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physx/snippets/snippetvehiclecommon/SnippetVehicleTankCreate.cpp
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physx/snippets/snippetvehiclecommon/SnippetVehicleTankCreate.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 "SnippetVehicleCreate.h"
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#include "SnippetVehicleTireFriction.h"
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#include "SnippetVehicleSceneQuery.h"
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namespace snippetvehicle
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{
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namespace tank
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{
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void computeWheelCenterActorOffsets
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(const PxF32 wheelFrontZ, const PxF32 wheelRearZ, const PxVec3& chassisDims, const PxF32 wheelWidth, const PxF32 wheelRadius, const PxU32 numWheels, PxVec3* wheelCentreOffsets)
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{
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//chassisDims.z is the distance from the rear of the chassis to the front of the chassis.
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//The front has z = 0.5*chassisDims.z and the rear has z = -0.5*chassisDims.z.
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//Compute a position for the front wheel and the rear wheel along the z-axis.
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//Compute the separation between each wheel along the z-axis.
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const PxF32 numLeftWheels = numWheels/2.0f;
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const PxF32 deltaZ = (wheelFrontZ - wheelRearZ)/(numLeftWheels-1.0f);
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//Set the outside of the left and right wheels to be flush with the chassis.
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//Set the top of the wheel to be just touching the underside of the chassis.
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for(PxU32 i = 0; i < numWheels; i+=2)
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{
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//Left wheel offset from origin.
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wheelCentreOffsets[i + 0] = PxVec3((-chassisDims.x + wheelWidth)*0.5f, -(chassisDims.y/2 + wheelRadius), wheelRearZ + i*deltaZ*0.5f);
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//Right wheel offsets from origin.
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wheelCentreOffsets[i + 1] = PxVec3((+chassisDims.x - wheelWidth)*0.5f, -(chassisDims.y/2 + wheelRadius), wheelRearZ + i*deltaZ*0.5f);
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}
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}
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void setupWheelsSimulationData
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(const PxF32 wheelMass, const PxF32 wheelMOI, const PxF32 wheelRadius, const PxF32 wheelWidth,
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const PxU32 numWheels, const PxVec3* wheelCenterActorOffsets,
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const PxVec3& chassisCMOffset, const PxF32 chassisMass,
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PxVehicleWheelsSimData* wheelsSimData)
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{
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//Set up the wheels.
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PxVehicleWheelData wheels[PX_MAX_NB_WHEELS];
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{
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//Set up the wheel data structures with mass, moi, radius, width.
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//Increase the damping on the wheel.
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for(PxU32 i = 0; i < numWheels; i++)
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{
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wheels[i].mMass = wheelMass;
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wheels[i].mMOI = wheelMOI;
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wheels[i].mRadius = wheelRadius;
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wheels[i].mWidth = wheelWidth;
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wheels[i].mDampingRate = 2.0f;
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}
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}
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//Set up the tires.
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PxVehicleTireData tires[PX_MAX_NB_WHEELS];
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{
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//Set all tire types to "normal" type.
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for(PxU32 i = 0; i < numWheels; i++)
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{
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tires[i].mType = TIRE_TYPE_NORMAL;
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}
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}
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//Set up the suspensions
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PxVehicleSuspensionData suspensions[PX_MAX_NB_WHEELS];
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{
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//Compute the mass supported by each suspension spring.
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PxF32 suspSprungMasses[PX_MAX_NB_WHEELS];
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PxVehicleComputeSprungMasses(numWheels, wheelCenterActorOffsets, chassisCMOffset, chassisMass, 1, suspSprungMasses);
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//Set the suspension data.
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for(PxU32 i = 0; i < numWheels; i++)
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{
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suspensions[i].mMaxCompression = 0.3f;
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suspensions[i].mMaxDroop = 0.1f;
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suspensions[i].mSpringStrength = 10000.0f;
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suspensions[i].mSpringDamperRate = 1500.0f;
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suspensions[i].mSprungMass = suspSprungMasses[i];
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}
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}
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//Set up the wheel geometry.
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PxVec3 suspTravelDirections[PX_MAX_NB_WHEELS];
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PxVec3 wheelCentreCMOffsets[PX_MAX_NB_WHEELS];
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PxVec3 suspForceAppCMOffsets[PX_MAX_NB_WHEELS];
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PxVec3 tireForceAppCMOffsets[PX_MAX_NB_WHEELS];
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{
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for(PxU32 i = 0; i < numWheels; i++)
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{
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//Vertical suspension travel.
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suspTravelDirections[i] = PxVec3(0,-1,0);
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//Wheel center offset is offset from rigid body center of mass.
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wheelCentreCMOffsets[i] = wheelCenterActorOffsets[i] - chassisCMOffset;
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//Suspension force application point 0.3 metres below rigid body center of mass.
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suspForceAppCMOffsets[i]=PxVec3(wheelCentreCMOffsets[i].x,-0.3f,wheelCentreCMOffsets[i].z);
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//Tire force application point 0.3 metres below rigid body center of mass.
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tireForceAppCMOffsets[i]=PxVec3(wheelCentreCMOffsets[i].x,-0.3f,wheelCentreCMOffsets[i].z);
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}
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}
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//Set up the filter data of the raycast that will be issued by each suspension.
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PxFilterData qryFilterData;
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setupNonDrivableSurface(qryFilterData);
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//Set the wheel, tire and suspension data.
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//Set the geometry data.
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//Set the query filter data
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for(PxU32 i = 0; i < numWheels; i++)
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{
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wheelsSimData->setWheelData(i, wheels[i]);
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wheelsSimData->setTireData(i, tires[i]);
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wheelsSimData->setSuspensionData(i, suspensions[i]);
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wheelsSimData->setSuspTravelDirection(i, suspTravelDirections[i]);
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wheelsSimData->setWheelCentreOffset(i, wheelCentreCMOffsets[i]);
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wheelsSimData->setSuspForceAppPointOffset(i, suspForceAppCMOffsets[i]);
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wheelsSimData->setTireForceAppPointOffset(i, tireForceAppCMOffsets[i]);
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wheelsSimData->setSceneQueryFilterData(i, qryFilterData);
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wheelsSimData->setWheelShapeMapping(i, PxI32(i));
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}
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}
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}// namespace tank
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PxVehicleDriveTank* createVehicleTank(const VehicleDesc& tankDesc, PxPhysics* physics, PxCooking* cooking)
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{
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const PxVec3 chassisDims = tankDesc.chassisDims;
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const PxF32 wheelWidth = tankDesc.wheelWidth;
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const PxF32 wheelRadius = tankDesc.wheelRadius;
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const PxU32 numWheels = tankDesc.numWheels;
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const PxFilterData& chassisSimFilterData = tankDesc.chassisSimFilterData;
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const PxFilterData& wheelSimFilterData = tankDesc.wheelSimFilterData;
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//Construct a physx actor with shapes for the chassis and wheels.
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//Set the rigid body mass, moment of inertia, and center of mass offset.
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PxRigidDynamic* tankActor = NULL;
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{
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//Construct a convex mesh for a cylindrical wheel.
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PxConvexMesh* wheelMesh = createWheelMesh(wheelWidth, wheelRadius, *physics, *cooking);
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//Assume all wheels are identical for simplicity.
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PxConvexMesh* wheelConvexMeshes[PX_MAX_NB_WHEELS];
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PxMaterial* wheelMaterials[PX_MAX_NB_WHEELS];
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for(PxU32 i = 0; i < numWheels; i++)
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{
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wheelConvexMeshes[i] = wheelMesh;
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wheelMaterials[i] = tankDesc.wheelMaterial;
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}
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//Chassis just has a single convex shape for simplicity.
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PxConvexMesh* chassisConvexMesh = createChassisMesh(chassisDims, *physics, *cooking);
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PxConvexMesh* chassisConvexMeshes[1] = {chassisConvexMesh};
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PxMaterial* chassisMaterials[1] = {tankDesc.chassisMaterial};
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//Rigid body data.
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PxVehicleChassisData rigidBodyData;
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rigidBodyData.mMOI = tankDesc.chassisMOI;
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rigidBodyData.mMass = tankDesc.chassisMass;
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rigidBodyData.mCMOffset = tankDesc.chassisCMOffset;
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tankActor = createVehicleActor
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(rigidBodyData,
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wheelMaterials, wheelConvexMeshes, numWheels, wheelSimFilterData,
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chassisMaterials, chassisConvexMeshes, 1, chassisSimFilterData,
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*physics);
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}
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//Set up the sim data for the wheels.
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PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(numWheels);
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{
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//Compute the wheel center offsets from the origin.
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PxVec3 wheelCentreActorOffsets[PX_MAX_NB_WHEELS];
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const PxF32 frontZ = chassisDims.z*0.35f;
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const PxF32 rearZ = -chassisDims.z*0.35f;
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tank::computeWheelCenterActorOffsets(frontZ, rearZ, chassisDims, wheelWidth, wheelRadius, numWheels, wheelCentreActorOffsets);
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tank::setupWheelsSimulationData
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(tankDesc.wheelMass, tankDesc.wheelMOI, wheelRadius, wheelWidth,
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numWheels, wheelCentreActorOffsets,
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tankDesc.chassisCMOffset, tankDesc.chassisMass,
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wheelsSimData);
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}
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//Set up the sim data for the tank drive model.
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PxVehicleDriveSimData driveSimData;
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{
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//Set up the engine to be more powerful but also more damped than the default engine.
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PxVehicleEngineData engineData = driveSimData.getEngineData();
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engineData.mPeakTorque *= 2.0f;
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engineData.mDampingRateZeroThrottleClutchEngaged = 2.0f;
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engineData.mDampingRateZeroThrottleClutchDisengaged = 0.5f;
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engineData.mDampingRateFullThrottle = 0.5f;
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driveSimData.setEngineData(engineData);
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}
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//Create a tank from the wheels and drive sim data.
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PxVehicleDriveTank* vehDriveTank = PxVehicleDriveTank::allocate(numWheels);
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vehDriveTank->setup(physics, tankActor, *wheelsSimData, driveSimData, numWheels);
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//Configure the userdata
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configureUserData(vehDriveTank, tankDesc.actorUserData, tankDesc.shapeUserDatas);
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//Free the sim data because we don't need that any more.
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wheelsSimData->free();
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return vehDriveTank;
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}
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} // namespace snippetvehicle
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