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kaplademo/source/kaplaDemo/VehicleManager.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) 2018 NVIDIA Corporation. All rights reserved.
+
+#ifndef VEHICLE_H
+#define VEHICLE_H
+
+#include "vehicle/PxVehicleWheels.h"
+#include "vehicle/PxVehicleDrive4W.h"
+#include "vehicle/PxVehicleTireFriction.h"
+#include "vehicle/PxVehicleUpdate.h"
+#include "RawLoader.h"
+#include "PxPhysics.h"
+#include "PxCooking.h"
+
+using namespace physx;
+
+namespace physx
+{
+	class PxBatchQuery;
+
+	namespace fracture
+	{
+		namespace base
+		{
+			class Compound;
+		}
+	}
+}
+
+class VehicleWheelQueryResults;
+class VehicleSceneQueryData;
+
+//Tire types.
+enum
+{
+	TIRE_TYPE_WETS = 0,
+	TIRE_TYPE_SLICKS,
+	TIRE_TYPE_ICE,
+	TIRE_TYPE_MUD,
+	MAX_NUM_TIRE_TYPES
+};
+
+//Drivable surface types.
+enum
+{
+	SURFACE_TYPE_MUD = 0,
+	SURFACE_TYPE_TARMAC,
+	SURFACE_TYPE_SNOW,
+	SURFACE_TYPE_GRASS,
+	MAX_NUM_SURFACE_TYPES
+};
+
+
+//Collision types and flags describing collision interactions of each collision type.
+enum
+{
+	COLLISION_FLAG_GROUND = 1 << 0,
+	COLLISION_FLAG_WHEEL = 1 << 1,
+	COLLISION_FLAG_CHASSIS = 1 << 2,
+	COLLISION_FLAG_OBSTACLE = 1 << 3,
+	COLLISION_FLAG_DRIVABLE_OBSTACLE = 1 << 4,
+
+	COLLISION_FLAG_GROUND_AGAINST = COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_WHEEL_AGAINST = COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE,
+	COLLISION_FLAG_CHASSIS_AGAINST = COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_OBSTACLE_AGAINST = COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+	COLLISION_FLAG_DRIVABLE_OBSTACLE_AGAINST = COLLISION_FLAG_GROUND | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
+};
+// ---------------------------------------------------------------------
+
+
+struct TireFrictionMultipliers
+{
+	static float getValue(PxU32 surfaceType, PxU32 tireType)
+	{
+		//Tire model friction for each combination of drivable surface type and tire type.
+		static PxF32 tireFrictionMultipliers[MAX_NUM_SURFACE_TYPES][MAX_NUM_TIRE_TYPES] =
+		{
+			//WETS	SLICKS	ICE		MUD
+			{ 0.95f, 0.95f, 0.95f, 0.95f },		//MUD
+			{ 1.10f, 1.15f, 1.10f, 1.10f },		//TARMAC
+			{ 0.70f, 0.70f, 0.70f, 0.70f },		//ICE
+			{ 0.80f, 0.80f, 0.80f, 0.80f }		//GRASS
+		};
+		return tireFrictionMultipliers[surfaceType][tireType];
+	}
+};
+
+class VehicleManager
+{
+public:
+	VehicleManager();
+	virtual ~VehicleManager();
+
+	void init(PxPhysics& physics, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
+
+	void create4WVehicle(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
+		const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
+		const PxTransform& startTransform, const bool useAutoGearFlag);
+	void createVehicle4WSimulationData(const PxF32 chassisMass, PxConvexMesh* chassisConvexMesh, const PxF32 wheelMass, PxConvexMesh** wheelConvexMeshes,
+		const PxVec3* wheelCentreOffsets, PxVehicleWheelsSimData& wheelsData, PxVehicleDriveSimData4W& driveData, PxVehicleChassisData& chassisData);
+	PxVec3 computeChassisAABBDimensions(const PxConvexMesh* chassisConvexMesh);
+	void computeWheelWidthsAndRadii(PxConvexMesh** wheelConvexMeshes, PxF32* wheelWidths, PxF32* wheelRadii);
+	void resetNWCar(const PxTransform& startTransform, PxVehicleWheels* vehWheels);
+	void suspensionRaycasts(PxScene* scene);
+	void suspensionSweeps(PxScene* scene);
+	void update(const PxF32 timestep, const PxVec3& gravity);
+	
+	PxVehicleWheels* getVehicle() { return mVehicle;  }
+
+	PxVehicleWheelQueryResult& getWheelQueryResult() { return mVehicleWheelQueryResults; };
+
+	void clearBatchQuery() { mSqWheelRaycastBatchQuery = NULL;  }
+
+private:
+
+	PxVehicleWheels* mVehicle;
+	PxVehicleWheelQueryResult mVehicleWheelQueryResults;
+	//sdk raycasts (for the suspension lines).
+	VehicleSceneQueryData* mSqData;
+	PxBatchQuery* mSqWheelRaycastBatchQuery;
+
+	//Reports for each wheel.
+	VehicleWheelQueryResults* mWheelQueryResults;
+
+	//Cached simulation data of focus vehicle in 4W mode.
+	PxVehicleWheelsSimData* mWheelsSimData4W;
+	PxVehicleDriveSimData4W mDriveSimData4W;
+
+	//Friction from combinations of tire and surface types.
+	PxVehicleDrivableSurfaceToTireFrictionPairs* mSurfaceTirePairs;
+
+public:
+	fracture::base::Compound* mCompoundShape;
+
+};
+#endif  // SCENE_BOXES_H