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physx/snippets/snippetvehiclecommon/SnippetVehicleCreate.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 SNIPPET_VEHICLE_COMMON_H
+#define SNIPPET_VEHICLE_COMMON_H
+
+#include "PxPhysicsAPI.h"
+#include "vehicle/PxVehicleDriveTank.h"
+#include "vehicle/PxVehicleNoDrive.h"
+
+namespace snippetvehicle
+{
+
+using namespace physx;
+
+////////////////////////////////////////////////
+
+PxRigidStatic* createDrivablePlane(const PxFilterData& simFilterData, PxMaterial* material, PxPhysics* physics);
+
+////////////////////////////////////////////////
+
+struct ActorUserData
+{
+	ActorUserData()
+		: vehicle(NULL),
+		  actor(NULL)
+	{
+	}
+
+	const PxVehicleWheels* vehicle;
+	const PxActor* actor;
+};
+
+struct ShapeUserData
+{
+	ShapeUserData()
+		: isWheel(false),
+		  wheelId(0xffffffff)
+	{
+	}
+
+	bool isWheel;
+	PxU32 wheelId;
+};
+
+
+struct VehicleDesc
+{
+	VehicleDesc()
+		: chassisMass(0.0f),
+		  chassisDims(PxVec3(0.0f, 0.0f, 0.0f)),
+		  chassisMOI(PxVec3(0.0f, 0.0f, 0.0f)),
+		  chassisCMOffset(PxVec3(0.0f, 0.0f, 0.0f)),
+		  chassisMaterial(NULL),
+		  wheelMass(0.0f),
+		  wheelWidth(0.0f),
+		  wheelRadius(0.0f),
+		  wheelMOI(0.0f),
+		  wheelMaterial(NULL),
+		  actorUserData(NULL),
+		  shapeUserDatas(NULL)
+	{
+	}
+
+	PxF32 chassisMass;
+	PxVec3 chassisDims;
+	PxVec3 chassisMOI;
+	PxVec3 chassisCMOffset;
+	PxMaterial* chassisMaterial;
+	PxFilterData chassisSimFilterData;  //word0 = collide type, word1 = collide against types, word2 = PxPairFlags
+
+	PxF32 wheelMass;
+	PxF32 wheelWidth;
+	PxF32 wheelRadius;
+	PxF32 wheelMOI;
+	PxMaterial* wheelMaterial;
+	PxU32 numWheels;
+	PxFilterData wheelSimFilterData;	//word0 = collide type, word1 = collide against types, word2 = PxPairFlags
+
+	ActorUserData* actorUserData;
+	ShapeUserData* shapeUserDatas;
+};
+
+PxVehicleDrive4W* createVehicle4W(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
+
+PxVehicleDriveTank* createVehicleTank(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
+
+PxVehicleNoDrive* createVehicleNoDrive(const VehicleDesc& vehDesc, PxPhysics* physics, PxCooking* cooking);
+
+////////////////////////////////////////////////
+
+PxConvexMesh* createChassisMesh(const PxVec3 dims, PxPhysics& physics, PxCooking& cooking);
+
+PxConvexMesh* createWheelMesh(const PxF32 width, const PxF32 radius, PxPhysics& physics, PxCooking& cooking);
+
+////////////////////////////////////////////////
+
+void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData* driveSimData);
+
+void customizeVehicleToLengthScale(const PxReal lengthScale, PxRigidDynamic* rigidDynamic, PxVehicleWheelsSimData* wheelsSimData, PxVehicleDriveSimData4W* driveSimData);
+
+////////////////////////////////////////////////
+
+PxRigidDynamic* createVehicleActor
+(const PxVehicleChassisData& chassisData,
+ PxMaterial** wheelMaterials, PxConvexMesh** wheelConvexMeshes, const PxU32 numWheels, const PxFilterData& wheelSimFilterData,
+ PxMaterial** chassisMaterials, PxConvexMesh** chassisConvexMeshes, const PxU32 numChassisMeshes, const PxFilterData& chassisSimFilterData,
+ PxPhysics& physics);
+
+void configureUserData(PxVehicleWheels* vehicle, ActorUserData* actorUserData, ShapeUserData* shapeUserDatas);
+
+////////////////////////////////////////////////
+
+} // namespace snippetvehicle
+
+#endif //SNIPPET_VEHICLE_COMMON_H