PxVehicleWheels.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_VEHICLE_WHEELS_H
#define PX_VEHICLE_WHEELS_H

#include "PxFiltering.h"
#include "foundation/PxSimpleTypes.h"
#include "vehicle/PxVehicleShaders.h"
#include "vehicle/PxVehicleComponents.h"
#include "common/PxBase.h"
#include "PxRigidDynamic.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxVehicleWheels4SimData;
class PxVehicleWheels4DynData;
class PxVehicleTireForceCalculator;
class PxShape;
class PxPhysics;
class PxMaterial;

class PxVehicleWheelsSimData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    friend class PxVehicleWheels;
    friend class PxVehicleNoDrive;
    friend class PxVehicleDrive4W;
    friend class PxVehicleDriveTank;
    friend class PxVehicleUpdate;

    static PxVehicleWheelsSimData* allocate(const PxU32 nbWheels);

    void setChassisMass(const PxF32 chassisMass);

    void free();

    PxVehicleWheelsSimData& operator=(const PxVehicleWheelsSimData& src);

    void copy(const PxVehicleWheelsSimData& src, const PxU32 srcWheel, const PxU32 trgWheel);

    PxU32 getNbWheels() const {return mNbActiveWheels;}

    const PxVehicleSuspensionData& getSuspensionData(const PxU32 id) const;
        
    const PxVehicleWheelData& getWheelData(const PxU32 id) const;

    const PxVehicleTireData& getTireData(const PxU32 id) const;
    
    const PxVec3& getSuspTravelDirection(const PxU32 id) const;

    const PxVec3& getSuspForceAppPointOffset(const PxU32 id) const;

    const PxVec3& getTireForceAppPointOffset(const PxU32 id) const;
        
    const PxVec3& getWheelCentreOffset(const PxU32 id) const;   

    PxI32 getWheelShapeMapping(const PxU32 wheelId) const;

    const PxFilterData& getSceneQueryFilterData(const PxU32 suspId) const;
    
    PX_FORCE_INLINE const PxVehicleTireLoadFilterData& getTireLoadFilterData() const 
    {
        return mNormalisedLoadFilter;
    }

    void setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp);

    void setWheelData(const PxU32 id, const PxVehicleWheelData& wheel);

    void setTireData(const PxU32 id, const PxVehicleTireData& tire);

    void setSuspTravelDirection(const PxU32 id, const PxVec3& dir);
    
    void setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset);                                  
    
    void setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset);

    void setWheelCentreOffset(const PxU32 id, const PxVec3& offset);    

    void setWheelShapeMapping(const PxU32 wheelId, const PxI32 shapeId);

    void setSceneQueryFilterData(const PxU32 suspId, const PxFilterData& sqFilterData);

    void setTireLoadFilterData(const PxVehicleTireLoadFilterData& tireLoadFilter);

    void disableWheel(const PxU32 wheel);

    void enableWheel(const PxU32 wheel);

    bool getIsWheelDisabled(const PxU32 wheel) const;

    void setSubStepCount(const PxReal thresholdLongitudinalSpeed, const PxU32 lowForwardSpeedSubStepCount, const PxU32 highForwardSpeedSubStepCount);

    void setMinLongSlipDenominator(const PxReal minLongSlipDenominator);

private:

    PxVehicleTireLoadFilterData mNormalisedLoadFilter;

    PxVehicleWheels4SimData* mWheels4SimData;

    PxU32 mNbWheels4;

    PxU32 mNbActiveWheels;

    PxU32 mActiveWheelsBitmapBuffer[((PX_MAX_NB_WHEELS + 31) & ~31) >> 5];

    PxF32 mThresholdLongitudinalSpeed;

    PxU32 mLowForwardSpeedSubStepCount;

    PxU32 mHighForwardSpeedSubStepCount;

    PxF32 mMinLongSlipDenominator;

#if defined(PX_P64)
    PxU32 mPad[3];
#endif


    bool isValid() const;


//serialization
public:
    PxVehicleWheelsSimData(const PxEMPTY&) : mNormalisedLoadFilter(PxEmpty) {}
    static void getBinaryMetaData(PxOutputStream& stream);
    PxU32 getNbWheels4() const { return mNbWheels4; }   
    PxU32 getNbSuspensionData() const { return mNbActiveWheels; }
    PxU32 getNbWheelData() const {  return mNbActiveWheels; }   
    PxU32 getNbSuspTravelDirection() const  { return mNbActiveWheels; }
    PxU32 getNbTireData() const { return mNbActiveWheels;   }   
    PxU32 getNbSuspForceAppPointOffset() const  { return mNbActiveWheels;   }
    PxU32 getNbTireForceAppPointOffset() const  { return mNbActiveWheels;   }
    PxU32 getNbWheelCentreOffset() const { return mNbActiveWheels;  }
    PxU32 getNbWheelShapeMapping() const { return mNbActiveWheels; }
    PxU32 getNbSceneQueryFilterData() const { return mNbActiveWheels; }
    PxF32 getMinLongSlipDenominator() const {return mMinLongSlipDenominator;}
    void setThresholdLongSpeed(const PxF32 f) {mThresholdLongitudinalSpeed = f;}
    PxF32 getThresholdLongSpeed() const {return mThresholdLongitudinalSpeed;}
    void setLowForwardSpeedSubStepCount(const PxU32 f) {mLowForwardSpeedSubStepCount = f;}
    PxU32 getLowForwardSpeedSubStepCount() const {return mLowForwardSpeedSubStepCount;}
    void setHighForwardSpeedSubStepCount(const PxU32 f) {mHighForwardSpeedSubStepCount = f;}
    PxU32 getHighForwardSpeedSubStepCount() const {return mHighForwardSpeedSubStepCount;}
    void setWheelEnabledState(const PxU32 wheel, const bool state) {if(state) {enableWheel(wheel);} else {disableWheel(wheel);}}
    bool getWheelEnabledState(const PxU32 wheel) const {return !getIsWheelDisabled(wheel);}
    PxU32 getNbWheelEnabledState() const {return mNbActiveWheels;}
    PxVehicleWheelsSimData(){}
    ~PxVehicleWheelsSimData(){}
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsSimData) & 15));

class PxVehicleWheelsDynData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    friend class PxVehicleWheels;
    friend class PxVehicleDrive4W;
    friend class PxVehicleDriveTank;
    friend class PxVehicleUpdate;

    PxVehicleWheelsDynData(){}
    ~PxVehicleWheelsDynData(){}

    void setToRestState();

    void setTireForceShaderFunction(PxVehicleComputeTireForce tireForceShaderFn);

    void setTireForceShaderData(const PxU32 tireId, const void* tireForceShaderData);

    const void* getTireForceShaderData(const PxU32 tireId) const;

    void setWheelRotationSpeed(const PxU32 wheelIdx, const PxReal speed);

    PxReal getWheelRotationSpeed(const PxU32 wheelIdx) const;
    
    void setWheelRotationAngle(const PxU32 wheelIdx, const PxReal angle);

    PxReal getWheelRotationAngle(const PxU32 wheelIdx) const;

    void setUserData(const PxU32 tireIdx, void* userData);

    void* getUserData(const PxU32 tireIdx) const;

    void copy(const PxVehicleWheelsDynData& src, const PxU32 srcWheel, const PxU32 trgWheel);

private:

    PxVehicleWheels4DynData* mWheels4DynData;

    bool isValid() const;

    PxVehicleTireForceCalculator* mTireForceCalculators;
    
    void** mUserDatas;

    PxU32 mNbWheels4;

    PxU32 mNbActiveWheels;

    PxU32 mPad[3];


//serialization
public:
    static void getBinaryMetaData(PxOutputStream& stream);  
    PxU32 getNbWheelRotationSpeed() const { return mNbActiveWheels; }
    PxU32 getNbWheelRotationAngle() const { return mNbActiveWheels; }   
    PxVehicleWheels4DynData* getWheel4DynData() const { return mWheels4DynData; }
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));

class PxVehicleWheels : public PxBase
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    friend class PxVehicleUpdate;
    friend class PxVehicleConstraintShader;

    PX_FORCE_INLINE PxU32 getVehicleType() const {return mType;}

    PX_FORCE_INLINE PxRigidDynamic* getRigidDynamicActor() {return mActor;}

    PX_FORCE_INLINE const PxRigidDynamic* getRigidDynamicActor() const {return mActor;}
    
    PxReal computeForwardSpeed() const;

    PxReal computeSidewaysSpeed() const;

    PxVehicleWheelsSimData mWheelsSimData;

    PxVehicleWheelsDynData mWheelsDynData;  

protected:

    void setToRestState();

    bool isValid() const;

    static PxU32 computeByteSize(const PxU32 nbWheels4);

    static PxU8* patchupPointers(PxVehicleWheels* veh, PxU8* ptr, const PxU32 nbWheels4, const PxU32 nbWheels, bool renew = true);

    void free();

    void setup
        (PxPhysics* physics, PxRigidDynamic* vehActor, 
         const PxVehicleWheelsSimData& wheelsData,
         const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
    
    PxRigidDynamic* mActor;

private:

    PxU32 mNbNonDrivenWheels;
    
    PxU8 mOnConstraintReleaseCounter;

protected:

    PxU8 mType;
        
#if defined(PX_P64)
    PxU8 mPad[14];
#else
    PxU8 mPad[14];
#endif

//serialization
public:
    virtual     void            requires(PxProcessPxBaseCallback& c);
    virtual     const char*     getConcreteTypeName() const             {   return "PxVehicleWheels"; }
    virtual     bool            isKindOf(const char* name)  const       {   return !strcmp("PxVehicleWheels", name) || PxBase::isKindOf(name); }
    virtual     void            exportExtraData(PxSerializationContext&);   
                void            importExtraData(PxDeserializationContext&);
                void            resolveReferences(PxDeserializationContext&);
    static      void            getBinaryMetaData(PxOutputStream& stream);
    PX_FORCE_INLINE PxU32 getNbNonDrivenWheels() const { return mNbNonDrivenWheels; }
    PxVehicleWheels(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
    PxVehicleWheels(PxBaseFlags baseFlags) : PxBase(baseFlags), mWheelsSimData(PxEmpty) {}
    virtual ~PxVehicleWheels() {}
    virtual void release() { free(); }
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheels) & 15));

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_WHEELS_H