Init

physx/samples/samplesubmarine/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) 2008-2021 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 CRAB_H
+#define CRAB_H
+
+#include "foundation/Px.h"
+#include "foundation/PxSimpleTypes.h"
+#include "common/PxPhysXCommonConfig.h"
+#include "task/PxTask.h"
+#include "SampleAllocator.h"
+#include <vector>
+
+class SampleSubmarine;
+
+namespace physx
+{
+	class PxRigidDynamic;
+	class PxRevoluteJoint;
+}
+
+ //  Edge Labels for Theo Jansen's Mechanism
+ //		       _.
+ //		     ,' |       m
+ //		   ,'   |2b   .....
+ //		 ,' 2a  |    e    |n
+ //		+-------+---------+
+ //		|       |
+ //		|       |2c
+ //		|       |
+ //		+-------+
+ //		 `.     |
+ //		   `.   |2d
+ //		     `. |
+ //		       `|
+
+struct LegParameters
+{
+	PxReal a;	// half x-dim leg
+	PxReal b;	// half height upper triangle
+	PxReal c;	// half height distance joints (square)
+	PxReal d;	// half height lower triangle
+	PxReal e;	// x distance from main body centre
+	PxReal m;	// half extent of the motor box
+	PxReal n;	// y offset of the motor from the main body centre
+};
+
+struct CrabState
+{
+	enum Enum
+	{
+		eWAITING,
+		eMOVE_FWD,
+		eMOVE_BKWD,
+		eROTATE_LEFT,
+		eROTATE_RIGHT,
+		ePANIC,
+		eNUM_STATES,
+	};
+};
+struct SqRayBuffer: public SampleAllocateable
+{
+	SqRayBuffer(SampleSubmarine& sampleSubmarine, PxU32 numRays, PxU32 numHits);
+	~SqRayBuffer();
+	
+	SampleSubmarine&				mSampleSubmarine;
+	PxBatchQuery*					mBatchQuery;
+	
+	PxRaycastQueryResult*			mRayCastResults;
+	PxRaycastHit*					mRayCastHits;
+
+	PxU32 							mQueryResultSize; 
+	PxU32 							mHitSize;
+	void*							mOrigAddresses[2];
+private:
+	SqRayBuffer& operator=(const SqRayBuffer&);
+};
+
+class Crab: public ClassType, public physx::PxLightCpuTask, public SampleAllocateable
+{
+public:
+	Crab(SampleSubmarine& sample, const PxVec3& crabPos, RenderMaterial* material);
+	Crab(SampleSubmarine& sample, const char* filename,  RenderMaterial* material);
+	~Crab();
+
+	void	update(PxReal dt);
+	void	setAcceleration(PxReal leftAcc, PxReal rightAcc);
+	void	flushAccelerationBuffer();
+
+	PX_INLINE const PxRigidDynamic*		getCrabBody() const		{ return mCrabBody; }
+	PX_INLINE PxRigidDynamic*			getCrabBody()			{ return mCrabBody; }
+	PX_INLINE bool						needsRespawn()			{ return mRespawnMe; }
+	void	save(const char* filename);
+
+	// Implements LightCpuTask
+	virtual  const char*				getName() const			{ return "Crab AI Task"; }
+	virtual  void						run();
+
+private:
+	void	initMembers();
+	void	create(const PxVec3& _crabPos);
+	void	load(const char* filename);
+
+	PxVec3	getPlaceOnFloor(PxVec3 pos);
+	void	createLeg(PxRigidDynamic* mainBody, PxVec3 localPos, PxReal mass, const LegParameters& params, PxReal scale, PxRigidDynamic* motor, PxVec3 motorAttachmentPos);
+	void	scanForObstacles();
+	void	updateState();
+	void	initState(CrabState::Enum state);
+	
+private:
+	SampleSubmarine*					mSampleSubmarine;
+
+	PxRigidDynamic*						mCrabBody;
+	PxRevoluteJoint*					mMotorJoint[2];
+	std::vector<PxRigidDynamic*>		mActors;
+	std::vector<PxJoint*>				mJoints;
+
+
+	RenderMaterial*					mMaterial;
+	PxReal							mAcceleration[2];
+	SqRayBuffer*					mSqRayBuffer;
+	PxReal							mLegHeight;
+	bool							mRespawnMe;
+
+	CrabState::Enum					mCrabState;
+	PxReal							mStateTime;
+	PxReal							mDistances[10];
+	PxReal							mAccumTime;
+	PxReal							mElapsedTime;
+	PxVec3							mSubmarinePos;
+	PxReal							mAccelerationBuffer[2];
+	
+	volatile PxU32					mRunning;
+	void*							mMemory;
+};
+
+#endif