275 lines
12 KiB
C
275 lines
12 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_VEHICLE_TIREFRICTION_H
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#define PX_VEHICLE_TIREFRICTION_H
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#include "foundation/PxSimpleTypes.h"
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#include "common/PxSerialFramework.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxMaterial;
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class PxCollection;
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class PxOutputStream;
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/**
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\brief Driving surface type. Each PxMaterial is associated with a corresponding PxVehicleDrivableSurfaceType.
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@see PxMaterial, PxVehicleDrivableSurfaceToTireFrictionPairs
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*/
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struct PX_DEPRECATED PxVehicleDrivableSurfaceType
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{
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enum
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{
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eSURFACE_TYPE_UNKNOWN=0xffffffff
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};
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PxU32 mType;
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};
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/**
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\brief Friction for each combination of driving surface type and tire type.
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@see PxVehicleDrivableSurfaceType, PxVehicleTireData::mType
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*/
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class PX_DEPRECATED PxVehicleDrivableSurfaceToTireFrictionPairs
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{
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public:
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friend class VehicleSurfaceTypeHashTable;
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enum
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{
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eMAX_NB_SURFACE_TYPES=256
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};
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/**
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\brief Allocate the memory for a PxVehicleDrivableSurfaceToTireFrictionPairs instance
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that can hold data for combinations of tire type and surface type with up to maxNbTireTypes types of tire and maxNbSurfaceTypes types of surface.
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\param[in] maxNbTireTypes is the maximum number of allowed tire types.
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\param[in] maxNbSurfaceTypes is the maximum number of allowed surface types. Must be less than or equal to eMAX_NB_SURFACE_TYPES
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\return a PxVehicleDrivableSurfaceToTireFrictionPairs instance that can be reused later with new type and friction data.
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@see setup
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*/
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static PxVehicleDrivableSurfaceToTireFrictionPairs* allocate
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(const PxU32 maxNbTireTypes, const PxU32 maxNbSurfaceTypes);
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/**
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\brief Set up a PxVehicleDrivableSurfaceToTireFrictionPairs instance for combinations of nbTireTypes tire types and nbSurfaceTypes surface types.
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\param[in] nbTireTypes is the number of different types of tire. This value must be less than or equal to maxNbTireTypes specified in allocate().
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\param[in] nbSurfaceTypes is the number of different types of surface. This value must be less than or equal to maxNbSurfaceTypes specified in allocate().
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\param[in] drivableSurfaceMaterials is an array of PxMaterial pointers of length nbSurfaceTypes.
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\param[in] drivableSurfaceTypes is an array of PxVehicleDrivableSurfaceType instances of length nbSurfaceTypes.
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\note If the pointer to the PxMaterial that touches the tire is found in drivableSurfaceMaterials[x] then the surface type is drivableSurfaceTypes[x].mType
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and the friction is the value that is set with setTypePairFriction(drivableSurfaceTypes[x].mType, PxVehicleTireData::mType, frictionValue).
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\note A friction value of 1.0 will be assigned as default to each combination of tire and surface type. To override this use setTypePairFriction.
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@see release, setTypePairFriction, getTypePairFriction, PxVehicleTireData.mType
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*/
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void setup
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(const PxU32 nbTireTypes, const PxU32 nbSurfaceTypes,
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const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes);
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/**
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\brief Deallocate a PxVehicleDrivableSurfaceToTireFrictionPairs instance
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*/
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void release();
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/**
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\brief Set the friction for a specified pair of tire type and drivable surface type.
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\param[in] surfaceType describes the surface type
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\param[in] tireType describes the tire type.
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\param[in] value describes the friction coefficient for the combination of surface type and tire type.
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*/
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void setTypePairFriction(const PxU32 surfaceType, const PxU32 tireType, const PxReal value);
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/**
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\brief Compute the surface type associated with a specified PxMaterial instance.
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\param[in] surfaceMaterial is the material to be queried for its associated surface type.
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\note The surface type may be used to query the friction of a surface type/tire type pair using getTypePairFriction()
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\return The surface type associated with a specified PxMaterial instance.
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If surfaceMaterial is not referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs a value of 0 will be returned.
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@see setup
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@see getTypePairFriction
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*/
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PxU32 getSurfaceType(const PxMaterial& surfaceMaterial) const;
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/**
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\brief Return the friction for a specified combination of surface type and tire type.
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\return The friction for a specified combination of surface type and tire type.
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\note The final friction value used by the tire model is the value returned by getTypePairFriction
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multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph
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\note The surface type is associated with a PxMaterial. The mapping between the two may be queried using getSurfaceType().
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@see PxVehicleTireData::mFrictionVsSlipGraph
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@see getSurfaceType
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*/
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PxReal getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const;
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/**
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\brief Return the friction for a specified combination of PxMaterial and tire type.
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\return The friction for a specified combination of PxMaterial and tire type.
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\note The final friction value used by the tire model is the value returned by getTypePairFriction
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multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph
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\note If surfaceMaterial is not referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs
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a surfaceType of value 0 will be assumed and the corresponding friction value will be returned.
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@see PxVehicleTireData::mFrictionVsSlipGraph
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*/
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PxReal getTypePairFriction(const PxMaterial& surfaceMaterial, const PxU32 tireType) const;
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/**
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\brief Return the maximum number of surface types
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\return The maximum number of surface types
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@see allocate
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*/
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PX_FORCE_INLINE PxU32 getMaxNbSurfaceTypes() const {return mMaxNbSurfaceTypes;}
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/**
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\brief Return the maximum number of tire types
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\return The maximum number of tire types
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@see allocate
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*/
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PX_FORCE_INLINE PxU32 getMaxNbTireTypes() const {return mMaxNbTireTypes;}
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/**
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\brief Binary serialization of a PxVehicleDrivableSurfaceToTireFrictionPairs instance.
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The PxVehicleDrivableSurfaceToTireFrictionPairs instance is serialized to a PxOutputStream.
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The materials referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs instance are
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serialized to a PxCollection.
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\param[in] frictionTable is the PxVehicleDrivableSurfaceToTireFrictionPairs instance to be serialized.
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\param[in] materialIds are unique ids that will be used to add the materials to the collection.
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\param[in] nbMaterialIds is the length of the materialIds array. It must be sufficient to cover all materials.
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\param[out] collection is the PxCollection instance that is to be used to serialize the PxMaterial instances referenced by the
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PxVehicleDrivableSurfaceToTireFrictionPairs instance.
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\param[out] stream contains the memory block for the binary serialized friction table.
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\note If a material has already been added to the collection with a PxSerialObjectId, it will not be added again.
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\note If all materials have already been added to the collection with a PxSerialObjectId, it is legal to pass a NULL ptr for the materialIds array.
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\note frictionTable references PxMaterial instances, which are serialized using PxCollection.
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The PxCollection instance may be used to serialize an entire scene that also references some or none of those material instances
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or particular objects in a scene or nothing at all. The complementary deserialize() function requires the same collection instance
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or more typically a deserialized copy of the collection to be passed as a function argument.
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@see deserializeFromBinary
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*/
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static void serializeToBinary(const PxVehicleDrivableSurfaceToTireFrictionPairs& frictionTable, const PxSerialObjectId* materialIds, const PxU32 nbMaterialIds, PxCollection* collection, PxOutputStream& stream);
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/**
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\brief Deserialize from a memory block to create a PxVehicleDrivableSurfaceToTireFrictionPairs instance.
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\param[in] collection contains the PxMaterial instances that will be referenced by the friction table.
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\param[in] memBlock is a binary array that may be retrieved or copied from the stream in the complementary serializeToBinary function.
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\return A PxVehicleDrivableSurfaceToTireFrictionPairs instance whose base address is equal to the memBlock ptr.
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@see serializeToBinary
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*/
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static PxVehicleDrivableSurfaceToTireFrictionPairs* deserializeFromBinary(const PxCollection& collection, void* memBlock);
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private:
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/**
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\brief Ptr to base address of a 2d PxReal array with dimensions [mNbSurfaceTypes][mNbTireTypes]
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\note Each element of the array describes the maximum friction provided by a surface type-tire type combination.
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eg the friction corresponding to a combination of surface type x and tire type y is mPairs[x][y]
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*/
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PxReal* mPairs;
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/**
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\brief Ptr to 1d array of material ptrs that is of length mNbSurfaceTypes.
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\note If the PxMaterial that touches the tire corresponds to mDrivableSurfaceMaterials[x] then the drivable surface
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type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y],
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assuming a tire type y.
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\note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is
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mPairs[0][y], assuming a tire type y.
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*/
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const PxMaterial** mDrivableSurfaceMaterials;
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/**
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\brief Ptr to 1d array of PxVehicleDrivableSurfaceType that is of length mNbSurfaceTypes.
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\note If the PxMaterial that touches the tire is found in mDrivableSurfaceMaterials[x] then the drivable surface
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type is mDrivableSurfaceTypes[x].mType and the friction for that contact is mPairs[mDrivableSurfaceTypes[x].mType][y],
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assuming a tire type y.
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\note If the PxMaterial that touches the tire is not found in mDrivableSurfaceMaterials then the friction is
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mPairs[0][y], assuming a tire type y.
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*/
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PxVehicleDrivableSurfaceType* mDrivableSurfaceTypes;
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/**
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\brief A PxSerialObjectId per surface type used internally for serialization.
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*/
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PxSerialObjectId* mMaterialSerialIds;
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/**
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\brief Number of different driving surface types.
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\note mDrivableSurfaceMaterials and mDrivableSurfaceTypes are both 1d arrays of length mMaxNbSurfaceTypes.
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\note mNbSurfaceTypes must be less than or equal to mMaxNbSurfaceTypes.
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*/
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PxU32 mNbSurfaceTypes;
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/**
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\brief Maximum number of different driving surface types.
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\note mMaxNbSurfaceTypes must be less than or equal to eMAX_NB_SURFACE_TYPES.
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*/
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PxU32 mMaxNbSurfaceTypes;
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/**
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\brief Number of different tire types.
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\note Tire types stored in PxVehicleTireData.mType
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*/
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PxU32 mNbTireTypes;
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/**
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\brief Maximum number of different tire types.
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\note Tire types stored in PxVehicleTireData.mType
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*/
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PxU32 mMaxNbTireTypes;
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PxVehicleDrivableSurfaceToTireFrictionPairs(){}
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~PxVehicleDrivableSurfaceToTireFrictionPairs(){}
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) & 15));
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif
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