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physx/snippets/snippetvehiclecommon/SnippetVehicleCreate.cpp
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physx/snippets/snippetvehiclecommon/SnippetVehicleCreate.cpp
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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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#include <new>
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#include "SnippetVehicleCreate.h"
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#include "SnippetVehicleSceneQuery.h"
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#include "SnippetVehicleFilterShader.h"
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#include "SnippetVehicleTireFriction.h"
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#include "PxPhysicsAPI.h"
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namespace snippetvehicle
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{
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using namespace physx;
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PxRigidStatic* createDrivablePlane(const PxFilterData& simFilterData, PxMaterial* material, PxPhysics* physics)
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{
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//Add a plane to the scene.
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PxRigidStatic* groundPlane = PxCreatePlane(*physics, PxPlane(0,1,0,0), *material);
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//Get the plane shape so we can set query and simulation filter data.
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PxShape* shapes[1];
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groundPlane->getShapes(shapes, 1);
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//Set the query filter data of the ground plane so that the vehicle raycasts can hit the ground.
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PxFilterData qryFilterData;
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setupDrivableSurface(qryFilterData);
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shapes[0]->setQueryFilterData(qryFilterData);
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//Set the simulation filter data of the ground plane so that it collides with the chassis of a vehicle but not the wheels.
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shapes[0]->setSimulationFilterData(simFilterData);
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return groundPlane;
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}
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static PxConvexMesh* createConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
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{
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// Create descriptor for convex mesh
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PxConvexMeshDesc convexDesc;
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convexDesc.points.count = numVerts;
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convexDesc.points.stride = sizeof(PxVec3);
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convexDesc.points.data = verts;
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convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
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PxConvexMesh* convexMesh = NULL;
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PxDefaultMemoryOutputStream buf;
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if(cooking.cookConvexMesh(convexDesc, buf))
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{
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PxDefaultMemoryInputData id(buf.getData(), buf.getSize());
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convexMesh = physics.createConvexMesh(id);
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}
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return convexMesh;
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}
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PxConvexMesh* createChassisMesh(const PxVec3 dims, PxPhysics& physics, PxCooking& cooking)
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{
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const PxF32 x = dims.x*0.5f;
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const PxF32 y = dims.y*0.5f;
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const PxF32 z = dims.z*0.5f;
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PxVec3 verts[8] =
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{
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PxVec3(x,y,-z),
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PxVec3(x,y,z),
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PxVec3(x,-y,z),
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PxVec3(x,-y,-z),
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PxVec3(-x,y,-z),
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PxVec3(-x,y,z),
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PxVec3(-x,-y,z),
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PxVec3(-x,-y,-z)
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};
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return createConvexMesh(verts,8,physics,cooking);
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}
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PxConvexMesh* createWheelMesh(const PxF32 width, const PxF32 radius, PxPhysics& physics, PxCooking& cooking)
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{
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PxVec3 points[2*16];
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for(PxU32 i = 0; i < 16; i++)
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{
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const PxF32 cosTheta = PxCos(i*PxPi*2.0f/16.0f);
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const PxF32 sinTheta = PxSin(i*PxPi*2.0f/16.0f);
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const PxF32 y = radius*cosTheta;
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const PxF32 z = radius*sinTheta;
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points[2*i+0] = PxVec3(-width/2.0f, y, z);
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points[2*i+1] = PxVec3(+width/2.0f, y, z);
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}
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return createConvexMesh(points,32,physics,cooking);
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}
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PxRigidDynamic* createVehicleActor
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(const PxVehicleChassisData& chassisData,
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PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels, const PxFilterData& wheelSimFilterData,
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PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, const PxFilterData& chassisSimFilterData,
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PxPhysics& physics)
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{
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//We need a rigid body actor for the vehicle.
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//Don't forget to add the actor to the scene after setting up the associated vehicle.
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PxRigidDynamic* vehActor = physics.createRigidDynamic(PxTransform(PxIdentity));
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//Wheel and chassis query filter data.
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//Optional: cars don't drive on other cars.
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PxFilterData wheelQryFilterData;
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setupNonDrivableSurface(wheelQryFilterData);
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PxFilterData chassisQryFilterData;
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setupNonDrivableSurface(chassisQryFilterData);
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//Add all the wheel shapes to the actor.
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for(PxU32 i = 0; i < numWheels; i++)
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{
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PxConvexMeshGeometry geom(wheelConvexMeshes[i]);
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PxShape* wheelShape=PxRigidActorExt::createExclusiveShape(*vehActor, geom, *wheelMaterials[i]);
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wheelShape->setQueryFilterData(wheelQryFilterData);
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wheelShape->setSimulationFilterData(wheelSimFilterData);
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wheelShape->setLocalPose(PxTransform(PxIdentity));
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}
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//Add the chassis shapes to the actor.
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for(PxU32 i = 0; i < numChassisMeshes; i++)
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{
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PxShape* chassisShape=PxRigidActorExt::createExclusiveShape(*vehActor, PxConvexMeshGeometry(chassisConvexMeshes[i]), *chassisMaterials[i]);
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chassisShape->setQueryFilterData(chassisQryFilterData);
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chassisShape->setSimulationFilterData(chassisSimFilterData);
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chassisShape->setLocalPose(PxTransform(PxIdentity));
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}
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vehActor->setMass(chassisData.mMass);
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vehActor->setMassSpaceInertiaTensor(chassisData.mMOI);
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vehActor->setCMassLocalPose(PxTransform(chassisData.mCMOffset,PxQuat(PxIdentity)));
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return vehActor;
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}
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void configureUserData(PxVehicleWheels* vehicle, ActorUserData* actorUserData, ShapeUserData* shapeUserDatas)
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{
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if(actorUserData)
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{
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vehicle->getRigidDynamicActor()->userData = actorUserData;
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actorUserData->vehicle = vehicle;
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}
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if(shapeUserDatas)
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{
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PxShape* shapes[PX_MAX_NB_WHEELS + 1];
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vehicle->getRigidDynamicActor()->getShapes(shapes, PX_MAX_NB_WHEELS + 1);
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for(PxU32 i = 0; i < vehicle->mWheelsSimData.getNbWheels(); i++)
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{
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const PxI32 shapeId = vehicle->mWheelsSimData.getWheelShapeMapping(i);
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shapes[shapeId]->userData = &shapeUserDatas[i];
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shapeUserDatas[i].isWheel = true;
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shapeUserDatas[i].wheelId = i;
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}
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}
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}
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void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData* driveSimData)
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{
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//Rigid body center of mass and moment of inertia.
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{
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PxTransform t = rigidDynamic->getCMassLocalPose();
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t.p *= lengthScale;
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rigidDynamic->setCMassLocalPose(t);
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PxVec3 moi = rigidDynamic->getMassSpaceInertiaTensor();
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moi *= (lengthScale*lengthScale);
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rigidDynamic->setMassSpaceInertiaTensor(moi);
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}
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//Wheels, suspensions, wheel centers, tire/susp force application points.
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{
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for(PxU32 i = 0; i < wheelsSimData->getNbWheels(); i++)
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{
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PxVehicleWheelData wheelData = wheelsSimData->getWheelData(i);
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wheelData.mRadius *= lengthScale;
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wheelData.mWidth *= lengthScale;
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wheelData.mDampingRate *= lengthScale*lengthScale;
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wheelData.mMaxBrakeTorque *= lengthScale*lengthScale;
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wheelData.mMaxHandBrakeTorque *= lengthScale*lengthScale;
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wheelData.mMOI *= lengthScale*lengthScale;
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wheelsSimData->setWheelData(i, wheelData);
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PxVehicleSuspensionData suspData = wheelsSimData->getSuspensionData(i);
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suspData.mMaxCompression *= lengthScale;
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suspData.mMaxDroop *= lengthScale;
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wheelsSimData->setSuspensionData(i, suspData);
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PxVec3 v = wheelsSimData->getWheelCentreOffset(i);
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v *= lengthScale;
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wheelsSimData->setWheelCentreOffset(i,v);
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v = wheelsSimData->getSuspForceAppPointOffset(i);
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v *= lengthScale;
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wheelsSimData->setSuspForceAppPointOffset(i,v);
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v = wheelsSimData->getTireForceAppPointOffset(i);
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v *= lengthScale;
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wheelsSimData->setTireForceAppPointOffset(i,v);
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}
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}
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//Slow forward speed correction.
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{
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wheelsSimData->setSubStepCount(5.0f*lengthScale, 3, 1);
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wheelsSimData->setMinLongSlipDenominator(4.0f*lengthScale);
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}
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//Engine
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if(driveSimData)
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{
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PxVehicleEngineData engineData = driveSimData->getEngineData();
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engineData.mMOI *= lengthScale*lengthScale;
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engineData.mPeakTorque *= lengthScale*lengthScale;
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engineData.mDampingRateFullThrottle *= lengthScale*lengthScale;
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engineData.mDampingRateZeroThrottleClutchEngaged *= lengthScale*lengthScale;
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engineData.mDampingRateZeroThrottleClutchDisengaged *= lengthScale*lengthScale;
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driveSimData->setEngineData(engineData);
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}
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//Clutch.
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if(driveSimData)
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{
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PxVehicleClutchData clutchData = driveSimData->getClutchData();
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clutchData.mStrength *= lengthScale*lengthScale;
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driveSimData->setClutchData(clutchData);
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}
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//Scale the collision meshes too.
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{
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PxShape* shapes[16];
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const PxU32 nbShapes = rigidDynamic->getShapes(shapes, 16);
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for(PxU32 i = 0; i < nbShapes; i++)
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{
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switch(shapes[i]->getGeometryType())
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{
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case PxGeometryType::eSPHERE:
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{
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PxSphereGeometry sphere;
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shapes[i]->getSphereGeometry(sphere);
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sphere.radius *= lengthScale;
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shapes[i]->setGeometry(sphere);
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}
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break;
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case PxGeometryType::ePLANE:
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PX_ASSERT(false);
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break;
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case PxGeometryType::eCAPSULE:
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{
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PxCapsuleGeometry capsule;
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shapes[i]->getCapsuleGeometry(capsule);
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capsule.radius *= lengthScale;
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capsule.halfHeight*= lengthScale;
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shapes[i]->setGeometry(capsule);
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}
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break;
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case PxGeometryType::eBOX:
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{
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PxBoxGeometry box;
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shapes[i]->getBoxGeometry(box);
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box.halfExtents *= lengthScale;
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shapes[i]->setGeometry(box);
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}
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break;
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case PxGeometryType::eCONVEXMESH:
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{
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PxConvexMeshGeometry convexMesh;
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shapes[i]->getConvexMeshGeometry(convexMesh);
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convexMesh.scale.scale *= lengthScale;
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shapes[i]->setGeometry(convexMesh);
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}
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break;
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case PxGeometryType::eTRIANGLEMESH:
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{
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PxTriangleMeshGeometry triMesh;
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shapes[i]->getTriangleMeshGeometry(triMesh);
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triMesh.scale.scale *= lengthScale;
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shapes[i]->setGeometry(triMesh);
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}
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break;
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case PxGeometryType::eHEIGHTFIELD:
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{
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PxHeightFieldGeometry hf;
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shapes[i]->getHeightFieldGeometry(hf);
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hf.columnScale *= lengthScale;
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hf.heightScale *= lengthScale;
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hf.rowScale *= lengthScale;
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shapes[i]->setGeometry(hf);
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}
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break;
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case PxGeometryType::eINVALID:
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case PxGeometryType::eGEOMETRY_COUNT:
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break;
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}
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}
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}
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}
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void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData4W* driveSimData)
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{
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customizeVehicleToLengthScale(lengthScale, rigidDynamic, wheelsSimData, static_cast<PxVehicleDriveSimData*>(driveSimData));
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//Ackermann geometry.
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if(driveSimData)
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{
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PxVehicleAckermannGeometryData ackermannData = driveSimData->getAckermannGeometryData();
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ackermannData.mAxleSeparation *= lengthScale;
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ackermannData.mFrontWidth *= lengthScale;
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ackermannData.mRearWidth *= lengthScale;
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driveSimData->setAckermannGeometryData(ackermannData);
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}
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}
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} // namespace snippetvehicle
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