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