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