PxVehiclePhysXActorComponents.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 "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
 
#include "vehicle2/wheel/PxVehicleWheelStates.h"
 
#include "PxVehiclePhysXActorFunctions.h"
#include "PxVehiclePhysXActorStates.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
class PxVehiclePhysXActorBeginComponent : public PxVehicleComponent
{
public:
 
    PxVehiclePhysXActorBeginComponent() : PxVehicleComponent() {}
    virtual ~PxVehiclePhysXActorBeginComponent() {}
 
    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) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_UNUSED(dt);
        PX_UNUSED(context);
 
        PX_PROFILE_ZONE("PxVehiclePhysXActorBeginComponent::update", 0);
 
        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;
 
        getDataForPhysXActorBeginComponent(axleDescription, commands, transmissionCommands,
            gearParams, gearState, engineParams,
            physxActor, physxSteerState, physxConstraints, 
            rigidBodyState, wheelRigidBody1dStates, engineState);
 
        if (physxActor->rigidBody->getScene())  // Considering case where actor is not in a scene and constraints get solved via immediate mode
        {
            PxVehiclePhysxActorWakeup(*commands, transmissionCommands, gearParams, gearState, 
                *physxActor->rigidBody, *physxSteerState);
 
            if (PxVehiclePhysxActorSleepCheck(*axleDescription, *physxActor->rigidBody, engineParams,
                *rigidBodyState, *physxConstraints, wheelRigidBody1dStates, engineState))
            {
                return false;
            }
        }
 
        PxVehicleReadRigidBodyStateFromPhysXActor(*physxActor->rigidBody, *rigidBodyState);
 
        return true;
    }
};
 
class PxVehiclePhysXActorEndComponent : public PxVehicleComponent
{
public:
 
    PxVehiclePhysXActorEndComponent() : PxVehicleComponent() {}
    virtual ~PxVehiclePhysXActorEndComponent() {}
 
    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) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_UNUSED(dt);
 
        PX_PROFILE_ZONE("PxVehiclePhysXActorEndComponent::update", 0);
 
        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;
 
        getDataForPhysXActorEndComponent(axleDescription, rigidBodyState,
            wheelParams, wheelShapeLocalPoses, wheelRigidBody1dStates, wheelLocalPoses, gearState,
            physxActor);
 
        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
            
            PxVehicleWriteWheelLocalPoseToPhysXWheelShape(wheelLocalPoses[wheelId].localPose, wheelShapeLocalPoses[wheelId], 
                physxActor->wheelShapes[wheelId]);
        }
 
        if (context.getType() == PxVehicleSimulationContextType::ePHYSX)
        {
            const PxVehiclePhysXSimulationContext& physxContext = static_cast<const PxVehiclePhysXSimulationContext&>(context);
 
            PxVehicleWriteRigidBodyStateToPhysXActor(physxContext.physxActorUpdateMode, *rigidBodyState, dt, *physxActor->rigidBody);
 
            PxVehiclePhysxActorKeepAwakeCheck(*axleDescription, wheelParams, wheelRigidBody1dStates,
                physxContext.physxActorWakeCounterThreshold, physxContext.physxActorWakeCounterResetValue, gearState,
                *physxActor->rigidBody);
        }
        else
        {
            PX_ALWAYS_ASSERT();
        }
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif