532 lines
16 KiB
C++
532 lines
16 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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// ****************************************************************************
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// This snippet illustrates simple use of PxVehicleDrive4W.
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//
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// It creates a vehicle on a plane and then controls the vehicle so that it performs a
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// number of choreographed manoeuvres such as accelerate, reverse, brake, handbrake, and turn.
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// It is a good idea to record and playback with pvd (PhysX Visual Debugger).
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// ****************************************************************************
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#include <ctype.h>
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#include "PxPhysicsAPI.h"
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#include "vehicle/PxVehicleUtil.h"
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#include "../snippetvehiclecommon/SnippetVehicleSceneQuery.h"
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#include "../snippetvehiclecommon/SnippetVehicleFilterShader.h"
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#include "../snippetvehiclecommon/SnippetVehicleTireFriction.h"
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#include "../snippetvehiclecommon/SnippetVehicleCreate.h"
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#include "../snippetcommon/SnippetPrint.h"
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#include "../snippetcommon/SnippetPVD.h"
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#include "../snippetutils/SnippetUtils.h"
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using namespace physx;
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using namespace snippetvehicle;
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PxDefaultAllocator gAllocator;
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PxDefaultErrorCallback gErrorCallback;
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PxFoundation* gFoundation = NULL;
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PxPhysics* gPhysics = NULL;
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PxDefaultCpuDispatcher* gDispatcher = NULL;
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PxScene* gScene = NULL;
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PxCooking* gCooking = NULL;
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PxMaterial* gMaterial = NULL;
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PxPvd* gPvd = NULL;
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VehicleSceneQueryData* gVehicleSceneQueryData = NULL;
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PxBatchQuery* gBatchQuery = NULL;
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PxVehicleDrivableSurfaceToTireFrictionPairs* gFrictionPairs = NULL;
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PxRigidStatic* gGroundPlane = NULL;
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PxVehicleDrive4W* gVehicle4W = NULL;
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bool gIsVehicleInAir = true;
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PxF32 gSteerVsForwardSpeedData[2*8]=
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{
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0.0f, 0.75f,
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5.0f, 0.75f,
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30.0f, 0.125f,
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120.0f, 0.1f,
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PX_MAX_F32, PX_MAX_F32,
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PX_MAX_F32, PX_MAX_F32,
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PX_MAX_F32, PX_MAX_F32,
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PX_MAX_F32, PX_MAX_F32
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};
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PxFixedSizeLookupTable<8> gSteerVsForwardSpeedTable(gSteerVsForwardSpeedData,4);
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PxVehicleKeySmoothingData gKeySmoothingData=
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{
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{
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6.0f, //rise rate eANALOG_INPUT_ACCEL
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6.0f, //rise rate eANALOG_INPUT_BRAKE
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6.0f, //rise rate eANALOG_INPUT_HANDBRAKE
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2.5f, //rise rate eANALOG_INPUT_STEER_LEFT
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2.5f, //rise rate eANALOG_INPUT_STEER_RIGHT
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},
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{
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10.0f, //fall rate eANALOG_INPUT_ACCEL
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10.0f, //fall rate eANALOG_INPUT_BRAKE
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10.0f, //fall rate eANALOG_INPUT_HANDBRAKE
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5.0f, //fall rate eANALOG_INPUT_STEER_LEFT
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5.0f //fall rate eANALOG_INPUT_STEER_RIGHT
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}
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};
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PxVehiclePadSmoothingData gPadSmoothingData=
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{
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{
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6.0f, //rise rate eANALOG_INPUT_ACCEL
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6.0f, //rise rate eANALOG_INPUT_BRAKE
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6.0f, //rise rate eANALOG_INPUT_HANDBRAKE
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2.5f, //rise rate eANALOG_INPUT_STEER_LEFT
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2.5f, //rise rate eANALOG_INPUT_STEER_RIGHT
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},
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{
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10.0f, //fall rate eANALOG_INPUT_ACCEL
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10.0f, //fall rate eANALOG_INPUT_BRAKE
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10.0f, //fall rate eANALOG_INPUT_HANDBRAKE
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5.0f, //fall rate eANALOG_INPUT_STEER_LEFT
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5.0f //fall rate eANALOG_INPUT_STEER_RIGHT
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}
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};
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PxVehicleDrive4WRawInputData gVehicleInputData;
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enum DriveMode
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{
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eDRIVE_MODE_ACCEL_FORWARDS=0,
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eDRIVE_MODE_ACCEL_REVERSE,
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eDRIVE_MODE_HARD_TURN_LEFT,
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eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
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eDRIVE_MODE_HARD_TURN_RIGHT,
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eDRIVE_MODE_HANDBRAKE_TURN_RIGHT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_NONE
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};
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DriveMode gDriveModeOrder[] =
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{
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_ACCEL_FORWARDS,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_ACCEL_REVERSE,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_HARD_TURN_LEFT,
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eDRIVE_MODE_BRAKE,
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eDRIVE_MODE_HARD_TURN_RIGHT,
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eDRIVE_MODE_ACCEL_FORWARDS,
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eDRIVE_MODE_HANDBRAKE_TURN_LEFT,
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eDRIVE_MODE_ACCEL_FORWARDS,
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eDRIVE_MODE_HANDBRAKE_TURN_RIGHT,
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eDRIVE_MODE_NONE
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};
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PxF32 gVehicleModeLifetime = 4.0f;
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PxF32 gVehicleModeTimer = 0.0f;
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PxU32 gVehicleOrderProgress = 0;
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bool gVehicleOrderComplete = false;
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bool gMimicKeyInputs = false;
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VehicleDesc initVehicleDesc()
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{
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//Set up the chassis mass, dimensions, moment of inertia, and center of mass offset.
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//The moment of inertia is just the moment of inertia of a cuboid but modified for easier steering.
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//Center of mass offset is 0.65m above the base of the chassis and 0.25m towards the front.
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const PxF32 chassisMass = 1500.0f;
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const PxVec3 chassisDims(2.5f,2.0f,5.0f);
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const PxVec3 chassisMOI
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((chassisDims.y*chassisDims.y + chassisDims.z*chassisDims.z)*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.z*chassisDims.z)*0.8f*chassisMass/12.0f,
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(chassisDims.x*chassisDims.x + chassisDims.y*chassisDims.y)*chassisMass/12.0f);
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const PxVec3 chassisCMOffset(0.0f, -chassisDims.y*0.5f + 0.65f, 0.25f);
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//Set up the wheel mass, radius, width, moment of inertia, and number of wheels.
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//Moment of inertia is just the moment of inertia of a cylinder.
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const PxF32 wheelMass = 20.0f;
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const PxF32 wheelRadius = 0.5f;
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const PxF32 wheelWidth = 0.4f;
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const PxF32 wheelMOI = 0.5f*wheelMass*wheelRadius*wheelRadius;
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const PxU32 nbWheels = 6;
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VehicleDesc vehicleDesc;
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vehicleDesc.chassisMass = chassisMass;
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vehicleDesc.chassisDims = chassisDims;
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vehicleDesc.chassisMOI = chassisMOI;
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vehicleDesc.chassisCMOffset = chassisCMOffset;
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vehicleDesc.chassisMaterial = gMaterial;
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vehicleDesc.chassisSimFilterData = PxFilterData(COLLISION_FLAG_CHASSIS, COLLISION_FLAG_CHASSIS_AGAINST, 0, 0);
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vehicleDesc.wheelMass = wheelMass;
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vehicleDesc.wheelRadius = wheelRadius;
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vehicleDesc.wheelWidth = wheelWidth;
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vehicleDesc.wheelMOI = wheelMOI;
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vehicleDesc.numWheels = nbWheels;
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vehicleDesc.wheelMaterial = gMaterial;
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vehicleDesc.chassisSimFilterData = PxFilterData(COLLISION_FLAG_WHEEL, COLLISION_FLAG_WHEEL_AGAINST, 0, 0);
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return vehicleDesc;
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}
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void startAccelerateForwardsMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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}
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}
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void startAccelerateReverseMode()
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{
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gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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}
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}
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void startBrakeMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalBrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogBrake(1.0f);
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}
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}
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void startTurnHardLeftMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalSteerLeft(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(true);
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gVehicleInputData.setAnalogSteer(-1.0f);
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}
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}
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void startTurnHardRightMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(true);
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gVehicleInputData.setDigitalSteerRight(true);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(1.0f);
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gVehicleInputData.setAnalogSteer(1.0f);
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}
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}
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void startHandbrakeTurnLeftMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalSteerLeft(true);
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gVehicleInputData.setDigitalHandbrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogSteer(-1.0f);
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gVehicleInputData.setAnalogHandbrake(1.0f);
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}
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}
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void startHandbrakeTurnRightMode()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalSteerRight(true);
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gVehicleInputData.setDigitalHandbrake(true);
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}
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else
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{
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gVehicleInputData.setAnalogSteer(1.0f);
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gVehicleInputData.setAnalogHandbrake(1.0f);
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}
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}
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void releaseAllControls()
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{
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if(gMimicKeyInputs)
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{
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gVehicleInputData.setDigitalAccel(false);
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gVehicleInputData.setDigitalSteerLeft(false);
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gVehicleInputData.setDigitalSteerRight(false);
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gVehicleInputData.setDigitalBrake(false);
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gVehicleInputData.setDigitalHandbrake(false);
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}
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else
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{
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gVehicleInputData.setAnalogAccel(0.0f);
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gVehicleInputData.setAnalogSteer(0.0f);
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gVehicleInputData.setAnalogBrake(0.0f);
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gVehicleInputData.setAnalogHandbrake(0.0f);
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}
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}
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void initPhysics()
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{
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gFoundation = PxCreateFoundation(PX_PHYSICS_VERSION, gAllocator, gErrorCallback);
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gPvd = PxCreatePvd(*gFoundation);
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PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
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gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
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gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(), true, gPvd);
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PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
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sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
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PxU32 numWorkers = 1;
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gDispatcher = PxDefaultCpuDispatcherCreate(numWorkers);
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sceneDesc.cpuDispatcher = gDispatcher;
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sceneDesc.filterShader = VehicleFilterShader;
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gScene = gPhysics->createScene(sceneDesc);
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PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
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if(pvdClient)
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{
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
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pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
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}
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gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
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gCooking = PxCreateCooking(PX_PHYSICS_VERSION, *gFoundation, PxCookingParams(PxTolerancesScale()));
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/////////////////////////////////////////////
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PxInitVehicleSDK(*gPhysics);
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PxVehicleSetBasisVectors(PxVec3(0,1,0), PxVec3(0,0,1));
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PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
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//Create the batched scene queries for the suspension raycasts.
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gVehicleSceneQueryData = VehicleSceneQueryData::allocate(1, PX_MAX_NB_WHEELS, 1, 1, WheelSceneQueryPreFilterBlocking, NULL, gAllocator);
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gBatchQuery = VehicleSceneQueryData::setUpBatchedSceneQuery(0, *gVehicleSceneQueryData, gScene);
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//Create the friction table for each combination of tire and surface type.
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gFrictionPairs = createFrictionPairs(gMaterial);
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//Create a plane to drive on.
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PxFilterData groundPlaneSimFilterData(COLLISION_FLAG_GROUND, COLLISION_FLAG_GROUND_AGAINST, 0, 0);
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gGroundPlane = createDrivablePlane(groundPlaneSimFilterData, gMaterial, gPhysics);
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gScene->addActor(*gGroundPlane);
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//Create a vehicle that will drive on the plane.
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VehicleDesc vehicleDesc = initVehicleDesc();
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gVehicle4W = createVehicle4W(vehicleDesc, gPhysics, gCooking);
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PxTransform startTransform(PxVec3(0, (vehicleDesc.chassisDims.y*0.5f + vehicleDesc.wheelRadius + 1.0f), 0), PxQuat(PxIdentity));
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gVehicle4W->getRigidDynamicActor()->setGlobalPose(startTransform);
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gScene->addActor(*gVehicle4W->getRigidDynamicActor());
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//Set the vehicle to rest in first gear.
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//Set the vehicle to use auto-gears.
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gVehicle4W->setToRestState();
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gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
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gVehicle4W->mDriveDynData.setUseAutoGears(true);
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gVehicleModeTimer = 0.0f;
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gVehicleOrderProgress = 0;
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startBrakeMode();
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}
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void incrementDrivingMode(const PxF32 timestep)
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{
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gVehicleModeTimer += timestep;
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if(gVehicleModeTimer > gVehicleModeLifetime)
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{
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//If the mode just completed was eDRIVE_MODE_ACCEL_REVERSE then switch back to forward gears.
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if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gVehicleOrderProgress])
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{
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gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eFIRST);
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}
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//Increment to next driving mode.
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gVehicleModeTimer = 0.0f;
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gVehicleOrderProgress++;
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releaseAllControls();
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//If we are at the end of the list of driving modes then start again.
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if(eDRIVE_MODE_NONE == gDriveModeOrder[gVehicleOrderProgress])
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{
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gVehicleOrderProgress = 0;
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gVehicleOrderComplete = true;
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}
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//Start driving in the selected mode.
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DriveMode eDriveMode = gDriveModeOrder[gVehicleOrderProgress];
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switch(eDriveMode)
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{
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case eDRIVE_MODE_ACCEL_FORWARDS:
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startAccelerateForwardsMode();
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break;
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case eDRIVE_MODE_ACCEL_REVERSE:
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startAccelerateReverseMode();
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break;
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case eDRIVE_MODE_HARD_TURN_LEFT:
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startTurnHardLeftMode();
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break;
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case eDRIVE_MODE_HANDBRAKE_TURN_LEFT:
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startHandbrakeTurnLeftMode();
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break;
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case eDRIVE_MODE_HARD_TURN_RIGHT:
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startTurnHardRightMode();
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break;
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case eDRIVE_MODE_HANDBRAKE_TURN_RIGHT:
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startHandbrakeTurnRightMode();
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break;
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case eDRIVE_MODE_BRAKE:
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startBrakeMode();
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break;
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case eDRIVE_MODE_NONE:
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break;
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};
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//If the mode about to start is eDRIVE_MODE_ACCEL_REVERSE then switch to reverse gears.
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if(eDRIVE_MODE_ACCEL_REVERSE == gDriveModeOrder[gVehicleOrderProgress])
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{
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gVehicle4W->mDriveDynData.forceGearChange(PxVehicleGearsData::eREVERSE);
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}
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}
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}
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void stepPhysics()
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{
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const PxF32 timestep = 1.0f/60.0f;
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//Cycle through the driving modes to demonstrate how to accelerate/reverse/brake/turn etc.
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incrementDrivingMode(timestep);
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//Update the control inputs for the vehicle.
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if(gMimicKeyInputs)
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{
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PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs(gKeySmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
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}
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else
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{
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PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs(gPadSmoothingData, gSteerVsForwardSpeedTable, gVehicleInputData, timestep, gIsVehicleInAir, *gVehicle4W);
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}
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|
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//Raycasts.
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PxVehicleWheels* vehicles[1] = {gVehicle4W};
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PxRaycastQueryResult* raycastResults = gVehicleSceneQueryData->getRaycastQueryResultBuffer(0);
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const PxU32 raycastResultsSize = gVehicleSceneQueryData->getQueryResultBufferSize();
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PxVehicleSuspensionRaycasts(gBatchQuery, 1, vehicles, raycastResultsSize, raycastResults);
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|
|
|
//Vehicle update.
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|
const PxVec3 grav = gScene->getGravity();
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|
PxWheelQueryResult wheelQueryResults[PX_MAX_NB_WHEELS];
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PxVehicleWheelQueryResult vehicleQueryResults[1] = {{wheelQueryResults, gVehicle4W->mWheelsSimData.getNbWheels()}};
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PxVehicleUpdates(timestep, grav, *gFrictionPairs, 1, vehicles, vehicleQueryResults);
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|
|
|
//Work out if the vehicle is in the air.
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|
gIsVehicleInAir = gVehicle4W->getRigidDynamicActor()->isSleeping() ? false : PxVehicleIsInAir(vehicleQueryResults[0]);
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|
|
|
//Scene update.
|
|
gScene->simulate(timestep);
|
|
gScene->fetchResults(true);
|
|
}
|
|
|
|
void cleanupPhysics()
|
|
{
|
|
gVehicle4W->getRigidDynamicActor()->release();
|
|
gVehicle4W->free();
|
|
PX_RELEASE(gGroundPlane);
|
|
PX_RELEASE(gBatchQuery);
|
|
gVehicleSceneQueryData->free(gAllocator);
|
|
PX_RELEASE(gFrictionPairs);
|
|
PxCloseVehicleSDK();
|
|
|
|
PX_RELEASE(gMaterial);
|
|
PX_RELEASE(gCooking);
|
|
PX_RELEASE(gScene);
|
|
PX_RELEASE(gDispatcher);
|
|
PX_RELEASE(gPhysics);
|
|
if(gPvd)
|
|
{
|
|
PxPvdTransport* transport = gPvd->getTransport();
|
|
gPvd->release(); gPvd = NULL;
|
|
PX_RELEASE(transport);
|
|
}
|
|
PX_RELEASE(gFoundation);
|
|
|
|
printf("SnippetVehicle4W done.\n");
|
|
}
|
|
|
|
void keyPress(unsigned char key, const PxTransform& camera)
|
|
{
|
|
PX_UNUSED(camera);
|
|
PX_UNUSED(key);
|
|
}
|
|
|
|
int snippetMain(int, const char*const*)
|
|
{
|
|
#ifdef RENDER_SNIPPET
|
|
extern void renderLoop();
|
|
renderLoop();
|
|
#else
|
|
initPhysics();
|
|
while(!gVehicleOrderComplete)
|
|
{
|
|
stepPhysics();
|
|
}
|
|
cleanupPhysics();
|
|
#endif
|
|
|
|
return 0;
|
|
}
|