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00031 #ifndef PX_VEHICLE_WHEELS_H
00032 #define PX_VEHICLE_WHEELS_H
00033
00037 #include "foundation/PxSimpleTypes.h"
00038 #include "vehicle/PxVehicleShaders.h"
00039 #include "vehicle/PxVehicleComponents.h"
00040 #include "common/PxBase.h"
00041 #include "PxRigidDynamic.h"
00042
00043 #if !PX_DOXYGEN
00044 namespace physx
00045 {
00046 #endif
00047
00048 class PxVehicleWheels4SimData;
00049 class PxVehicleWheels4DynData;
00050 class PxVehicleTireForceCalculator;
00051 class PxShape;
00052 class PxPhysics;
00053 class PxMaterial;
00054
00059 class PxVehicleWheelsSimData
00060 {
00061
00062
00063
00064
00065
00066
00067 public:
00068
00069 friend class PxVehicleWheels;
00070 friend class PxVehicleNoDrive;
00071 friend class PxVehicleDrive4W;
00072 friend class PxVehicleDriveTank;
00073 friend class PxVehicleUpdate;
00074
00079 static PxVehicleWheelsSimData* allocate(const PxU32 nbWheels);
00080
00094 void setChassisMass(const PxF32 chassisMass);
00095
00100 void free();
00101
00106 PxVehicleWheelsSimData& operator=(const PxVehicleWheelsSimData& src);
00107
00114 void copy(const PxVehicleWheelsSimData& src, const PxU32 srcWheel, const PxU32 trgWheel);
00115
00120 PxU32 getNbWheels() const {return mNbActiveWheels;}
00121
00125 const PxVehicleSuspensionData& getSuspensionData(const PxU32 id) const;
00126
00130 const PxVehicleWheelData& getWheelData(const PxU32 id) const;
00131
00135 const PxVehicleTireData& getTireData(const PxU32 id) const;
00136
00140 const PxVec3& getSuspTravelDirection(const PxU32 id) const;
00141
00146 const PxVec3& getSuspForceAppPointOffset(const PxU32 id) const;
00147
00152 const PxVec3& getTireForceAppPointOffset(const PxU32 id) const;
00153
00157 const PxVec3& getWheelCentreOffset(const PxU32 id) const;
00158
00168 PxI32 getWheelShapeMapping(const PxU32 wheelId) const;
00169
00173 const PxFilterData& getSceneQueryFilterData(const PxU32 suspId) const;
00174
00179 PxU32 getNbAntiRollBars() const
00180 {
00181 return mNbActiveAntiRollBars;
00182 }
00183
00192 const PxVehicleAntiRollBarData& getAntiRollBarData(const PxU32 antiRollId) const;
00193
00197 PX_FORCE_INLINE const PxVehicleTireLoadFilterData& getTireLoadFilterData() const
00198 {
00199 return mNormalisedLoadFilter;
00200 }
00201
00207 void setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp);
00208
00214 void setWheelData(const PxU32 id, const PxVehicleWheelData& wheel);
00215
00221 void setTireData(const PxU32 id, const PxVehicleTireData& tire);
00222
00228 void setSuspTravelDirection(const PxU32 id, const PxVec3& dir);
00229
00236 void setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset);
00237
00244 void setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset);
00245
00252 void setWheelCentreOffset(const PxU32 id, const PxVec3& offset);
00253
00274 void setWheelShapeMapping(const PxU32 wheelId, const PxI32 shapeId);
00275
00283 void setSceneQueryFilterData(const PxU32 suspId, const PxFilterData& sqFilterData);
00284
00289 void setTireLoadFilterData(const PxVehicleTireLoadFilterData& tireLoadFilter);
00290
00315 PxU32 addAntiRollBarData(const PxVehicleAntiRollBarData& antiRoll);
00316
00345 void disableWheel(const PxU32 wheel);
00346
00353 void enableWheel(const PxU32 wheel);
00354
00359 bool getIsWheelDisabled(const PxU32 wheel) const;
00360
00391 void setSubStepCount(const PxReal thresholdLongitudinalSpeed, const PxU32 lowForwardSpeedSubStepCount, const PxU32 highForwardSpeedSubStepCount);
00392
00409 void setMinLongSlipDenominator(const PxReal minLongSlipDenominator);
00410
00411 private:
00412
00417 PxVehicleTireLoadFilterData mNormalisedLoadFilter;
00418
00422 PxVehicleWheels4SimData* mWheels4SimData;
00423
00427 PxU32 mNbWheels4;
00428
00432 PxU32 mNbActiveWheels;
00433
00437 PxVehicleAntiRollBarData* mAntiRollBars;
00438
00442 PxU32 mNbAntiRollBars4;
00443
00447 PxU32 mNbActiveAntiRollBars;
00448
00453 PxU32 mActiveWheelsBitmapBuffer[((PX_MAX_NB_WHEELS + 31) & ~31) >> 5];
00454
00460 PxF32 mThresholdLongitudinalSpeed;
00461
00466 PxU32 mLowForwardSpeedSubStepCount;
00467
00472 PxU32 mHighForwardSpeedSubStepCount;
00473
00477 PxF32 mMinLongSlipDenominator;
00478
00479 #if PX_P64_FAMILY
00480 PxU32 mPad[2];
00481 #else
00482 PxU32 mPad[1];
00483 #endif
00484
00488 bool isValid() const;
00489
00493 static PxU32 computeByteSize(const PxU32 numWheels);
00494 static PxU8* patchUpPointers(const PxU32 numWheels, PxVehicleWheelsSimData* simData, PxU8* ptrIn);
00495 PxVehicleWheelsSimData(const PxU32 numWheels);
00496
00497
00498 public:
00499 PxVehicleWheelsSimData(const PxEMPTY) : mNormalisedLoadFilter(PxEmpty) {}
00500 static void getBinaryMetaData(PxOutputStream& stream);
00501 PxU32 getNbWheels4() const { return mNbWheels4; }
00502 PxU32 getNbSuspensionData() const { return mNbActiveWheels; }
00503 PxU32 getNbWheelData() const { return mNbActiveWheels; }
00504 PxU32 getNbSuspTravelDirection() const { return mNbActiveWheels; }
00505 PxU32 getNbTireData() const { return mNbActiveWheels; }
00506 PxU32 getNbSuspForceAppPointOffset() const { return mNbActiveWheels; }
00507 PxU32 getNbTireForceAppPointOffset() const { return mNbActiveWheels; }
00508 PxU32 getNbWheelCentreOffset() const { return mNbActiveWheels; }
00509 PxU32 getNbWheelShapeMapping() const { return mNbActiveWheels; }
00510 PxU32 getNbSceneQueryFilterData() const { return mNbActiveWheels; }
00511 PxF32 getMinLongSlipDenominator() const {return mMinLongSlipDenominator;}
00512 void setThresholdLongSpeed(const PxF32 f) {mThresholdLongitudinalSpeed = f;}
00513 PxF32 getThresholdLongSpeed() const {return mThresholdLongitudinalSpeed;}
00514 void setLowForwardSpeedSubStepCount(const PxU32 f) {mLowForwardSpeedSubStepCount = f;}
00515 PxU32 getLowForwardSpeedSubStepCount() const {return mLowForwardSpeedSubStepCount;}
00516 void setHighForwardSpeedSubStepCount(const PxU32 f) {mHighForwardSpeedSubStepCount = f;}
00517 PxU32 getHighForwardSpeedSubStepCount() const {return mHighForwardSpeedSubStepCount;}
00518 void setWheelEnabledState(const PxU32 wheel, const bool state) {if(state) {enableWheel(wheel);} else {disableWheel(wheel);}}
00519 bool getWheelEnabledState(const PxU32 wheel) const {return !getIsWheelDisabled(wheel);}
00520 PxU32 getNbWheelEnabledState() const {return mNbActiveWheels;}
00521 PxU32 getNbAntiRollBars4() const { return mNbAntiRollBars4; }
00522 PxU32 getNbAntiRollBarData() const {return mNbActiveAntiRollBars;}
00523 void setAntiRollBarData(const PxU32 id, const PxVehicleAntiRollBarData& antiRoll);
00524 PxVehicleWheelsSimData(){}
00525 ~PxVehicleWheelsSimData(){}
00526
00527 };
00528 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsSimData) & 15));
00529
00533 class PxVehicleWheelsDynData
00534 {
00535
00536
00537
00538
00539
00540
00541 public:
00542
00543 friend class PxVehicleWheels;
00544 friend class PxVehicleDrive4W;
00545 friend class PxVehicleDriveTank;
00546 friend class PxVehicleUpdate;
00547
00548 PxVehicleWheelsDynData(){}
00549 ~PxVehicleWheelsDynData(){}
00550
00555 void setToRestState();
00556
00561 void setTireForceShaderFunction(PxVehicleComputeTireForce tireForceShaderFn);
00562
00568 void setTireForceShaderData(const PxU32 tireId, const void* tireForceShaderData);
00569
00573 const void* getTireForceShaderData(const PxU32 tireId) const;
00574
00580 void setWheelRotationSpeed(const PxU32 wheelIdx, const PxReal speed);
00581
00585 PxReal getWheelRotationSpeed(const PxU32 wheelIdx) const;
00586
00592 void setWheelRotationAngle(const PxU32 wheelIdx, const PxReal angle);
00593
00597 PxReal getWheelRotationAngle(const PxU32 wheelIdx) const;
00598
00605 void setUserData(const PxU32 tireIdx, void* userData);
00606
00610 void* getUserData(const PxU32 tireIdx) const;
00611
00618 void copy(const PxVehicleWheelsDynData& src, const PxU32 srcWheel, const PxU32 trgWheel);
00619
00620 private:
00621
00625 PxVehicleWheels4DynData* mWheels4DynData;
00626
00630 bool isValid() const;
00631
00635 PxVehicleTireForceCalculator* mTireForceCalculators;
00636
00641 void** mUserDatas;
00642
00646 PxU32 mNbWheels4;
00647
00651 PxU32 mNbActiveWheels;
00652
00653 PxU32 mPad[3];
00654
00658 static PxU32 computeByteSize(const PxU32 numWheels);
00659 static PxU8* patchUpPointers(const PxU32 numWheels, PxVehicleWheelsDynData* dynData, PxU8* ptr);
00660 PxVehicleWheelsDynData(const PxU32 numWheels);
00661
00662
00663 public:
00664 static void getBinaryMetaData(PxOutputStream& stream);
00665 PxU32 getNbWheelRotationSpeed() const { return mNbActiveWheels; }
00666 PxU32 getNbWheelRotationAngle() const { return mNbActiveWheels; }
00667 PxVehicleWheels4DynData* getWheel4DynData() const { return mWheels4DynData; }
00668
00669 };
00670 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));
00671
00676 class PxVehicleWheels : public PxBase
00677 {
00678
00679
00680
00681
00682
00683
00684 public:
00685
00686 friend class PxVehicleUpdate;
00687 friend class PxVehicleConstraintShader;
00688
00693 PX_FORCE_INLINE PxU32 getVehicleType() const {return mType;}
00694
00698 PX_FORCE_INLINE PxRigidDynamic* getRigidDynamicActor() {return mActor;}
00699
00703 PX_FORCE_INLINE const PxRigidDynamic* getRigidDynamicActor() const {return mActor;}
00704
00709 PxReal computeForwardSpeed() const;
00710
00715 PxReal computeSidewaysSpeed() const;
00716
00720 PxVehicleWheelsSimData mWheelsSimData;
00721
00725 PxVehicleWheelsDynData mWheelsDynData;
00726
00727 protected:
00728
00732 void setToRestState();
00733
00737 bool isValid() const;
00738
00742 static PxU32 computeByteSize(const PxU32 nbWheels);
00743 static PxU8* patchupPointers(const PxU32 nbWheels, PxVehicleWheels* vehWheels, PxU8* ptr);
00744 virtual void init(const PxU32 numWheels);
00745
00750 void free();
00751
00755 void setup
00756 (PxPhysics* physics, PxRigidDynamic* vehActor,
00757 const PxVehicleWheelsSimData& wheelsData,
00758 const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
00759
00763 PxRigidDynamic* mActor;
00764
00765 private:
00766
00771 PxU32 mNbNonDrivenWheels;
00772
00773 PxU8 mOnConstraintReleaseCounter;
00774
00775 protected:
00776
00780 PxU8 mType;
00781
00782 #if PX_P64_FAMILY
00783 PxU8 mPad0[14];
00784 #else
00785 PxU8 mPad0[14];
00786 #endif
00787
00788
00789 public:
00790 virtual void requiresObjects(PxProcessPxBaseCallback& c);
00791 virtual const char* getConcreteTypeName() const { return "PxVehicleWheels"; }
00792 virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleWheels", name) || PxBase::isKindOf(name); }
00793 virtual void exportExtraData(PxSerializationContext&);
00794 void importExtraData(PxDeserializationContext&);
00795 void resolveReferences(PxDeserializationContext&);
00796 static void getBinaryMetaData(PxOutputStream& stream);
00797 PX_FORCE_INLINE PxU32 getNbNonDrivenWheels() const { return mNbNonDrivenWheels; }
00798 PxVehicleWheels(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
00799 PxVehicleWheels(PxBaseFlags baseFlags) : PxBase(baseFlags), mWheelsSimData(PxEmpty) {}
00800 virtual ~PxVehicleWheels() {}
00801 virtual void release() { free(); }
00802
00803 };
00804 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheels) & 15));
00805
00806 #if !PX_DOXYGEN
00807 }
00808 #endif
00809
00811 #endif //PX_VEHICLE_WHEELS_H
