210 lines
8.2 KiB
C
210 lines
8.2 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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#pragma once
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/** \addtogroup vehicle2
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@{
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*/
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#include "PxFiltering.h"
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#include "PxShape.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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class PxGeometry;
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class PxMaterial;
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struct PxCookingParams;
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namespace vehicle2
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{
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#endif
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struct PxVehicleRigidBodyParams;
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struct PxVehicleAxleDescription;
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struct PxVehicleWheelParams;
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struct PxVehiclePhysXActor;
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struct PxVehicleFrame;
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struct PxVehicleSuspensionParams;
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class PxVehiclePhysXRigidActorParams
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{
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PX_NOCOPY(PxVehiclePhysXRigidActorParams)
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public:
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PxVehiclePhysXRigidActorParams(const PxVehicleRigidBodyParams& _physxActorRigidBodyParams, const char* _physxActorName)
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: rigidBodyParams(_physxActorRigidBodyParams),
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physxActorName(_physxActorName)
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{
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}
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const PxVehicleRigidBodyParams& rigidBodyParams;
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const char* physxActorName;
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};
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class PxVehiclePhysXRigidActorShapeParams
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{
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PX_NOCOPY(PxVehiclePhysXRigidActorShapeParams)
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public:
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PxVehiclePhysXRigidActorShapeParams
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(const PxGeometry& _geometry, const PxTransform& _localPose, const PxMaterial& _material,
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const PxShapeFlags _flags, const PxFilterData& _simulationFilterData, const PxFilterData& _queryFilterData)
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: geometry(_geometry),
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localPose(_localPose),
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material(_material),
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flags(_flags),
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simulationFilterData(_simulationFilterData),
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queryFilterData(_queryFilterData)
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{
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}
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const PxGeometry& geometry;
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const PxTransform& localPose;
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const PxMaterial& material;
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PxShapeFlags flags;
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PxFilterData simulationFilterData;
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PxFilterData queryFilterData;
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};
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class PxVehiclePhysXWheelParams
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{
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PX_NOCOPY(PxVehiclePhysXWheelParams)
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public:
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PxVehiclePhysXWheelParams(const PxVehicleAxleDescription& _axleDescription, const PxVehicleWheelParams* _wheelParams)
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: axleDescription(_axleDescription),
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wheelParams(_wheelParams)
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{
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}
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const PxVehicleAxleDescription& axleDescription;
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const PxVehicleWheelParams* wheelParams;
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};
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class PxVehiclePhysXWheelShapeParams
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{
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PX_NOCOPY(PxVehiclePhysXWheelShapeParams)
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public:
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PxVehiclePhysXWheelShapeParams(const PxMaterial& _material, const PxShapeFlags _flags, const PxFilterData _simulationFilterData, const PxFilterData _queryFilterData)
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: material(_material),
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flags(_flags),
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simulationFilterData(_simulationFilterData),
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queryFilterData(_queryFilterData)
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{
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}
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const PxMaterial& material;
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PxShapeFlags flags;
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PxFilterData simulationFilterData;
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PxFilterData queryFilterData;
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};
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/**
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\brief Create a PxRigidDynamic instance, instantiate it with desired properties and populate it with PxShape instances.
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\param[in] vehicleFrame describes the frame of the vehicle.
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\param[in] rigidActorParams describes the mass and moment of inertia of the rigid body.
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\param[in] rigidActorCmassLocalPose specifies the mapping between actor and rigid body frame.
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\param[in] rigidActorShapeParams describes the collision geometry associated with the rigid body.
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\param[in] wheelParams describes the radius and half-width of the wheels.
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\param[in] wheelShapeParams describes the PxMaterial and PxShapeFlags to apply to the wheel shapes.
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\param[in] physics is a PxPhysics instance.
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\param[in] params is a PxCookingParams instance
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\param[in] vehiclePhysXActor is a record of the PxRigidDynamic and PxShape instances instantiated.
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\note This is an alternative to PxVehiclePhysXArticulationLinkCreate.
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\note PxVehiclePhysXActorCreate primarily serves as an illustration of the instantiation of the PhysX class instances
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required to simulate a vehicle with a PxRigidDynamic.
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@see PxVehiclePhysXActorDestroy
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*/
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void PxVehiclePhysXActorCreate
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(const PxVehicleFrame& vehicleFrame,
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const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
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const PxVehiclePhysXRigidActorShapeParams& rigidActorShapeParams,
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const PxVehiclePhysXWheelParams& wheelParams, const PxVehiclePhysXWheelShapeParams& wheelShapeParams,
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PxPhysics& physics, const PxCookingParams& params,
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PxVehiclePhysXActor& vehiclePhysXActor);
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/**
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\brief Configure an actor so that it is ready for vehicle simulation.
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\param[in] rigidActorParams describes the mass and moment of inertia of the rigid body.
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\param[in] rigidActorCmassLocalPose specifies the mapping between actor and rigid body frame.
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\param[out] rigidBody is the body to be prepared for simulation.
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*/
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void PxVehiclePhysXActorConfigure
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(const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
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PxRigidBody& rigidBody);
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/**
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\brief Create a PxArticulationReducedCoordinate and a single PxArticulationLink,
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instantiate the PxArticulationLink with desired properties and populate it with PxShape instances.
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\param[in] vehicleFrame describes the frame of the vehicle.
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\param[in] rigidActorParams describes the mass and moment of inertia of the rigid body.
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\param[in] rigidActorCmassLocalPose specifies the mapping between actor and rigid body frame.
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\param[in] rigidActorShapeParams describes the collision geometry associated with the rigid body.
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\param[in] wheelParams describes the radius and half-width of the wheels.
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\param[in] wheelShapeParams describes the PxMaterial and PxShapeFlags to apply to the wheel shapes.
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\param[in] physics is a PxPhysics instance.
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\param[in] params is a PxCookingParams instance
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\param[in] vehiclePhysXActor is a record of the PxArticulationReducedCoordinate, PxArticulationLink and PxShape instances instantiated.
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\note This is an alternative to PxVehiclePhysXActorCreate.
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\note PxVehiclePhysXArticulationLinkCreate primarily serves as an illustration of the instantiation of the PhysX class instances
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required to simulate a vehicle as part of an articulated ensemble.
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@see PxVehiclePhysXActorDestroy
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*/
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void PxVehiclePhysXArticulationLinkCreate
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(const PxVehicleFrame& vehicleFrame,
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const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
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const PxVehiclePhysXRigidActorShapeParams& rigidActorShapeParams,
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const PxVehiclePhysXWheelParams& wheelParams, const PxVehiclePhysXWheelShapeParams& wheelShapeParams,
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PxPhysics& physics, const PxCookingParams& params,
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PxVehiclePhysXActor& vehiclePhysXActor);
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/**
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\brief Release the PxRigidDynamic, PxArticulationReducedCoordinate, PxArticulationLink and PxShape instances
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instantiated by PxVehiclePhysXActorCreate or PxVehiclePhysXArticulationLinkCreate.
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\param[in] vehiclePhysXActor is a description of the PhysX instances to be released.
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*/
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void PxVehiclePhysXActorDestroy(PxVehiclePhysXActor& vehiclePhysXActor);
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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/** @} */
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