PxVehicleWheels.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.  
 
#ifndef PX_VEHICLE_WHEELS_H
#define PX_VEHICLE_WHEELS_H
 
#include "foundation/PxSimpleTypes.h"
#include "vehicle/PxVehicleShaders.h"
#include "vehicle/PxVehicleComponents.h"
#include "common/PxBase.h"
#include "PxRigidDynamic.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxVehicleWheels4SimData;
class PxVehicleWheels4DynData;
class PxVehicleTireForceCalculator;
class PxShape;
class PxPhysics;
class PxMaterial;
 
struct PX_DEPRECATED PxVehicleWheelsSimFlag
{
    enum Enum
    {
        eLIMIT_SUSPENSION_EXPANSION_VELOCITY = (1 << 0),
 
        eDISABLE_INTERNAL_CYLINDER_PLANE_INTERSECTION_TEST = (1 << 1),
 
        eDISABLE_SUSPENSION_FORCE_PROJECTION = (1 << 2),
 
        eDISABLE_SPRUNG_MASS_SUM_CHECK = (1 << 3)
    };
};
 
typedef PxFlags<PxVehicleWheelsSimFlag::Enum, PxU32> PxVehicleWheelsSimFlags;
PX_FLAGS_OPERATORS(PxVehicleWheelsSimFlag::Enum, PxU32)
 
 
class PX_DEPRECATED PxVehicleWheelsSimData
{
//= 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 PxVehicleWheels;
    friend class PxVehicleNoDrive;
    friend class PxVehicleDrive4W;
    friend class PxVehicleDriveTank;
    friend class PxVehicleUpdate;
 
    static PxVehicleWheelsSimData* allocate(const PxU32 nbWheels);
 
    void setChassisMass(const PxF32 chassisMass);
 
    void free();
 
    PxVehicleWheelsSimData& operator=(const PxVehicleWheelsSimData& src);
 
    void copy(const PxVehicleWheelsSimData& src, const PxU32 srcWheel, const PxU32 trgWheel);
 
    PxU32 getNbWheels() const {return mNbActiveWheels;}
 
    const PxVehicleSuspensionData& getSuspensionData(const PxU32 id) const;
        
    const PxVehicleWheelData& getWheelData(const PxU32 id) const;
 
    const PxVehicleTireData& getTireData(const PxU32 id) const;
    
    const PxVec3& getSuspTravelDirection(const PxU32 id) const;
 
    const PxVec3& getSuspForceAppPointOffset(const PxU32 id) const;
 
    const PxVec3& getTireForceAppPointOffset(const PxU32 id) const;
        
    const PxVec3& getWheelCentreOffset(const PxU32 id) const;   
 
    PxI32 getWheelShapeMapping(const PxU32 wheelId) const;
 
    const PxFilterData& getSceneQueryFilterData(const PxU32 suspId) const;
 
    PxU32 getNbAntiRollBars() const 
    {
        return mNbActiveAntiRollBars;
    }
 
    const PxVehicleAntiRollBarData& getAntiRollBarData(const PxU32 antiRollId) const;
    
    PX_FORCE_INLINE const PxVehicleTireLoadFilterData& getTireLoadFilterData() const 
    {
        return mNormalisedLoadFilter;
    }
 
    void setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp);
 
    void setWheelData(const PxU32 id, const PxVehicleWheelData& wheel);
 
    void setTireData(const PxU32 id, const PxVehicleTireData& tire);
 
    void setSuspTravelDirection(const PxU32 id, const PxVec3& dir);
    
    void setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset);                                  
    
    void setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset);
 
    void setWheelCentreOffset(const PxU32 id, const PxVec3& offset);    
 
    void setWheelShapeMapping(const PxU32 wheelId, const PxI32 shapeId);
 
    void setSceneQueryFilterData(const PxU32 suspId, const PxFilterData& sqFilterData);
 
    void setTireLoadFilterData(const PxVehicleTireLoadFilterData& tireLoadFilter);
 
    PxU32 addAntiRollBarData(const PxVehicleAntiRollBarData& antiRoll);
 
    void disableWheel(const PxU32 wheel);
 
    void enableWheel(const PxU32 wheel);
 
    bool getIsWheelDisabled(const PxU32 wheel) const;
 
    void setSubStepCount(const PxReal thresholdLongitudinalSpeed, const PxU32 lowForwardSpeedSubStepCount, const PxU32 highForwardSpeedSubStepCount);
 
    void setMinLongSlipDenominator(const PxReal minLongSlipDenominator);
 
    void setFlags(PxVehicleWheelsSimFlags flags);
 
    PxVehicleWheelsSimFlags getFlags() const;
 
private:
 
    PxVehicleTireLoadFilterData mNormalisedLoadFilter;
 
    PxVehicleWheels4SimData* mWheels4SimData;
 
    PxU32 mNbWheels4;
 
    PxU32 mNbActiveWheels;
 
    PxVehicleAntiRollBarData* mAntiRollBars;
 
    PxU32 mNbAntiRollBars4;
 
    PxU32 mNbActiveAntiRollBars;
 
    PxU32 mActiveWheelsBitmapBuffer[((PX_MAX_NB_WHEELS + 31) & ~31) >> 5];
 
    PxF32 mThresholdLongitudinalSpeed;
 
    PxU32 mLowForwardSpeedSubStepCount;
 
    PxU32 mHighForwardSpeedSubStepCount;
 
    PxF32 mMinLongSlipDenominator;
 
    PxU32 mFlags;
 
#if PX_P64_FAMILY
    PxU32 mPad[1];
#endif
 
    bool isValid() const;
 
    static PxU32 computeByteSize(const PxU32 numWheels);
    static PxU8* patchUpPointers(const PxU32 numWheels, PxVehicleWheelsSimData* simData, PxU8* ptrIn);
    PxVehicleWheelsSimData(const PxU32 numWheels);
 
//serialization
public:
    PxVehicleWheelsSimData(const PxEMPTY) : mNormalisedLoadFilter(PxEmpty) {}
    static void getBinaryMetaData(PxOutputStream& stream);
    PxU32 getNbWheels4() const { return mNbWheels4; }   
    PxU32 getNbSuspensionData() const { return mNbActiveWheels; }
    PxU32 getNbWheelData() const {  return mNbActiveWheels; }   
    PxU32 getNbSuspTravelDirection() const  { return mNbActiveWheels; }
    PxU32 getNbTireData() const { return mNbActiveWheels;   }   
    PxU32 getNbSuspForceAppPointOffset() const  { return mNbActiveWheels;   }
    PxU32 getNbTireForceAppPointOffset() const  { return mNbActiveWheels;   }
    PxU32 getNbWheelCentreOffset() const { return mNbActiveWheels;  }
    PxU32 getNbWheelShapeMapping() const { return mNbActiveWheels; }
    PxU32 getNbSceneQueryFilterData() const { return mNbActiveWheels; }
    PxF32 getMinLongSlipDenominator() const {return mMinLongSlipDenominator;}
    void setThresholdLongSpeed(const PxF32 f) {mThresholdLongitudinalSpeed = f;}
    PxF32 getThresholdLongSpeed() const {return mThresholdLongitudinalSpeed;}
    void setLowForwardSpeedSubStepCount(const PxU32 f) {mLowForwardSpeedSubStepCount = f;}
    PxU32 getLowForwardSpeedSubStepCount() const {return mLowForwardSpeedSubStepCount;}
    void setHighForwardSpeedSubStepCount(const PxU32 f) {mHighForwardSpeedSubStepCount = f;}
    PxU32 getHighForwardSpeedSubStepCount() const {return mHighForwardSpeedSubStepCount;}
    void setWheelEnabledState(const PxU32 wheel, const bool state) {if(state) {enableWheel(wheel);} else {disableWheel(wheel);}}
    bool getWheelEnabledState(const PxU32 wheel) const {return !getIsWheelDisabled(wheel);}
    PxU32 getNbWheelEnabledState() const {return mNbActiveWheels;}
    PxU32 getNbAntiRollBars4() const { return mNbAntiRollBars4; }   
    PxU32 getNbAntiRollBarData() const {return mNbActiveAntiRollBars;}
    void setAntiRollBarData(const PxU32 id, const PxVehicleAntiRollBarData& antiRoll);
    PxVehicleWheelsSimData(){}
    ~PxVehicleWheelsSimData(){}
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsSimData) & 15));
 
 
struct PX_DEPRECATED PxTireContactIntersectionMethod
{
    enum Enum
    {
        eRAY = 0,
        eCYLINDER
    };
};
 
class PX_DEPRECATED PxVehicleWheelsDynData
{
//= 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 PxVehicleWheels;
    friend class PxVehicleDrive4W;
    friend class PxVehicleDriveTank;
    friend class PxVehicleUpdate;
 
    PxVehicleWheelsDynData(){}
    ~PxVehicleWheelsDynData(){}
 
    void setToRestState();
 
    void setTireForceShaderFunction(PxVehicleComputeTireForce tireForceShaderFn);
 
    void setTireForceShaderData(const PxU32 tireId, const void* tireForceShaderData);
 
    const void* getTireForceShaderData(const PxU32 tireId) const;
 
    void setWheelRotationSpeed(const PxU32 wheelIdx, const PxReal speed);
 
    PxReal getWheelRotationSpeed(const PxU32 wheelIdx) const;
    
    void setWheelRotationAngle(const PxU32 wheelIdx, const PxReal angle);
 
    PxReal getWheelRotationAngle(const PxU32 wheelIdx) const;
 
    void setUserData(const PxU32 tireIdx, void* userData);
 
    void* getUserData(const PxU32 tireIdx) const;
 
    void copy(const PxVehicleWheelsDynData& src, const PxU32 srcWheel, const PxU32 trgWheel);
 
    void setTireContacts(const PxU32* nbHits, const PxPlane* contactPlanes, const PxReal* contactFrictions, const PxTireContactIntersectionMethod::Enum* intersectionMethods, const PxU32 nbWheels);
 
private:
 
    PxVehicleWheels4DynData* mWheels4DynData;
 
    bool isValid() const;
 
    PxVehicleTireForceCalculator* mTireForceCalculators;
    
    void** mUserDatas;
 
    PxU32 mNbWheels4;
 
    PxU32 mNbActiveWheels;
 
    PxU32 mPad[3];
 
    static PxU32 computeByteSize(const PxU32 numWheels);
    static PxU8* patchUpPointers(const PxU32 numWheels, PxVehicleWheelsDynData* dynData, PxU8* ptr);
    PxVehicleWheelsDynData(const PxU32 numWheels);
 
//serialization
public:
    static void getBinaryMetaData(PxOutputStream& stream);  
    PxU32 getNbWheelRotationSpeed() const { return mNbActiveWheels; }
    PxU32 getNbWheelRotationAngle() const { return mNbActiveWheels; }   
    PxVehicleWheels4DynData* getWheel4DynData() const { return mWheels4DynData; }
//~serialization
 
    PxU32 getNbConstraints() const { return mNbWheels4; }
 
    PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const;
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));
 
class PX_DEPRECATED PxVehicleWheels : public PxBase
{
//= 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;
    friend class PxVehicleConstraintShader;
 
    PX_FORCE_INLINE PxU32 getVehicleType() const {return mType;}
 
    PX_FORCE_INLINE PxRigidDynamic* getRigidDynamicActor() {return mActor;}
 
    PX_FORCE_INLINE const PxRigidDynamic* getRigidDynamicActor() const {return mActor;}
    
    PxReal computeForwardSpeed(const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis) const;
 
    PxReal computeSidewaysSpeed(const PxVec3& sideAxis = PxVehicleGetDefaultContext().sideAxis) const;
 
    PxVehicleWheelsSimData mWheelsSimData;
 
    PxVehicleWheelsDynData mWheelsDynData;  
 
protected:
 
    void setToRestState();
 
    bool isValid() const;
 
    static PxU32 computeByteSize(const PxU32 nbWheels);
    static PxU8* patchupPointers(const PxU32 nbWheels, PxVehicleWheels* vehWheels, PxU8* ptr);
    virtual void init(const PxU32 numWheels);
 
    void free();
 
    /*
    \brief Deferred deletion.
    */
    void onConstraintRelease();
 
    void setup
        (PxPhysics* physics, PxRigidDynamic* vehActor, 
         const PxVehicleWheelsSimData& wheelsData,
         const PxU32 nbDrivenWheels, const PxU32 nbNonDrivenWheels);
    
    PxRigidDynamic* mActor;
 
private:
 
    PxU32 mNbNonDrivenWheels;
    
    PxU8 mOnConstraintReleaseCounter;
 
protected:
 
    PxU8 mType;
        
#if PX_P64_FAMILY
    PxU8 mPad0[14];
#else
    PxU8 mPad0[8];
#endif
 
//serialization
public:
    virtual     void            requiresObjects(PxProcessPxBaseCallback& c);
    virtual     const char*     getConcreteTypeName() const             {   return "PxVehicleWheels"; }
    virtual     bool            isKindOf(const char* name)  const       {   return !::strcmp("PxVehicleWheels", name) || PxBase::isKindOf(name); }
    virtual     void            preExportDataReset() {}
    virtual     void            exportExtraData(PxSerializationContext&);   
                void            importExtraData(PxDeserializationContext&);
                void            resolveReferences(PxDeserializationContext&);
    static      void            getBinaryMetaData(PxOutputStream& stream);
    PX_FORCE_INLINE PxU32 getNbNonDrivenWheels() const { return mNbNonDrivenWheels; }
    PxVehicleWheels(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
    PxVehicleWheels(PxBaseFlags baseFlags) : PxBase(baseFlags), mWheelsSimData(PxEmpty) {}
    virtual ~PxVehicleWheels() {}
    virtual void release() { free(); }
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheels) & 15));
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif