrc));
}
//For wheels on trg that have not had their dynamics data copied from src just set
//their wheel rotation speed to the average wheel rotation speed.
for(PxU32 i = 0; i < numWheelsTrg; i++)
{
if(0 == setWheelsTrg[i] && !trg->mWheelsSimData.getIsWheelDisabled(i))
{
trg->mWheelsDynData.setWheelRotationSpeed(i, averageWheelRotationSpeedSrc);
}
}
//Copy the engine rotation speed/gear states/autobox states/etc.
switch(src.getVehicleType())
{
case PxVehicleTypes::eDRIVE4W:
case PxVehicleTypes::eDRIVENW:
case PxVehicleTypes::eDRIVETANK:
{
const PxVehicleDriveDynData& driveDynDataSrc = static_cast<const PxVehicleDrive&>(src).mDriveDynData;
PxVehicleDriveDynData* driveDynDataTrg = &static_cast<PxVehicleDrive*>(trg)->mDriveDynData;
*driveDynDataTrg = driveDynDataSrc;
}
break;
default:
break;
}
}
bool areEqual(const PxQuat& q0, const PxQuat& q1)
{
return ((q0.x == q1.x) && (q0.y == q1.y) && (q0.z == q1.z) && (q0.w == q1.w));
}
void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle)
{
PX_CHECK_AND_RETURN(areEqual(PxQuat(PxIdentity), oldCMassLocalPose.q), "Only center of mass poses with identity rotation are supported");
PX_CHECK_AND_RETURN(areEqual(PxQuat(PxIdentity), newCMassLocalPose.q), "Only center of mass poses with identity rotation are supported");
PX_CHECK_AND_RETURN(0==gravityDirection || 1==gravityDirection || 2==gravityDirection, "gravityDirection must be 0 or 1 or 2.");
//Update the offsets from the rigid body center of mass.
PxVec3 wheelCenterCMOffsets[PX_MAX_NB_WHEELS];
const PxU32 nbWheels = vehicle->mWheelsSimData.getNbWheels();
for(PxU32 i = 0; i < nbWheels; i++)
{
wheelCenterCMOffsets[i] = vehicle->mWheelsSimData.getWheelCentreOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p;
vehicle->mWheelsSimData.setWheelCentreOffset(i, vehicle->mWheelsSimData.getWheelCentreOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
vehicle->mWheelsSimData.setSuspForceAppPointOffset(i, vehicle->mWheelsSimData.getSuspForceAppPointOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
vehicle->mWheelsSimData.setTireForceAppPointOffset(i, vehicle->mWheelsSimData.getTireForceAppPointOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
}
//Now update the sprung masses.
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
PxVehicleComputeSprungMasses(nbWheels, wheelCenterCMOffsets, PxVec3(0,0,0), vehicle->getRigidDynamicActor()->getMass(), gravityDirection, sprungMasses);
for(PxU32 i = 0; i < nbWheels; i++)
{
PxVehicleSuspensionData suspData = vehicle->mWheelsSimData.getSuspensionData(i);
const PxF32 massRatio = sprungMasses[i]/suspData.mSprungMass;
suspData.mSprungMass = sprungMasses[i];
suspData.mSpringStrength *= massRatio;
suspData.mSpringDamperRate *= massRatio;
vehicle->mWheelsSimData.setSuspensionData(i, suspData);
}
}
}//physx
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