PxVehicleDrive4W.h

Go to the documentation of this file.

//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_VEHICLE_4WDRIVE_H
#define PX_VEHICLE_4WDRIVE_H

#include "vehicle/PxVehicleDrive.h"
#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleComponents.h"


#if !PX_DOXYGEN
namespace physx
{
#endif

struct PxFilterData;
class PxGeometry;
class PxPhysics;
class PxBatchQuery;
class PxVehicleDrivableSurfaceToTireFrictionPairs;
class PxShape;
class PxMaterial;
class PxRigidDynamic;

class PxVehicleDriveSimData4W : public PxVehicleDriveSimData
{
//= 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 PxVehicleDrive4W;

    PxVehicleDriveSimData4W() 
        : PxVehicleDriveSimData()
    {
    }

    PX_FORCE_INLINE const PxVehicleDifferential4WData& getDiffData() const 
    {
        return mDiff;
    }

    PX_FORCE_INLINE const PxVehicleAckermannGeometryData& getAckermannGeometryData() const 
    {
        return mAckermannGeometry;
    }

    void setDiffData(const PxVehicleDifferential4WData& diff);

    void setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData);

private:

    PxVehicleDifferential4WData     mDiff;

    PxVehicleAckermannGeometryData  mAckermannGeometry;

    bool isValid() const;

//serialization
public:
    PxVehicleDriveSimData4W(const PxEMPTY) : PxVehicleDriveSimData(PxEmpty), mDiff(PxEmpty), mAckermannGeometry(PxEmpty)  {}
    static void getBinaryMetaData(PxOutputStream& stream);
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData4W) & 15));



struct PxVehicleDrive4WWheelOrder
{
    enum Enum
    {
        eFRONT_LEFT=0,
        eFRONT_RIGHT,
        eREAR_LEFT,
        eREAR_RIGHT
    };
};

struct PxVehicleDrive4WControl
{
    enum Enum
    {
        eANALOG_INPUT_ACCEL=0,
        eANALOG_INPUT_BRAKE,        
        eANALOG_INPUT_HANDBRAKE,    
        eANALOG_INPUT_STEER_LEFT,   
        eANALOG_INPUT_STEER_RIGHT,  
        eMAX_NB_DRIVE4W_ANALOG_INPUTS
    };
};

class PxVehicleDrive4W : public PxVehicleDrive
{
//= 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;
        
    static PxVehicleDrive4W* allocate(const PxU32 nbWheels);

    void free();

    void setup
        (PxPhysics* physics, PxRigidDynamic* vehActor,
         const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
         const PxU32 nbNonDrivenWheels);

    static PxVehicleDrive4W* create
        (PxPhysics* physics, PxRigidDynamic* vehActor,
         const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
         const PxU32 nbNonDrivenWheels);

    void setToRestState();

    PxVehicleDriveSimData4W mDriveSimData;

private:

    bool isValid() const;   

//serialization
protected:
                                    PxVehicleDrive4W();
                                    ~PxVehicleDrive4W(){}
    virtual     bool                isKindOf(const char* name)  const   { return !::strcmp("PxVehicleDrive4W", name) || PxBase::isKindOf(name); }
public:
    static      PxVehicleDrive4W*   createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                getBinaryMetaData(PxOutputStream& stream);
                                    PxVehicleDrive4W(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags), mDriveSimData(PxEmpty) {}
    virtual     const char*         getConcreteTypeName() const         { return "PxVehicleDrive4W";    }
//~serialization    
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive4W) & 15));

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_4WDRIVE_H