DirectDrivetrain.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#pragma once
 
#include "vehicle2/PxVehicleAPI.h"
#include "../physxintegration/PhysXIntegration.h"
 
namespace snippetvehicle2
{
 
using namespace physx;
using namespace physx::vehicle2;
 
struct DirectDrivetrainParams
{
    PxVehicleDirectDriveThrottleCommandResponseParams directDriveThrottleResponseParams;
 
    DirectDrivetrainParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const;
 
    PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
    {
        if (!directDriveThrottleResponseParams.isValid(axleDesc))
            return false;
 
        return true;
    }
};
 
struct DirectDrivetrainState
{
    PxReal directDriveThrottleResponseStates[PxVehicleLimits::eMAX_NB_WHEELS];
 
    PX_FORCE_INLINE void setToDefault()
    {
        PxMemZero(this, sizeof(DirectDrivetrainState));
    }
};
 
 
//
//This class holds the parameters, state and logic needed to implement a vehicle that
//is using a direct drivetrain.
//
//See BaseVehicle for more details on the snippet code design.
//
class DirectDriveVehicle
    : public PhysXActorVehicle
    , public PxVehicleDirectDriveCommandResponseComponent
    , public PxVehicleDirectDriveActuationStateComponent
    , public PxVehicleDirectDrivetrainComponent
{
public:
    bool initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial, bool addPhysXBeginEndComponents = true);
    virtual void destroy();
 
    virtual void initComponentSequence(bool addPhysXBeginEndComponents);
 
    void getDataForDirectDriveCommandResponseComponent(
        const PxVehicleAxleDescription*& axleDescription,
        PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
        const PxVehicleDirectDriveThrottleCommandResponseParams*& throttleResponseParams,
        const PxVehicleSteerCommandResponseParams*& steerResponseParams,
        PxVehicleSizedArrayData<const PxVehicleAckermannParams>& ackermannParams,
        const PxVehicleCommandState*& commands, const PxVehicleDirectDriveTransmissionCommandState*& transmissionCommands,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<PxReal>& brakeResponseStates, PxVehicleArrayData<PxReal>& throttleResponseStates, 
        PxVehicleArrayData<PxReal>& steerResponseStates)
    {
        axleDescription = &mBaseParams.axleDescription;
        brakeResponseParams.setDataAndCount(mBaseParams.brakeResponseParams, sizeof(mBaseParams.brakeResponseParams) / sizeof(PxVehicleBrakeCommandResponseParams));
        throttleResponseParams = &mDirectDriveParams.directDriveThrottleResponseParams;
        steerResponseParams = &mBaseParams.steerResponseParams;
        ackermannParams.setDataAndCount(mBaseParams.ackermannParams, sizeof(mBaseParams.ackermannParams)/sizeof(PxVehicleAckermannParams));
        commands = &mCommandState;
        transmissionCommands = &mTransmissionCommandState;
        rigidBodyState = &mBaseState.rigidBodyState;
        brakeResponseStates.setData(mBaseState.brakeCommandResponseStates);
        throttleResponseStates.setData(mDirectDriveState.directDriveThrottleResponseStates);
        steerResponseStates.setData(mBaseState.steerCommandResponseStates);
    }
 
    virtual void getDataForDirectDriveActuationStateComponent(
        const PxVehicleAxleDescription*& axleDescription,
        PxVehicleArrayData<const PxReal>& brakeResponseStates,
        PxVehicleArrayData<const PxReal>& throttleResponseStates,
        PxVehicleArrayData<PxVehicleWheelActuationState>& actuationStates)
    {
        axleDescription = &mBaseParams.axleDescription;
        brakeResponseStates.setData(mBaseState.brakeCommandResponseStates);
        throttleResponseStates.setData(mDirectDriveState.directDriveThrottleResponseStates);
        actuationStates.setData(mBaseState.actuationStates);
    }
 
    virtual void getDataForDirectDrivetrainComponent(
        const PxVehicleAxleDescription*& axleDescription,
        PxVehicleArrayData<const PxReal>& brakeResponseStates,
        PxVehicleArrayData<const PxReal>& throttleResponseStates,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
        PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates)
    {
        axleDescription = &mBaseParams.axleDescription;
        brakeResponseStates.setData(mBaseState.brakeCommandResponseStates);
        throttleResponseStates.setData(mDirectDriveState.directDriveThrottleResponseStates);
        wheelParams.setData(mBaseParams.wheelParams);
        actuationStates.setData(mBaseState.actuationStates);
        tireForces.setData(mBaseState.tireForces);
        wheelRigidBody1dStates.setData(mBaseState.wheelRigidBody1dStates);
    }
 
 
    //Parameters and states of the vehicle's direct drivetrain.
    DirectDrivetrainParams mDirectDriveParams;
    DirectDrivetrainState mDirectDriveState;
 
    //The commands that will control the vehicle's transmission
    PxVehicleDirectDriveTransmissionCommandState mTransmissionCommandState;
};
 
}//namespace snippetvehicle2