00001 // 00002 // Redistribution and use in source and binary forms, with or without 00003 // modification, are permitted provided that the following conditions 00004 // are met: 00005 // * Redistributions of source code must retain the above copyright 00006 // notice, this list of conditions and the following disclaimer. 00007 // * Redistributions in binary form must reproduce the above copyright 00008 // notice, this list of conditions and the following disclaimer in the 00009 // documentation and/or other materials provided with the distribution. 00010 // * Neither the name of NVIDIA CORPORATION nor the names of its 00011 // contributors may be used to endorse or promote products derived 00012 // from this software without specific prior written permission. 00013 // 00014 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY 00015 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00016 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR 00017 // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR 00018 // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 00019 // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 00020 // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 00021 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY 00022 // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00023 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00024 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00025 // 00026 // Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved. 00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. 00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. 00029 00030 #ifndef PX_VEHICLE_NO_DRIVE_H 00031 #define PX_VEHICLE_NO_DRIVE_H 00032 00036 #include "vehicle/PxVehicleWheels.h" 00037 #include "vehicle/PxVehicleComponents.h" 00038 00039 00040 #if !PX_DOXYGEN 00041 namespace physx 00042 { 00043 #endif 00044 00045 struct PxFilterData; 00046 class PxGeometry; 00047 class PxPhysics; 00048 class PxBatchQuery; 00049 class PxVehicleDrivableSurfaceToTireFrictionPairs; 00050 class PxShape; 00051 class PxMaterial; 00052 class PxRigidDynamic; 00053 00057 class PxVehicleNoDrive : public PxVehicleWheels 00058 { 00059 //= ATTENTION! ===================================================================================== 00060 // Changing the data layout of this class breaks the binary serialization format. See comments for 00061 // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData 00062 // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION 00063 // accordingly. 00064 //================================================================================================== 00065 public: 00066 00067 friend class PxVehicleUpdate; 00068 00078 static PxVehicleNoDrive* allocate(const PxU32 nbWheels); 00079 00084 void free(); 00085 00094 void setup 00095 (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData); 00096 00106 static PxVehicleNoDrive* create 00107 (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData); 00108 00116 void setToRestState(); 00117 00128 void setBrakeTorque(const PxU32 id, const PxReal brakeTorque); 00129 00140 void setDriveTorque(const PxU32 id, const PxReal driveTorque); 00141 00152 void setSteerAngle(const PxU32 id, const PxReal steerAngle); 00153 00159 PxReal getBrakeTorque(const PxU32 id) const; 00160 00166 PxReal getDriveTorque(const PxU32 id) const; 00167 00173 PxReal getSteerAngle(const PxU32 id) const; 00174 00175 private: 00176 00177 PxReal* mSteerAngles; 00178 PxReal* mDriveTorques; 00179 PxReal* mBrakeTorques; 00180 00181 #if PX_P64_FAMILY 00182 PxU32 mPad[2]; 00183 #else 00184 PxU32 mPad[1]; 00185 #endif 00186 00190 bool isValid() const; 00191 00192 00193 //serialization 00194 public: 00195 PxVehicleNoDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags) {} 00196 virtual void exportExtraData(PxSerializationContext&); 00197 void importExtraData(PxDeserializationContext&); 00198 static PxVehicleNoDrive* createObject(PxU8*& address, PxDeserializationContext& context); 00199 static void getBinaryMetaData(PxOutputStream& stream); 00200 virtual const char* getConcreteTypeName() const { return "PxVehicleNoDrive"; } 00201 virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleNoDrive", name) || PxBase::isKindOf(name); } 00202 PxU32 getNbSteerAngle() const { return mWheelsSimData.getNbWheels(); } 00203 PxU32 getNbDriveTorque() const { return mWheelsSimData.getNbWheels(); } 00204 PxU32 getNbBrakeTorque() const { return mWheelsSimData.getNbWheels(); } 00205 protected: 00206 PxVehicleNoDrive(); 00207 ~PxVehicleNoDrive() {} 00208 //~serialization 00209 }; 00210 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleNoDrive) & 15)); 00211 00212 #if !PX_DOXYGEN 00213 } // namespace physx 00214 #endif 00215 00217 #endif //PX_VEHICLE_NO_DRIVE_H