336 lines
16 KiB
C
336 lines
16 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 "vehicle2/PxVehicleComponent.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "PxVehiclePvdFunctions.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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namespace vehicle2
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{
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#endif
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#define VEHICLE_FLOAT_ARRAY_DATA(b) PxVehicleArrayData<PxReal> b; b.setEmpty();
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#define VEHICLE_ARRAY_DATA(a, b) PxVehicleArrayData<const a> b; b.setEmpty();
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#define VEHICLE_SIZED_ARRAY_DATA(a, b) PxVehicleSizedArrayData<const a> b; b.setEmpty();
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class PxVehiclePVDComponent : public PxVehicleComponent
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{
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public:
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PxVehiclePVDComponent() : PxVehicleComponent() , firstTime(true) {}
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virtual ~PxVehiclePVDComponent() {}
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virtual void getDataForPVDComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyParams*& rbodyParams, const PxVehicleRigidBodyState*& rbodyState,
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const PxVehicleSuspensionStateCalculationParams*& suspStateCalcParams,
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PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
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const PxVehicleSteerCommandResponseParams*& steerResponseParams,
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PxVehicleArrayData<PxReal>& brakeResponseStates,
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PxVehicleArrayData<PxReal>& steerResponseStates,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
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PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
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PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
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PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
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PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
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PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
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PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
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PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
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PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
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PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
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PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams,
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const PxVehicleAntiRollTorque*& antiRollTorque,
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const PxVehicleCommandState*& commandState,
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const PxVehicleDirectDriveThrottleCommandResponseParams*& directDriveThrottleResponseParams,
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const PxVehicleDirectDriveTransmissionCommandState*& directDriveTransmissionState,
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PxVehicleArrayData<PxReal>& directDrivethrottleResponseState,
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const PxVehicleClutchCommandResponseParams*& clutchResponseParams,
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const PxVehicleClutchParams*& clutchParams,
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const PxVehicleEngineParams*& engineParams,
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const PxVehicleGearboxParams*& gearboxParams,
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const PxVehicleAutoboxParams*& autoboxParams,
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const PxVehicleMultiWheelDriveDifferentialParams*& multiWheelDiffParams,
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const PxVehicleFourWheelDriveDifferentialParams*& fourWheelDiffParams,
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const PxVehicleEngineDriveTransmissionCommandState*& engineDriveTransmissionState,
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const PxVehicleClutchCommandResponseState*& clutchResponseState,
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const PxVehicleEngineDriveThrottleCommandResponseState*& engineDriveThrottleResponseState,
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const PxVehicleEngineState*& engineState,
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const PxVehicleGearboxState*& gearboxState,
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const PxVehicleAutoboxState*& autoboxState,
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const PxVehicleDifferentialState*& diffState,
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const PxVehicleClutchSlipState*& clutchSlipState,
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PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxConstraintParams,
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PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
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const PxVehiclePhysXActor*& physxActor,
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const PxVehiclePhysXRoadGeometryQueryParams*& physxRoadGeomQryParams,
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PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeomStates,
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PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
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PxVehiclePvdObjectHandles*& objectHandles) = 0;
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_UNUSED(dt);
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PX_UNUSED(context);
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OmniPvdWriter* pvdWriter = context.pvdContext.writer;
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if(!context.pvdContext.attributeHandles || !pvdWriter)
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return true;
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const PxVehicleAxleDescription* axleDesc = NULL;
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const PxVehicleRigidBodyParams* rbodyParams = NULL;
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const PxVehicleRigidBodyState* rbodyState = NULL;
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const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams = NULL;
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VEHICLE_SIZED_ARRAY_DATA(PxVehicleBrakeCommandResponseParams, brakeResponseParams);
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const PxVehicleSteerCommandResponseParams* steerResponseParams = NULL;
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VEHICLE_FLOAT_ARRAY_DATA(brakeResponseStates);
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VEHICLE_FLOAT_ARRAY_DATA(steerResponseStates);
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VEHICLE_ARRAY_DATA(PxVehicleWheelParams, wheelParams);
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VEHICLE_ARRAY_DATA(PxVehicleWheelActuationState, wheelActuationStates);
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VEHICLE_ARRAY_DATA(PxVehicleWheelRigidBody1dState, wheelRigidBody1dStates);
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VEHICLE_ARRAY_DATA(PxVehicleWheelLocalPose, wheelLocalPoses);
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VEHICLE_ARRAY_DATA(PxVehicleRoadGeometryState, roadGeomStates);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionParams, suspParams);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionComplianceParams, suspComplianceParams);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionForceParams, suspForceParams);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionState, suspStates);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionComplianceState, suspComplianceStates);
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VEHICLE_ARRAY_DATA(PxVehicleSuspensionForce, suspForces);
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VEHICLE_ARRAY_DATA(PxVehicleTireForceParams, tireForceParams);
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VEHICLE_ARRAY_DATA(PxVehicleTireDirectionState, tireDirectionStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireSpeedState, tireSpeedStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireSlipState, tireSlipStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireStickyState, tireStickyStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireGripState, tireGripStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireCamberAngleState, tireCamberStates);
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VEHICLE_ARRAY_DATA(PxVehicleTireForce, tireForces);
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VEHICLE_SIZED_ARRAY_DATA(PxVehicleAntiRollForceParams, antiRollParams);
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const PxVehicleAntiRollTorque* antiRollTorque = NULL;
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const PxVehicleCommandState* commandState = NULL;
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const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams = NULL;
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const PxVehicleDirectDriveTransmissionCommandState* directDriveTransmissionState = NULL;
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VEHICLE_FLOAT_ARRAY_DATA(directDrivethrottleResponseState);
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const PxVehicleClutchCommandResponseParams* clutchResponseParams = NULL;
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const PxVehicleClutchParams* clutchParams = NULL;
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const PxVehicleEngineParams* engineParams = NULL;
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const PxVehicleGearboxParams* gearboxParams = NULL;
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const PxVehicleAutoboxParams* autoboxParams = NULL;
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const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams = NULL;
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const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffParams = NULL;
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const PxVehicleEngineDriveTransmissionCommandState* engineDriveTransmissionCommandState = NULL;
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const PxVehicleClutchCommandResponseState* clutchResponseState = NULL;
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const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState = NULL;
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const PxVehicleEngineState* engineState = NULL;
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const PxVehicleGearboxState* gearboxState = NULL;
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const PxVehicleAutoboxState* autoboxState = NULL;
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const PxVehicleDifferentialState* diffState = NULL;
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const PxVehicleClutchSlipState* clutchSlipState = NULL;
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VEHICLE_ARRAY_DATA(PxVehiclePhysXSuspensionLimitConstraintParams, physxConstraintParams);
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VEHICLE_ARRAY_DATA(PxVehiclePhysXMaterialFrictionParams, physxMaterialFrictionParams);
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const PxVehiclePhysXActor* physxActor = NULL;
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const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeomQryParams = NULL;
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VEHICLE_ARRAY_DATA(PxVehiclePhysXRoadGeometryQueryState, physxRoadGeomStates);
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VEHICLE_ARRAY_DATA(PxVehiclePhysXConstraintState, physxConstraintStates);
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PxVehiclePvdObjectHandles* omniPvdObjectHandles = NULL;
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getDataForPVDComponent(
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axleDesc,
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rbodyParams, rbodyState,
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suspStateCalcParams,
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brakeResponseParams, steerResponseParams,
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brakeResponseStates, steerResponseStates,
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wheelParams,
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wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
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roadGeomStates,
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suspParams, suspComplianceParams, suspForceParams,
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suspStates, suspComplianceStates,
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suspForces,
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tireForceParams,
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tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
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tireForces,
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antiRollParams, antiRollTorque,
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commandState,
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directDriveThrottleResponseParams, directDriveTransmissionState, directDrivethrottleResponseState,
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clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
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engineDriveTransmissionCommandState,
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clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
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physxConstraintParams, physxMaterialFrictionParams,
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physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
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omniPvdObjectHandles);
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if(!omniPvdObjectHandles)
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return true;
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if(firstTime)
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{
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PxVehiclePvdRigidBodyRegister(
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rbodyParams, rbodyState,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdSuspensionStateCalculationParamsRegister(
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suspStateCalcParams,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdCommandResponseRegister(
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brakeResponseParams, steerResponseParams,
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brakeResponseStates, steerResponseStates,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdWheelAttachmentsRegister(
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*axleDesc,
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wheelParams, wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
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roadGeomStates,
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suspParams, suspComplianceParams, suspForceParams, suspStates, suspComplianceStates,
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suspForces,
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tireForceParams,
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tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
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tireForces,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdAntiRollsRegister(
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antiRollParams, antiRollTorque,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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if (engineParams)
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{
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PxVehiclePvdEngineDrivetrainRegister(
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commandState, engineDriveTransmissionCommandState,
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clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
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clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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}
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else
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{
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PxVehiclePvdDirectDrivetrainRegister(
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commandState, directDriveTransmissionState,
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directDriveThrottleResponseParams,
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directDrivethrottleResponseState,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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}
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PxVehiclePvdPhysXWheelAttachmentRegister(
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*axleDesc,
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physxConstraintParams, physxMaterialFrictionParams,
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physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdPhysXRigidActorRegister(
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physxActor,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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firstTime = false;
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}
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PxVehiclePvdRigidBodyWrite(
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rbodyParams, rbodyState,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdSuspensionStateCalculationParamsWrite(
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suspStateCalcParams,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdCommandResponseWrite(
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*axleDesc, brakeResponseParams, steerResponseParams, brakeResponseStates, steerResponseStates,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
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PxVehiclePvdWheelAttachmentsWrite(
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*axleDesc,
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wheelParams, wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
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roadGeomStates,
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suspParams, suspComplianceParams, suspForceParams, suspStates, suspComplianceStates,
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suspForces,
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tireForceParams,
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tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
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tireForces,
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*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
|
||
|
|
PxVehiclePvdAntiRollsWrite(
|
||
|
|
antiRollParams, antiRollTorque,
|
||
|
|
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
|
||
|
|
if (engineParams)
|
||
|
|
{
|
||
|
|
PxVehiclePvdEngineDrivetrainWrite(
|
||
|
|
commandState, engineDriveTransmissionCommandState,
|
||
|
|
clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
|
||
|
|
clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
|
||
|
|
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
PxVehiclePvdDirectDrivetrainWrite(
|
||
|
|
*axleDesc,
|
||
|
|
commandState, directDriveTransmissionState,
|
||
|
|
directDriveThrottleResponseParams,
|
||
|
|
directDrivethrottleResponseState,
|
||
|
|
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
}
|
||
|
|
|
||
|
|
PxVehiclePvdPhysXWheelAttachmentWrite(
|
||
|
|
*axleDesc,
|
||
|
|
physxConstraintParams, physxMaterialFrictionParams,
|
||
|
|
physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
|
||
|
|
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
|
||
|
|
PxVehiclePvdPhysXRigidActorWrite(
|
||
|
|
physxActor,
|
||
|
|
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, *pvdWriter);
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
|
||
|
|
bool firstTime;
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace vehicle2
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|