PhysXIntegration.h

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// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#pragma once
 
#include "PxScene.h"
#include "vehicle2/PxVehicleAPI.h"
#include "../base/Base.h"
 
namespace snippetvehicle2
{
 
using namespace physx;
using namespace physx::vehicle2;
 
struct PhysXIntegrationParams
{
    PxVehiclePhysXRoadGeometryQueryParams physxRoadGeometryQueryParams;
    PxVehiclePhysXMaterialFrictionParams physxMaterialFrictionParams[PxVehicleLimits::eMAX_NB_WHEELS];
    PxVehiclePhysXSuspensionLimitConstraintParams physxSuspensionLimitConstraintParams[PxVehicleLimits::eMAX_NB_WHEELS];
    PxTransform physxActorCMassLocalPose;
    PxVec3 physxActorBoxShapeHalfExtents;
    PxTransform physxActorBoxShapeLocalPose;
    PxTransform physxWheelShapeLocalPoses[PxVehicleLimits::eMAX_NB_WHEELS];
 
    void create
        (const PxVehicleAxleDescription& axleDescription,
         const PxQueryFilterData& queryFilterData, PxQueryFilterCallback* queryFilterCallback,
         PxVehiclePhysXMaterialFriction* materialFrictions, const PxU32 nbMaterialFrictions, const PxReal defaultFriction,
         const PxTransform& physXActorCMassLocalPose,
         const PxVec3& physXActorBoxShapeHalfExtents, const PxTransform& physxActorBoxShapeLocalPose);
 
    PhysXIntegrationParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const;
 
    PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
    {
        if (!physxRoadGeometryQueryParams.isValid())
            return false;
        for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
        {
            const PxU32 wheelId = axleDesc.wheelIdsInAxleOrder[i];
            if (!physxMaterialFrictionParams[wheelId].isValid())
                    return false;
            if (!physxSuspensionLimitConstraintParams[wheelId].isValid())
                    return false;
        }
        return true;
    }
};
 
struct PhysXIntegrationState
{
    PxVehiclePhysXActor physxActor;                 //physx actor
    PxVehiclePhysXSteerState physxSteerState;
    PxVehiclePhysXConstraints physxConstraints;     //susp limit and sticky tire constraints
 
    PX_FORCE_INLINE void setToDefault()
    {
        physxActor.setToDefault();
        physxSteerState.setToDefault();
        physxConstraints.setToDefault();
    }
 
    void create
        (const BaseVehicleParams& baseParams, const PhysXIntegrationParams& physxParams,
         PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial);
 
    void destroy();
 
};
 
 
void setPhysXIntegrationParams(const PxVehicleAxleDescription&,
    PxVehiclePhysXMaterialFriction*, PxU32 nbPhysXMaterialFrictions,
    PxReal physXDefaultMaterialFriction, PhysXIntegrationParams&);
 
 
//
//This class holds the parameters, state and logic needed to implement a vehicle that
//is using a PhysX actor to potentially interact with other objects in a PhysX scene.
//
//See BaseVehicle for more details on the snippet code design.
//
class PhysXActorVehicle
    : public BaseVehicle
    , public PxVehiclePhysXActorBeginComponent
    , public PxVehiclePhysXActorEndComponent
    , public PxVehiclePhysXConstraintComponent
    , public PxVehiclePhysXRoadGeometrySceneQueryComponent
{
public:
    bool initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial);
    virtual void destroy();
 
    void setUpActor(PxScene& scene, const PxTransform& pose, const char* vehicleName);
 
    virtual void getDataForPhysXActorBeginComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleCommandState*& commands,
        const PxVehicleEngineDriveTransmissionCommandState*& transmissionCommands,
        const PxVehicleGearboxParams*& gearParams,
        const PxVehicleGearboxState*& gearState,
        const PxVehicleEngineParams*& engineParams,
        PxVehiclePhysXActor*& physxActor,
        PxVehiclePhysXSteerState*& physxSteerState,
        PxVehiclePhysXConstraints*& physxConstraints,
        PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
        PxVehicleEngineState*& engineState)
    {
        axleDescription = &mBaseParams.axleDescription;
        commands = &mCommandState;
        physxActor = &mPhysXState.physxActor;
        physxSteerState = &mPhysXState.physxSteerState;
        physxConstraints = &mPhysXState.physxConstraints;
        rigidBodyState = &mBaseState.rigidBodyState;
        wheelRigidBody1dStates.setData(mBaseState.wheelRigidBody1dStates);
 
        transmissionCommands = NULL;
        gearParams = NULL;
        gearState = NULL;
        engineParams = NULL;
        engineState = NULL;
    }
 
    virtual void getDataForPhysXActorEndComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxTransform>& wheelShapeLocalPoses,
        PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
        PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
        const PxVehicleGearboxState*& gearState,
        PxVehiclePhysXActor*& physxActor)
    {
        axleDescription = &mBaseParams.axleDescription;
        rigidBodyState = &mBaseState.rigidBodyState;
        wheelParams.setData(mBaseParams.wheelParams);
        wheelShapeLocalPoses.setData(mPhysXParams.physxWheelShapeLocalPoses);
        wheelRigidBody1dStates.setData(mBaseState.wheelRigidBody1dStates);
        wheelLocalPoses.setData(mBaseState.wheelLocalPoses);
        physxActor = &mPhysXState.physxActor;
 
        gearState = NULL;
    }
 
    virtual void getDataForPhysXConstraintComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& suspensionLimitParams,
        PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
        PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
        PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
        PxVehiclePhysXConstraints*& constraints)
    {
        axleDescription = &mBaseParams.axleDescription;
        rigidBodyState = &mBaseState.rigidBodyState;
        suspensionParams.setData(mBaseParams.suspensionParams);
        suspensionLimitParams.setData(mPhysXParams.physxSuspensionLimitConstraintParams);
        suspensionStates.setData(mBaseState.suspensionStates);
        suspensionComplianceStates.setData(mBaseState.suspensionComplianceStates);
        wheelRoadGeomStates.setData(mBaseState.roadGeomStates);
        tireDirectionStates.setData(mBaseState.tireDirectionStates);
        tireStickyStates.setData(mBaseState.tireStickyStates);
        constraints = &mPhysXState.physxConstraints;
    }
 
    virtual void getDataForPhysXRoadGeometrySceneQueryComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehiclePhysXRoadGeometryQueryParams*& roadGeomParams,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& materialFrictionParams,
        PxVehicleArrayData<PxVehicleRoadGeometryState>& roadGeometryStates,
        PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeometryStates)
    {
        axleDescription = &mBaseParams.axleDescription;
        roadGeomParams = &mPhysXParams.physxRoadGeometryQueryParams;
        steerResponseStates.setData(mBaseState.steerCommandResponseStates);
        rigidBodyState = &mBaseState.rigidBodyState;
        wheelParams.setData(mBaseParams.wheelParams);
        suspensionParams.setData(mBaseParams.suspensionParams);
        materialFrictionParams.setData(mPhysXParams.physxMaterialFrictionParams);
        roadGeometryStates.setData(mBaseState.roadGeomStates);
        physxRoadGeometryStates.setEmpty();
    }
 
 
    //Parameters and states of the vehicle's physx integration.
    PhysXIntegrationParams mPhysXParams;
    PhysXIntegrationState mPhysXState;
 
    //The commands that will control the vehicle
    //
    // Note that this is not related to a PhysX actor based vehicle as such but
    // put in here to be shared by all vehicle types that will be based on this
    // class. It keeps the code simpler for the purpose of the snippets.
    //
    PxVehicleCommandState mCommandState;
};
 
}//namespace snippetvehicle2