PxVehicleSDK.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_VEHICLE_SDK_H
#define PX_VEHICLE_SDK_H
 
#include "foundation/Px.h"
#include "foundation/PxVec3.h"
#include "common/PxTypeInfo.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxPhysics;
class PxSerializationRegistry;
 
PX_DEPRECATED PX_C_EXPORT bool PX_CALL_CONV PxInitVehicleSDK(PxPhysics& physics, PxSerializationRegistry* serializationRegistry = NULL);
 
 
PX_DEPRECATED PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* serializationRegistry = NULL);
 
 
#define PX_MAX_NB_WHEELS (20)
 
 
#define PX_DEBUG_VEHICLE_ON (1)
 
 
struct PX_DEPRECATED PxVehicleTypes
{
    enum Enum
    {
        eDRIVE4W=0,
        eDRIVENW,
        eDRIVETANK,
        eNODRIVE,
        eUSER1,
        eUSER2,
        eUSER3,
        eMAX_NB_VEHICLE_TYPES
    };
};
 
 
struct PX_DEPRECATED PxVehicleConcreteType
{
    enum Enum
    {
        eVehicleNoDrive = PxConcreteType::eFIRST_VEHICLE_EXTENSION,
        eVehicleDrive4W,
        eVehicleDriveNW,
        eVehicleDriveTank
    };
};
 
 
PX_DEPRECATED void PxVehicleSetBasisVectors(const PxVec3& up, const PxVec3& forward);
 
 
struct PX_DEPRECATED PxVehicleUpdateMode
{
    enum Enum
    {
        eVELOCITY_CHANGE,
        eACCELERATION   
    };
};
 
 
PX_DEPRECATED void PxVehicleSetUpdateMode(PxVehicleUpdateMode::Enum vehicleUpdateMode);
 
PX_DEPRECATED void PxVehicleSetSweepHitRejectionAngles(const PxF32 pointRejectAngle, const PxF32 normalRejectAngle);
 
 
PX_DEPRECATED void PxVehicleSetMaxHitActorAcceleration(const PxF32 maxHitActorAcceleration);
 
 
class PX_DEPRECATED PxVehicleContext
{
public:
 
    PxVec3 upAxis;
 
    PxVec3 forwardAxis;
 
    PxVec3 sideAxis;
 
    PxVehicleUpdateMode::Enum updateMode;
 
    PxF32 pointRejectAngleThresholdCosine;
 
    PxF32 normalRejectAngleThresholdCosine;
 
    PxF32 maxHitActorAcceleration;
 
 
public:
    PX_INLINE PxVehicleContext();
 
    PX_INLINE void setToDefault();
 
    PX_INLINE bool isValid() const;
 
    PX_INLINE void computeSideAxis();
};
 
PX_INLINE PxVehicleContext::PxVehicleContext():
    upAxis(0.0f, 1.0f, 0.0f),
    forwardAxis(0.0f, 0.0f, 1.0f),
    sideAxis(1.0f, 0.0f, 0.0f),
    updateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE),
    pointRejectAngleThresholdCosine(0.707f),  // cosine of 45 degrees
    normalRejectAngleThresholdCosine(0.707f), // cosine of 45 degrees
    maxHitActorAcceleration(PX_MAX_REAL)
{
}
 
PX_INLINE void PxVehicleContext::setToDefault()
{
    *this = PxVehicleContext();
}
 
PX_INLINE bool PxVehicleContext::isValid() const
{
    if (!upAxis.isNormalized())
        return false;
 
    if (!forwardAxis.isNormalized())
        return false;
 
    if (!sideAxis.isNormalized())
        return false;
 
    if (((upAxis.cross(forwardAxis)) - sideAxis).magnitude() > 0.02f)  // somewhat above 1 degree assuming both have unit length
        return false;
 
    if ((pointRejectAngleThresholdCosine >= 1) || (pointRejectAngleThresholdCosine <= -1))
        return false;
 
    if ((normalRejectAngleThresholdCosine >= 1) || (normalRejectAngleThresholdCosine <= -1))
        return false;
 
    if (maxHitActorAcceleration < 0.0f)
        return false;
 
    return true;
}
 
PX_INLINE void PxVehicleContext::computeSideAxis()
{
    sideAxis = upAxis.cross(forwardAxis);
}
 
 
PX_DEPRECATED const PxVehicleContext& PxVehicleGetDefaultContext();
 
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif