96 lines
4.8 KiB
C
96 lines
4.8 KiB
C
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
// * Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the distribution.
|
||
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
|
// contributors may be used to endorse or promote products derived
|
||
|
|
// from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2023 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
|
||
|
|
|
||
|
|
/** \addtogroup vehicle2
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "foundation/PxSimpleTypes.h"
|
||
|
|
|
||
|
|
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
class PxScene;
|
||
|
|
class PxConvexMesh;
|
||
|
|
|
||
|
|
namespace vehicle2
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
struct PxVehicleWheelParams;
|
||
|
|
struct PxVehicleSuspensionParams;
|
||
|
|
struct PxVehiclePhysXRoadGeometryQueryState;
|
||
|
|
struct PxVehicleRigidBodyState;
|
||
|
|
struct PxVehicleFrame;
|
||
|
|
struct PxVehicleRoadGeometryState;
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Compute the plane of the road geometry under a wheel and the tire friction of the contact.
|
||
|
|
\param[in] wheelParams describes the radius and halfwidth of the wheel.
|
||
|
|
\param[in] suspParams describes the frame of the suspension and wheel and the maximum suspension travel.
|
||
|
|
\param[in] queryType describes what type of PhysX scene query to use (see #PxVehiclePhysXRoadGeometryQueryType).
|
||
|
|
If PxVehiclePhysXRoadGeometryQueryType::eNONE is used, no work will be done.
|
||
|
|
\param[in] filterCallback describes the filter callback to use for the PhysX scene query. NULL is a valid input.
|
||
|
|
\param[in] filterData describes the filter data to use for the PhysX scene query.
|
||
|
|
\param[in] materialFrictionParams describes a mapping between PxMaterial and friction in order to compute a tire friction value.
|
||
|
|
\param[in] wheelYawAngle is the yaw angle (in radians) of the wheel.
|
||
|
|
\param[in] rigidBodyState describes the pose of the rigid body.
|
||
|
|
\param[in] scene is the PhysX scene that will be queried by the scene query.
|
||
|
|
\param[in] unitCylinderSweepMesh is a convex cylindrical mesh of unit radius and half-width to be used in
|
||
|
|
the event that a sweep query is to be used.
|
||
|
|
\param[in] frame describes the lateral, longitudinal and vertical axes and is used to scale unitCylinderSweepMesh
|
||
|
|
by the wheel's radius and half-width.
|
||
|
|
\param[out] roadGeomState contains the plane and friction of the road geometry under the wheel.
|
||
|
|
\param[out] physxRoadGeometryState Optional buffer to store additional information about the query (like actor/shape that got hit etc.).
|
||
|
|
Set to NULL if not needed.
|
||
|
|
\note PxVehicleRoadGeometryState::hitState will have value false in the event that the there is no reachable road geometry under the wheel and
|
||
|
|
true if there is reachable road geometry under the wheel. Road geometry is considered reachable if the suspension can elongate from its
|
||
|
|
reference pose far enough to place wheel on the ground.
|
||
|
|
*/
|
||
|
|
void PxVehiclePhysXRoadGeometryQueryUpdate
|
||
|
|
(const PxVehicleWheelParams& wheelParams, const PxVehicleSuspensionParams& suspParams,
|
||
|
|
const PxVehiclePhysXRoadGeometryQueryType::Enum queryType,
|
||
|
|
PxQueryFilterCallback* filterCallback, const PxQueryFilterData& filterData,
|
||
|
|
const PxVehiclePhysXMaterialFrictionParams& materialFrictionParams,
|
||
|
|
const PxReal wheelYawAngle, const PxVehicleRigidBodyState& rigidBodyState,
|
||
|
|
const PxScene& scene, const PxConvexMesh* unitCylinderSweepMesh,
|
||
|
|
const PxVehicleFrame& frame,
|
||
|
|
PxVehicleRoadGeometryState& roadGeomState,
|
||
|
|
PxVehiclePhysXRoadGeometryQueryState* physxRoadGeometryState);
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace vehicle2
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|