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kaplademo/source/kaplaDemo/VehicleController.h
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kaplademo/source/kaplaDemo/VehicleController.h
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef VEHICLE_CONTROLLER_H
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#define VEHICLE_CONTROLLER_H
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxVec3.h"
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#include "vehicle/PxVehicleSDK.h"
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#include "vehicle/PxVehicleUpdate.h"
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#include "vehicle/PxVehicleUtilControl.h"
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using namespace physx;
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class VehicleController
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{
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public:
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VehicleController();
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~VehicleController();
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void setCarKeyboardInputs
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(const bool accel, const bool brake, const bool handbrake,
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const bool steerleft, const bool steerright,
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const bool gearup, const bool geardown)
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{
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mKeyPressedAccel = accel;
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mKeyPressedBrake = brake;
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mKeyPressedHandbrake = handbrake;
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mKeyPressedSteerLeft = steerleft;
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mKeyPressedSteerRight = steerright;
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mKeyPressedGearUp = gearup;
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mKeyPressedGearDown = geardown;
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}
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void setCarGamepadInputs
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(const PxF32 accel, const PxF32 brake,
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const PxF32 steer,
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const bool gearup, const bool geardown,
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const bool handbrake)
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{
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mGamepadAccel = accel;
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mGamepadCarBrake = brake;
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mGamepadCarSteer = steer;
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mGamepadGearup = gearup;
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mGamepadGeardown = geardown;
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mGamepadCarHandbrake = handbrake;
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}
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void setTankKeyboardInputs
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(const bool accel, const bool thrustLeft, const bool thrustRight, const bool brakeLeft, const bool brakeRight, const bool gearUp, const bool gearDown)
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{
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mKeyPressedAccel = accel;
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mKeyPressedThrustLeft = thrustLeft;
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mKeyPressedThrustRight = thrustRight;
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mKeyPressedBrakeLeft = brakeLeft;
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mKeyPressedBrakeRight = brakeRight;
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mKeyPressedGearUp = gearUp;
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mKeyPressedGearDown = gearDown;
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}
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void setTankGamepadInputs
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(const PxF32 accel, const PxF32 thrustLeft, const PxF32 thrustRight, const PxF32 brakeLeft, const PxF32 brakeRight, const bool gearUp, const bool gearDown)
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{
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mGamepadAccel = accel;
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mTankThrustLeft = thrustLeft;
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mTankThrustRight = thrustRight;
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mTankBrakeLeft = brakeLeft;
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mTankBrakeRight = brakeRight;
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mGamepadGearup = gearUp;
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mGamepadGeardown = gearDown;
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}
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void toggleAutoGearFlag()
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{
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mToggleAutoGears = true;
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}
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void update(const PxF32 dtime, const PxVehicleWheelQueryResult& vehicleWheelQueryResults, PxVehicleWheels& focusVehicle);
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void clear();
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private:
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//Raw driving inputs - keys (car + tank)
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bool mKeyPressedAccel;
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bool mKeyPressedGearUp;
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bool mKeyPressedGearDown;
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//Raw driving inputs - keys (car only)
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bool mKeyPressedBrake;
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bool mKeyPressedHandbrake;
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bool mKeyPressedSteerLeft;
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bool mKeyPressedSteerRight;
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//Raw driving inputs - keys (tank only)
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bool mKeyPressedThrustLeft;
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bool mKeyPressedThrustRight;
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bool mKeyPressedBrakeLeft;
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bool mKeyPressedBrakeRight;
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//Raw driving inputs - gamepad (car + tank)
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PxF32 mGamepadAccel;
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bool mGamepadGearup;
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bool mGamepadGeardown;
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//Raw driving inputs - gamepad (car only)
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PxF32 mGamepadCarBrake;
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PxF32 mGamepadCarSteer;
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bool mGamepadCarHandbrake;
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//Raw driving inputs - (tank only)
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PxF32 mTankThrustLeft;
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PxF32 mTankThrustRight;
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PxF32 mTankBrakeLeft;
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PxF32 mTankBrakeRight;
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//Record and replay using raw driving inputs.
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bool mRecord;
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bool mReplay;
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enum
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{
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MAX_NUM_RECORD_REPLAY_SAMPLES = 8192
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};
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// Keyboard
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bool mKeyboardAccelValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardBrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardHandbrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardSteerLeftValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardSteerRightValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardGearupValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mKeyboardGeardownValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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// Gamepad - (tank + car)
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PxF32 mGamepadAccelValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mGamepadGearupValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mGamepadGeardownValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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// Gamepad - car only
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PxF32 mGamepadCarBrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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PxF32 mGamepadCarSteerValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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bool mGamepadCarHandbrakeValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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//Gamepad - tank only.
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PxF32 mGamepadTankThrustLeftValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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PxF32 mGamepadTankThrustRightValues[MAX_NUM_RECORD_REPLAY_SAMPLES];
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PxU32 mNumSamples;
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PxU32 mNumRecordedSamples;
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// Raw data taken from the correct stream (live input stream or replay stream)
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bool mUseKeyInputs;
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// Toggle autogears flag on focus vehicle
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bool mToggleAutoGears;
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//Auto-reverse mode.
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bool mIsMovingForwardSlowly;
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bool mInReverseMode;
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//Update
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void processRawInputs(const PxF32 timestep, const bool useAutoGears, PxVehicleDrive4WRawInputData& rawInputData);
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void processRawInputs(const PxF32 timestep, const bool useAutoGears, PxVehicleDriveTankRawInputData& rawInputData);
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void processAutoReverse(
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const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
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const PxVehicleDrive4WRawInputData& rawInputData,
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bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const;
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void processAutoReverse(
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const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
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const PxVehicleDriveTankRawInputData& rawInputData,
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bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const;
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////////////////////////////////
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//Record and replay deprecated at the moment.
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//Setting functions as private to avoid them being used.
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///////////////////////////////
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bool getIsInRecordReplayMode() const { return (mRecord || mReplay); }
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bool getIsRecording() const { return mRecord; }
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bool getIsReplaying() const { return mReplay; }
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void enableRecordReplayMode()
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{
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PX_ASSERT(!getIsInRecordReplayMode());
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mRecord = true;
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mReplay = false;
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mNumRecordedSamples = 0;
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}
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void disableRecordReplayMode()
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{
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PX_ASSERT(getIsInRecordReplayMode());
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mRecord = false;
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mReplay = false;
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mNumRecordedSamples = 0;
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}
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void restart();
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////////////////////////////
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};
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#endif //VehicleController
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