146 lines
6.2 KiB
C++
146 lines
6.2 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/commands/PxVehicleCommandHelpers.h"
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#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
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#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
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#include "vehicle2/wheel/PxVehicleWheelParams.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryFunctions.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.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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class PxVehiclePhysXRoadGeometrySceneQueryComponent : public PxVehicleComponent
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{
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public:
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PxVehiclePhysXRoadGeometrySceneQueryComponent() : PxVehicleComponent() {}
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virtual ~PxVehiclePhysXRoadGeometrySceneQueryComponent() {}
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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] roadGeomParams The road geometry parameters of the vehicle.
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\param[out] steerResponseStates The steer response state of the wheels.
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\param[out] rigidBodyState The pose, velocity etc. of the vehicle rigid body.
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\param[out] wheelParams The wheel parameters for the wheels.
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\param[out] suspensionParams The suspension parameters for the wheels.
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\param[out] materialFrictionParams The tire friction tables for the wheels.
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\param[out] roadGeometryStates The detected ground surface plane, friction value etc. for the wheels.
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\param[out] physxRoadGeometryStates Optional buffer to store additional information about the query (like actor/shape that got hit etc.).
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Set to empty if not desired.
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*/
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virtual void getDataForPhysXRoadGeometrySceneQueryComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehiclePhysXRoadGeometryQueryParams*& roadGeomParams,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& materialFrictionParams,
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PxVehicleArrayData<PxVehicleRoadGeometryState>& roadGeometryStates,
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PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeometryStates) = 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("PxVehiclePhysXRoadGeometrySceneQueryComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehiclePhysXRoadGeometryQueryParams* roadGeomParams;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams> materialFrictionParams;
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PxVehicleArrayData<PxVehicleRoadGeometryState> roadGeometryStates;
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PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState> physxRoadGeometryStates;
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getDataForPhysXRoadGeometrySceneQueryComponent(axleDescription,
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roadGeomParams, steerResponseStates, rigidBodyState,
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wheelParams, suspensionParams, materialFrictionParams,
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roadGeometryStates, physxRoadGeometryStates);
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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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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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PxVehiclePhysXRoadGeometryQueryUpdate(
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wheelParams[wheelId], suspensionParams[wheelId],
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*roadGeomParams, materialFrictionParams[wheelId],
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steerResponseStates[wheelId], *rigidBodyState,
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*physxContext.physxScene, physxContext.physxUnitCylinderSweepMesh, context.frame,
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roadGeometryStates[wheelId],
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!physxRoadGeometryStates.isEmpty() ? &physxRoadGeometryStates[wheelId] : NULL);
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}
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}
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else
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{
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PX_ALWAYS_ASSERT();
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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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roadGeometryStates[wheelId].setToDefault();
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}
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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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