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physx/samples/samplevehicle/SampleVehicle_VehicleManager.h
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physx/samples/samplevehicle/SampleVehicle_VehicleManager.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) 2008-2021 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 SAMPLE_VEHICLE_VEHICLE_MANAGER_H
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#define SAMPLE_VEHICLE_VEHICLE_MANAGER_H
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#include "vehicle/PxVehicleSDK.h"
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#include "vehicle/PxVehicleDrive4W.h"
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#include "vehicle/PxVehicleDriveNW.h"
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#include "vehicle/PxVehicleDriveTank.h"
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#include "vehicle/PxVehicleUpdate.h"
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#include "PxFoundation.h"
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#if PX_DEBUG_VEHICLE_ON
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#include "vehicle/PxVehicleUtilTelemetry.h"
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#endif
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using namespace physx;
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namespace physx
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{
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class PxScene;
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class PxBatchQuery;
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class PxCooking;
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class PxMaterial;
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class PxConvexMesh;
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struct PxVehicleDrivableSurfaceType;
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}
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class SampleVehicleSceneQueryData;
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class SampleVehicleWheelQueryResults;
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class PxVehicle4WAlloc;
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//Collision types and flags describing collision interactions of each collision type.
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enum
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{
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COLLISION_FLAG_GROUND = 1 << 0,
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COLLISION_FLAG_WHEEL = 1 << 1,
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COLLISION_FLAG_CHASSIS = 1 << 2,
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COLLISION_FLAG_OBSTACLE = 1 << 3,
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COLLISION_FLAG_DRIVABLE_OBSTACLE= 1 << 4,
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COLLISION_FLAG_GROUND_AGAINST = COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
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COLLISION_FLAG_WHEEL_AGAINST = COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE,
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COLLISION_FLAG_CHASSIS_AGAINST = COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
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COLLISION_FLAG_OBSTACLE_AGAINST = COLLISION_FLAG_GROUND | COLLISION_FLAG_WHEEL | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
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COLLISION_FLAG_DRIVABLE_OBSTACLE_AGAINST= COLLISION_FLAG_GROUND | COLLISION_FLAG_CHASSIS | COLLISION_FLAG_OBSTACLE | COLLISION_FLAG_DRIVABLE_OBSTACLE,
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};
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//Id of drivable surface (used by suspension raycast filtering).
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enum
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{
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DRIVABLE_SURFACE_ID=0xffffffff
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};
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//Drivable surface types.
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enum
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{
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SURFACE_TYPE_MUD=0,
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SURFACE_TYPE_TARMAC,
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SURFACE_TYPE_SNOW,
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SURFACE_TYPE_GRASS,
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MAX_NUM_SURFACE_TYPES
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};
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struct SurfaceTypeNames
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{
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static const char* getName(PxU32 type)
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{
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static char surfaceTypes[MAX_NUM_SURFACE_TYPES+1][64]=
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{
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"mud",
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"tarmac",
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"ice",
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"grass",
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};
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return surfaceTypes[type];
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}
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};
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//Tire types.
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enum
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{
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TIRE_TYPE_WETS=0,
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TIRE_TYPE_SLICKS,
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TIRE_TYPE_ICE,
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TIRE_TYPE_MUD,
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MAX_NUM_TIRE_TYPES
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};
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struct TireFrictionMultipliers
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{
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static float getValue(PxU32 surfaceType, PxU32 tireType)
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{
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//Tire model friction for each combination of drivable surface type and tire type.
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static PxF32 tireFrictionMultipliers[MAX_NUM_SURFACE_TYPES][MAX_NUM_TIRE_TYPES]=
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{
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//WETS SLICKS ICE MUD
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{0.95f, 0.95f, 0.95f, 0.95f}, //MUD
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{1.10f, 1.15f, 1.10f, 1.10f}, //TARMAC
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{0.70f, 0.70f, 0.70f, 0.70f}, //ICE
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{0.80f, 0.80f, 0.80f, 0.80f} //GRASS
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};
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return tireFrictionMultipliers[surfaceType][tireType];
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}
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};
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class SampleVehicle_VehicleManager
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{
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public:
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enum
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{
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MAX_NUM_4W_VEHICLES=8,
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MAX_NUM_6W_VEHICLES=2,
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MAX_NUM_4W_TANKS=2
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};
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SampleVehicle_VehicleManager();
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~SampleVehicle_VehicleManager();
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void init(PxPhysics& physics, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
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void shutdown();
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//Create a vehicle ready to drive.
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void create4WVehicle
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(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
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const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
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const PxTransform& startTransform, const bool useAutoGearFlag);
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void create6WVehicle
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(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
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const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
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const PxTransform& startTransform, const bool useAutoGearFlag);
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void create4WTank
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(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
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const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
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const PxTransform& startTransform, const bool useAutoGearFlag, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
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void create6WTank
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(PxScene& scene, PxPhysics& physics, PxCooking& cooking, const PxMaterial& material,
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const PxF32 chassisMass, const PxVec3* wheelCentreOffsets4, PxConvexMesh* chassisConvexMesh, PxConvexMesh** wheelConvexMeshes4,
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const PxTransform& startTransform, const bool useAutoGearFlag, const PxVehicleDriveTankControlModel::Enum tankDriveModel);
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PX_FORCE_INLINE PxU32 getNbVehicles() const { return mNumVehicles; }
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PX_FORCE_INLINE PxVehicleWheels* getVehicle(const PxU32 i) { return mVehicles[i]; }
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PX_FORCE_INLINE const PxVehicleWheelQueryResult& getVehicleWheelQueryResults(const PxU32 i) const { return mVehicleWheelQueryResults[i]; }
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void addVehicle(const PxU32 i, PxVehicleWheels* vehicle);
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//Start the suspension raycasts (always call before calling update)
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void suspensionRaycasts(PxScene* scene);
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//Update vehicle dynamics and compute forces/torques to apply to sdk rigid bodies.
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#if PX_DEBUG_VEHICLE_ON
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void updateAndRecordTelemetryData(const PxF32 timestep, const PxVec3& gravity, PxVehicleWheels* focusVehicleNW, PxVehicleTelemetryData* telemetryDataNW);
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#else
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void update(const PxF32 timestep, const PxVec3& gravity);
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#endif
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//Reset the car back to its rest state with a specified transform.
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void resetNWCar(const PxTransform& transform, const PxU32 vehicleId);
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//Switch the player's vehicle to 3-wheeled modes and back to 4-wheeled mode.
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void switchTo3WDeltaMode(const PxU32 vehicleId);
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void switchTo3WTadpoleMode(const PxU32 vehicleId);
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void switchTo4WMode(const PxU32 vehicleId);
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PxSerializationRegistry* getSerializationRegistry() { return mSerializationRegistry; }
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private:
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//Array of all cars and report data for each car.
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PxVehicleWheels* mVehicles[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
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PxVehicleWheelQueryResult mVehicleWheelQueryResults[MAX_NUM_4W_VEHICLES+MAX_NUM_6W_VEHICLES];
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PxU32 mNumVehicles;
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//sdk raycasts (for the suspension lines).
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SampleVehicleSceneQueryData* mSqData;
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PxBatchQuery* mSqWheelRaycastBatchQuery;
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//Reports for each wheel.
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SampleVehicleWheelQueryResults* mWheelQueryResults;
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//Cached simulation data of focus vehicle in 4W mode.
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PxVehicleWheelsSimData* mWheelsSimData4W;
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PxVehicleDriveSimData4W mDriveSimData4W;
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bool mIsIn3WMode;
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//Friction from combinations of tire and surface types.
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PxVehicleDrivableSurfaceToTireFrictionPairs* mSurfaceTirePairs;
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//Initialise a car back to its start transform and state.
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void resetNWCar(const PxTransform& startTransform, PxVehicleWheels* car);
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//Serialization
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PxSerializationRegistry* mSerializationRegistry;
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};
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#endif //SAMPLE_VEHICLE_VEHICLE_MANAGER_H
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