165 lines
5.5 KiB
C++
165 lines
5.5 KiB
C++
// 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 "foundation/PxFoundation.h"
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#include "PxQueryFiltering.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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class PxMaterial;
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namespace vehicle2
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{
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#endif
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struct PxVehicleFrame;
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struct PxVehicleScale;
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/**
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\brief PhysX scene queries may be raycasts or sweeps.
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\note eNONE will result in no PhysX scene query. This option will not overwrite the associated PxVehicleRoadGeometryState.
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*/
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struct PxVehiclePhysXRoadGeometryQueryType
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{
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enum Enum
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{
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eNONE = 0, //!< Info about the road geometry below the wheel is provided by the user
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eRAYCAST, //!< The road geometry below the wheel is analyzed using a raycast query
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eSWEEP, //!< The road geometry below the wheel is analyzed using a sweep query
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eMAX_NB
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};
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};
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/**
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\brief A description of type of PhysX scene query and the filter data to apply to the query.
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*/
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struct PxVehiclePhysXRoadGeometryQueryParams
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{
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/**
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\brief A description of the type of physx scene query to employ.
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@see PxSceneQuerySystemBase::raycast
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@see PxSceneQuerySystemBase::sweep
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*/
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PxVehiclePhysXRoadGeometryQueryType::Enum roadGeometryQueryType;
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/**
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\brief The filter data to use for the physx scene query.
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@see PxSceneQuerySystemBase::raycast
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@see PxSceneQuerySystemBase::sweep
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*/
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PxQueryFilterData filterData;
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/**
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\brief A filter callback to be used by the physx scene query
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\note A null pointer is allowed.
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@see PxSceneQuerySystemBase::raycast
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@see PxSceneQuerySystemBase::sweep
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*/
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PxQueryFilterCallback* filterCallback;
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PX_FORCE_INLINE PxVehiclePhysXRoadGeometryQueryParams transformAndScale(
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const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
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{
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PX_UNUSED(srcFrame);
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PX_UNUSED(trgFrame);
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PX_UNUSED(srcScale);
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PX_UNUSED(trgScale);
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return *this;
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}
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PX_FORCE_INLINE bool isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(roadGeometryQueryType < PxVehiclePhysXRoadGeometryQueryType::eMAX_NB, "PxVehiclePhysXRoadGeometryQueryParams.roadGeometryQueryType has illegal value", false);
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return true;
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}
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};
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/**
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A mapping between PxMaterial and a friction value to be used by the tire model.
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@see PxVehiclePhysXMaterialFrictionParams
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*/
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struct PxVehiclePhysXMaterialFriction
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{
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/**
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\brief A PxMaterial instance that is to be mapped to a friction value.
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*/
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const PxMaterial* material;
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/**
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\brief A friction value that is to be mapped to a PxMaterial instance.
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\note friction must have value greater than or equal to zero.
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<b>Range:</b> [0, inf)<br>
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@see PxVehicleTireGripState::friction
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*/
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PxReal friction;
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PX_FORCE_INLINE bool isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(friction >= 0.0f, "PxVehiclePhysXMaterialFriction.friction must be greater than or equal to zero", false);
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return true;
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}
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};
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/**
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\brief A mappping between PxMaterial instance and friction for multiple PxMaterial intances.
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*/
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struct PxVehiclePhysXMaterialFrictionParams
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{
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PxVehiclePhysXMaterialFriction* materialFrictions; //!< An array of mappings between PxMaterial and friction.
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PxU32 nbMaterialFrictions; //!< The number of mappings between PxMaterial and friction.
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PxReal defaultFriction; //!< A default friction value to be used in the event that the PxMaterial under the tire is not found in the array #materialFrictions.
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PX_FORCE_INLINE bool isValid() const
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{
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for (PxU32 i = 0; i < nbMaterialFrictions; i++)
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{
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if (!materialFrictions[i].isValid())
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return false;
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}
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PX_CHECK_AND_RETURN_VAL(defaultFriction >= 0.0f, "PxVehiclePhysXMaterialFrictionParams.defaultFriction must be greater than or equal to zero", false);
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return true;
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}
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};
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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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