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kaplademo/source/kaplaDemo/Crab.h

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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 CRAB_H
+#define CRAB_H
+
+#include "foundation/Px.h"
+#include "foundation/PxSimpleTypes.h"
+#include "common/PxPhysXCommonConfig.h"
+#include "task/PxTask.h"
+#include <vector>
+
+#define UPDATE_FREQUENCY_RESET 10
+
+
+struct CrabState
+{
+	enum Enum
+	{
+		eWAITING,
+		eMOVE_FWD,
+		eMOVE_BKWD,
+		eROTATE_LEFT,
+		eROTATE_RIGHT,
+		ePANIC,
+		eNUM_STATES,
+	};
+};
+
+
+
+namespace physx
+{
+	class PxRigidDynamic;
+	class PxRevoluteJoint;
+	class PxJoint;
+	class PxScene;
+}
+
+//  Edge Labels for Theo Jansen's Mechanism
+//		       _.
+//		     ,' |       m
+//		   ,'   |2b   .....
+//		 ,' 2a  |    e    |n
+//		+-------+---------+
+//		|       |
+//		|       |2c
+//		|       |
+//		+-------+
+//		 `.     |
+//		   `.   |2d
+//		     `. |
+//		       `|
+
+struct LegParameters
+{
+	physx::PxReal a;	// half x-dim leg
+	physx::PxReal b;	// half height upper triangle
+	physx::PxReal c;	// half height distance joints (square)
+	physx::PxReal d;	// half height lower triangle
+	physx::PxReal e;	// x distance from main body centre
+	physx::PxReal m;	// half extent of the motor box
+	physx::PxReal n;	// y offset of the motor from the main body centre
+};
+
+class Crab;
+class CrabManager;
+
+struct SqRayBuffer
+{
+	SqRayBuffer(Crab* crab, physx::PxU32 numRays, physx::PxU32 numHits);
+	~SqRayBuffer();
+
+	Crab*						mCrab;
+	physx::PxBatchQuery*					mBatchQuery;
+
+	physx::PxRaycastQueryResult*			mRayCastResults;
+	physx::PxRaycastHit*					mRayCastHits;
+
+	physx::PxU32 							mQueryResultSize;
+	physx::PxU32 							mHitSize;
+	void*							mOrigAddresses[2];
+
+	void setScene(physx::PxScene* scene);
+private:
+	SqRayBuffer& operator=(const SqRayBuffer&);
+};
+
+struct SqSweepBuffer
+{
+	SqSweepBuffer(Crab* crab, physx::PxU32 numRays, physx::PxU32 numHits);
+	~SqSweepBuffer();
+
+	Crab*									mCrab;
+	physx::PxBatchQuery*					mBatchQuery;
+
+	physx::PxSweepQueryResult*				mSweepResults;
+	physx::PxSweepHit*						mSweepHits;
+
+	physx::PxU32 							mQueryResultSize;
+	physx::PxU32 							mHitSize;
+	void*									mOrigAddresses[2];
+
+	void setScene(physx::PxScene* scene);
+private:
+	SqSweepBuffer& operator=(const SqSweepBuffer&);
+};
+
+class Crab
+{
+public:
+
+	Crab(CrabManager* crabManager, physx::PxU32 updateFrequency);
+	~Crab();
+
+	void	update(physx::PxReal dt);
+	void	setAcceleration(physx::PxReal leftAcc, physx::PxReal rightAcc);
+	void	flushAccelerationBuffer();
+
+	PX_INLINE const physx::PxRigidDynamic*		getCrabBody() const		{ return mCrabBody; }
+	PX_INLINE physx::PxRigidDynamic*			getCrabBody()			{ return mCrabBody; }
+
+
+	void								run();
+
+	void setScene(physx::PxScene* scene);
+
+
+
+	void	initMembers();
+	Crab*	create(const physx::PxVec3& _crabPos, const physx::PxReal crabDepth, const physx::PxReal scale, const physx::PxReal legMass, const physx::PxU32 numLegs);
+
+	physx::PxVec3	getPlaceOnFloor(physx::PxVec3 pos);
+	void	createLeg(physx::PxRigidDynamic* mainBody, physx::PxVec3 localPos, physx::PxReal mass, const LegParameters& params, physx::PxReal scale, physx::PxRigidDynamic* motor, physx::PxVec3 motorAttachmentPos);
+	void	scanForObstacles();
+	void	updateState();
+	void	initState(CrabState::Enum state);
+
+	void setManager(CrabManager* crabManager) { mManager = crabManager;  }
+	CrabManager* getManager(){ return mManager;  }
+
+private:
+	CrabManager*								mManager;
+	physx::PxRigidDynamic*						mCrabBody;
+	physx::PxVec3								mCrabBodyDimensions;
+	//physx::PxRevoluteJoint*						mMotorJoint[2];
+	physx::PxD6Joint*							mMotorJoint[2];
+	physx::PxMaterial*							mMaterial;
+
+	physx::PxReal								mAcceleration[2];
+	//SqRayBuffer*								mSqRayBuffer;
+	SqSweepBuffer*								mSqSweepBuffer;
+
+	physx::PxReal								mLegHeight;
+
+	CrabState::Enum								mCrabState;
+	physx::PxReal								mStateTime;
+	physx::PxReal								mDistances[10];
+	physx::PxReal								mAccumTime;
+	physx::PxReal								mElapsedTime;
+	physx::PxReal								mAccelerationBuffer[2];
+	physx::PxU32								mUpdateFrequency;
+};
+
+#endif