239 lines
10 KiB
C++
239 lines
10 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 "vehicle2/PxVehicleParams.h"
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#include "vehicle2/PxVehicleComponent.h"
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#include "vehicle2/wheel/PxVehicleWheelStates.h"
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#include "PxVehiclePhysXActorFunctions.h"
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#include "PxVehiclePhysXActorStates.h"
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#include "common/PxProfileZone.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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/**
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\brief Work items at the beginning of an update step for a PhysX actor based vehicle.
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Includes:
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- Waking the actor up if it is sleeping and a throttle or steer command is issued.
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- Clearing certain states if the actor is sleeping.
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- Reading the state from the PhysX actor and copy to the vehicle internal state.
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@see PxVehiclePhysxActorWakeup PxVehiclePhysxActorSleepCheck PxVehicleReadRigidBodyStateFromPhysXActor
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*/
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class PxVehiclePhysXActorBeginComponent : public PxVehicleComponent
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{
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public:
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PxVehiclePhysXActorBeginComponent() : PxVehicleComponent() {}
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virtual ~PxVehiclePhysXActorBeginComponent() {}
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/**
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\brief Provide vehicle data items for this component.
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\param[out] axleDescription identifies the wheels on each axle.
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\param[out] commands are the brake, throttle and steer values that will drive the vehicle.
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\param[out] transmissionCommands are the target gear and clutch values that will control
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the transmission. Can be set to NULL if the vehicle does not have a gearbox. If
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specified, then gearParams and gearState has to be specifed too.
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\param[out] gearParams The gearbox parameters. Can be set to NULL if the vehicle does
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not have a gearbox and transmissionCommands is NULL.
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\param[out] gearState The state of the gearbox. Can be set to NULL if the vehicle does
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not have a gearbox and transmissionCommands is NULL.
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\param[out] engineParams The engine parameters. Can be set to NULL if the vehicle does
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not have an engine. Must be specified, if engineState is specified.
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\param[out] physxActor is the PxRigidBody instance associated with the vehicle.
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\param[out] physxSteerState is the previous state of the steer and is used to determine if the
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steering wheel has changed by comparing with PxVehicleCommandState::steer.
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\param[out] physxConstraints The state of the suspension limit and low speed tire constraints.
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If the vehicle actor is sleeping and constraints are active, they will be
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deactivated and marked as dirty.
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\param[out] rigidBodyState is the state of the rigid body used by the Vehicle SDK.
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\param[out] wheelRigidBody1dStates describes the angular speed of each wheel.
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\param[out] engineState The engine state. Can be set to NULL if the vehicle does
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not have an engine. If specified, then engineParams has to be specifed too.
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*/
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virtual void getDataForPhysXActorBeginComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleCommandState*& commands,
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const PxVehicleEngineDriveTransmissionCommandState*& transmissionCommands,
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const PxVehicleGearboxParams*& gearParams,
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const PxVehicleGearboxState*& gearState,
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const PxVehicleEngineParams*& engineParams,
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PxVehiclePhysXActor*& physxActor,
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PxVehiclePhysXSteerState*& physxSteerState,
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PxVehiclePhysXConstraints*& physxConstraints,
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PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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PxVehicleEngineState*& engineState) = 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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PX_PROFILE_ZONE("PxVehiclePhysXActorBeginComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleCommandState* commands;
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const PxVehicleEngineDriveTransmissionCommandState* transmissionCommands;
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const PxVehicleGearboxParams* gearParams;
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const PxVehicleGearboxState* gearState;
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const PxVehicleEngineParams* engineParams;
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PxVehiclePhysXActor* physxActor;
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PxVehiclePhysXSteerState* physxSteerState;
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PxVehiclePhysXConstraints* physxConstraints;
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PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
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PxVehicleEngineState* engineState;
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getDataForPhysXActorBeginComponent(axleDescription, commands, transmissionCommands,
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gearParams, gearState, engineParams,
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physxActor, physxSteerState, physxConstraints,
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rigidBodyState, wheelRigidBody1dStates, engineState);
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if (physxActor->rigidBody->getScene()) // Considering case where actor is not in a scene and constraints get solved via immediate mode
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{
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PxVehiclePhysxActorWakeup(*commands, transmissionCommands, gearParams, gearState,
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*physxActor->rigidBody, *physxSteerState);
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if (PxVehiclePhysxActorSleepCheck(*axleDescription, *physxActor->rigidBody, engineParams,
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*rigidBodyState, *physxConstraints, wheelRigidBody1dStates, engineState))
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{
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return false;
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}
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}
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PxVehicleReadRigidBodyStateFromPhysXActor(*physxActor->rigidBody, *rigidBodyState);
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return true;
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}
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};
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/**
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\brief Work items at the end of an update step for a PhysX actor based vehicle.
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Includes:
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- Writing vehicle internal state to the PhysX actor.
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- Keeping the vehicle awake if certain criteria are met.
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*/
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class PxVehiclePhysXActorEndComponent : public PxVehicleComponent
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{
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public:
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PxVehiclePhysXActorEndComponent() : PxVehicleComponent() {}
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virtual ~PxVehiclePhysXActorEndComponent() {}
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/**
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\brief Provide vehicle data items for this component.
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\param[out] axleDescription identifies the wheels on each axle.
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\param[out] rigidBodyState is the state of the rigid body used by the Vehicle SDK.
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\param[out] wheelParams describes the radius, mass etc. of the wheels.
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\param[out] wheelShapeLocalPoses are the local poses in the wheel's frame to apply to the PxShape instances that represent the wheel
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\param[out] wheelRigidBody1dStates describes the angular speed of the wheels.
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\param[out] wheelLocalPoses describes the local poses of the wheels in the rigid body frame.
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\param[out] gearState The gear state. Can be set to NULL if the vehicle does
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not have gears.
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\param[out] physxActor is the PxRigidBody instance associated with the vehicle.
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*/
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virtual void getDataForPhysXActorEndComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxTransform>& wheelShapeLocalPoses,
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
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const PxVehicleGearboxState*& gearState,
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PxVehiclePhysXActor*& physxActor) = 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_PROFILE_ZONE("PxVehiclePhysXActorEndComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxTransform> wheelShapeLocalPoses;
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
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PxVehicleArrayData<const PxVehicleWheelLocalPose> wheelLocalPoses;
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const PxVehicleGearboxState* gearState;
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PxVehiclePhysXActor* physxActor;
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getDataForPhysXActorEndComponent(axleDescription, rigidBodyState,
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wheelParams, wheelShapeLocalPoses, wheelRigidBody1dStates, wheelLocalPoses, gearState,
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physxActor);
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for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
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{
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const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
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PxVehicleWriteWheelLocalPoseToPhysXWheelShape(wheelLocalPoses[wheelId].localPose, wheelShapeLocalPoses[wheelId],
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physxActor->wheelShapes[wheelId]);
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}
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if (context.getType() == PxVehicleSimulationContextType::ePHYSX)
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{
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const PxVehiclePhysXSimulationContext& physxContext = static_cast<const PxVehiclePhysXSimulationContext&>(context);
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PxVehicleWriteRigidBodyStateToPhysXActor(physxContext.physxActorUpdateMode, *rigidBodyState, dt, *physxActor->rigidBody);
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PxVehiclePhysxActorKeepAwakeCheck(*axleDescription, wheelParams, wheelRigidBody1dStates,
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physxContext.physxActorWakeCounterThreshold, physxContext.physxActorWakeCounterResetValue, gearState,
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*physxActor->rigidBody);
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}
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else
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{
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PX_ALWAYS_ASSERT();
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}
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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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