Init
This commit is contained in:
223
physx/include/vehicle/PxVehicleTireFriction.h
Normal file
223
physx/include/vehicle/PxVehicleTireFriction.h
Normal file
@ -0,0 +1,223 @@
|
||||
//
|
||||
// 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) 2008-2021 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 PX_VEHICLE_TIREFRICTION_H
|
||||
#define PX_VEHICLE_TIREFRICTION_H
|
||||
/** \addtogroup vehicle
|
||||
@{
|
||||
*/
|
||||
|
||||
#include "foundation/PxSimpleTypes.h"
|
||||
|
||||
#if !PX_DOXYGEN
|
||||
namespace physx
|
||||
{
|
||||
#endif
|
||||
|
||||
class PxMaterial;
|
||||
|
||||
/**
|
||||
\brief Driving surface type. Each PxMaterial is associated with a corresponding PxVehicleDrivableSurfaceType.
|
||||
@see PxMaterial, PxVehicleDrivableSurfaceToTireFrictionPairs
|
||||
*/
|
||||
struct PxVehicleDrivableSurfaceType
|
||||
{
|
||||
enum
|
||||
{
|
||||
eSURFACE_TYPE_UNKNOWN=0xffffffff
|
||||
};
|
||||
PxU32 mType;
|
||||
};
|
||||
|
||||
/**
|
||||
\brief Friction for each combination of driving surface type and tire type.
|
||||
@see PxVehicleDrivableSurfaceType, PxVehicleTireData::mType
|
||||
*/
|
||||
class PxVehicleDrivableSurfaceToTireFrictionPairs
|
||||
{
|
||||
public:
|
||||
|
||||
friend class VehicleSurfaceTypeHashTable;
|
||||
|
||||
enum
|
||||
{
|
||||
eMAX_NB_SURFACE_TYPES=256
|
||||
};
|
||||
|
||||
/**
|
||||
\brief Allocate the memory for a PxVehicleDrivableSurfaceToTireFrictionPairs instance
|
||||
that can hold data for combinations of tire type and surface type with up to maxNbTireTypes types of tire and maxNbSurfaceTypes types of surface.
|
||||
|
||||
\param[in] maxNbTireTypes is the maximum number of allowed tire types.
|
||||
\param[in] maxNbSurfaceTypes is the maximum number of allowed surface types. Must be less than or equal to eMAX_NB_SURFACE_TYPES
|
||||
|
||||
\return a PxVehicleDrivableSurfaceToTireFrictionPairs instance that can be reused later with new type and friction data.
|
||||
|
||||
@see setup
|
||||
*/
|
||||
static PxVehicleDrivableSurfaceToTireFrictionPairs* allocate
|
||||
(const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes);
|
||||
|
||||
/**
|
||||
\brief Set up a PxVehicleDrivableSurfaceToTireFrictionPairs instance for combinations of nbTireTypes tire types and nbSurfaceTypes surface types.
|
||||
|
||||
\param[in] nbTireTypes is the number of different types of tire. This value must be less than or equal to maxNbTireTypes specified in allocate().
|
||||
\param[in] nbSurfaceTypes is the number of different types of surface. This value must be less than or equal to maxNbSurfaceTypes specified in allocate().
|
||||
\param[in] drivableSurfaceMaterials is an array of PxMaterial pointers of length nbSurfaceTypes.
|
||||
\param[in] drivableSurfaceTypes is an array of PxVehicleDrivableSurfaceType instances of length nbSurfaceTypes.
|
||||
|
||||
\note If the pointer to the PxMaterial that touches the tire is found in drivableSurfaceMaterials[x] then the surface type is drivableSurfaceTypes[x].mType
|
||||
and the friction is the value that is set with setTypePairFriction(drivableSurfaceTypes[x].mType, PxVehicleTireData::mType, frictionValue).
|
||||
|
||||
\note A friction value of 1.0 will be assigned as default to each combination of tire and surface type. To override this use setTypePairFriction.
|
||||
@see release, setTypePairFriction, getTypePairFriction, PxVehicleTireData.mType
|
||||
*/
|
||||
void setup
|
||||
(const PxU32 nbTireTypes, const PxU32 nbSurfaceTypes,
|
||||
const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
|
||||
|
||||
/**
|
||||
\brief Deallocate a PxVehicleDrivableSurfaceToTireFrictionPairs instance
|
||||
*/
|
||||
void release();
|
||||
|
||||
/**
|
||||
\brief Set the friction for a specified pair of tire type and drivable surface type.
|
||||
|
||||
\param[in] surfaceType describes the surface type
|
||||
\param[in] tireType describes the tire type.
|
||||
\param[in] value describes the friction coefficient for the combination of surface type and tire type.
|
||||
*/
|
||||
void setTypePairFriction(const PxU32 surfaceType, const PxU32 tireType, const PxReal value);
|
||||
|
||||
/**
|
||||
\brief Return the friction for a specified combination of surface type and tire type.
|
||||
\return The friction for a specified combination of surface type and tire type.
|
||||
\note The final friction value used by the tire model is the value returned by getTypePairFriction
|
||||
multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph
|
||||
@see PxVehicleTireData::mFrictionVsSlipGraph
|
||||
*/
|
||||
PxReal getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const;
|
||||
|
||||
/**
|
||||
\brief Return the maximum number of surface types
|
||||
\return The maximum number of surface types
|
||||
@see allocate
|
||||
*/
|
||||
PxU32 getMaxNbSurfaceTypes() const {return mMaxNbSurfaceTypes;}
|
||||
|
||||
/**
|
||||
\brief Return the maximum number of tire types
|
||||
\return The maximum number of tire types
|
||||
@see allocate
|
||||
*/
|
||||
PxU32 getMaxNbTireTypes() const {return mMaxNbTireTypes;}
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
\brief Ptr to base address of a 2d PxReal array with dimensions [mNbSurfaceTypes][mNbTireTypes]
|
||||
|
||||
\note Each element of the array describes the maximum friction provided by a surface type-tire type combination.
|
||||
eg the friction corresponding to a combination of surface type x and tire type y is mPairs[x][y]
|
||||
*/
|
||||
PxReal* mPairs;
|
||||
|
||||
/**
|
||||
\brief Ptr to 1d array of material ptrs that is of length mNbSurfaceTypes.
|
||||
|
||||
\note If the PxMaterial that touches the tire corresponds to mDrivableSurfaceMaterials[x] then the drivable surface
|
||||
type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y],
|
||||
assuming a tire type y.
|
||||
|
||||
\note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is
|
||||
mPairs[0][y], assuming a tire type y.
|
||||
*/
|
||||
const PxMaterial** mDrivableSurfaceMaterials;
|
||||
|
||||
/**
|
||||
\brief Ptr to 1d array of PxVehicleDrivableSurfaceType that is of length mNbSurfaceTypes.
|
||||
|
||||
\note If the PxMaterial that touches the tire is found in mDrivableSurfaceMaterials[x] then the drivable surface
|
||||
type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y],
|
||||
assuming a tire type y.
|
||||
|
||||
\note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is
|
||||
mPairs[0][y], assuming a tire type y.
|
||||
*/
|
||||
PxVehicleDrivableSurfaceType* mDrivableSurfaceTypes;
|
||||
|
||||
/**
|
||||
\brief Number of different driving surface types.
|
||||
|
||||
\note mDrivableSurfaceMaterials and mDrivableSurfaceTypes are both 1d arrays of length mMaxNbSurfaceTypes.
|
||||
|
||||
\note mNbSurfaceTypes must be less than or equal to mMaxNbSurfaceTypes.
|
||||
*/
|
||||
PxU32 mNbSurfaceTypes;
|
||||
|
||||
/**
|
||||
\brief Maximum number of different driving surface types.
|
||||
|
||||
\note mMaxNbSurfaceTypes must be less than or equal to eMAX_NB_SURFACE_TYPES.
|
||||
*/
|
||||
PxU32 mMaxNbSurfaceTypes;
|
||||
|
||||
/**
|
||||
\brief Number of different tire types.
|
||||
|
||||
\note Tire types stored in PxVehicleTireData.mType
|
||||
*/
|
||||
PxU32 mNbTireTypes;
|
||||
|
||||
/**
|
||||
\brief Maximum number of different tire types.
|
||||
|
||||
\note Tire types stored in PxVehicleTireData.mType
|
||||
*/
|
||||
PxU32 mMaxNbTireTypes;
|
||||
|
||||
|
||||
#if !PX_P64_FAMILY
|
||||
PxU32 mPad[1];
|
||||
#else
|
||||
PxU32 mPad[2];
|
||||
#endif
|
||||
|
||||
PxVehicleDrivableSurfaceToTireFrictionPairs(){}
|
||||
~PxVehicleDrivableSurfaceToTireFrictionPairs(){}
|
||||
};
|
||||
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) & 15));
|
||||
|
||||
#if !PX_DOXYGEN
|
||||
} // namespace physx
|
||||
#endif
|
||||
|
||||
/** @} */
|
||||
#endif //PX_VEHICLE_TIREFRICTION_H
|
||||
Reference in New Issue
Block a user