96 lines
4.8 KiB
C++
96 lines
4.8 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/PxSimpleTypes.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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class PxScene;
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class PxConvexMesh;
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namespace vehicle2
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{
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#endif
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struct PxVehicleWheelParams;
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struct PxVehicleSuspensionParams;
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struct PxVehiclePhysXRoadGeometryQueryState;
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struct PxVehicleRigidBodyState;
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struct PxVehicleFrame;
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struct PxVehicleRoadGeometryState;
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/**
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\brief Compute the plane of the road geometry under a wheel and the tire friction of the contact.
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\param[in] wheelParams describes the radius and halfwidth of the wheel.
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\param[in] suspParams describes the frame of the suspension and wheel and the maximum suspension travel.
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\param[in] queryType describes what type of PhysX scene query to use (see #PxVehiclePhysXRoadGeometryQueryType).
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If PxVehiclePhysXRoadGeometryQueryType::eNONE is used, no work will be done.
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\param[in] filterCallback describes the filter callback to use for the PhysX scene query. NULL is a valid input.
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\param[in] filterData describes the filter data to use for the PhysX scene query.
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\param[in] materialFrictionParams describes a mapping between PxMaterial and friction in order to compute a tire friction value.
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\param[in] wheelYawAngle is the yaw angle (in radians) of the wheel.
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\param[in] rigidBodyState describes the pose of the rigid body.
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\param[in] scene is the PhysX scene that will be queried by the scene query.
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\param[in] unitCylinderSweepMesh is a convex cylindrical mesh of unit radius and half-width to be used in
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the event that a sweep query is to be used.
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\param[in] frame describes the lateral, longitudinal and vertical axes and is used to scale unitCylinderSweepMesh
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by the wheel's radius and half-width.
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\param[out] roadGeomState contains the plane and friction of the road geometry under the wheel.
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\param[out] physxRoadGeometryState Optional buffer to store additional information about the query (like actor/shape that got hit etc.).
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Set to NULL if not needed.
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\note PxVehicleRoadGeometryState::hitState will have value false in the event that the there is no reachable road geometry under the wheel and
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true if there is reachable road geometry under the wheel. Road geometry is considered reachable if the suspension can elongate from its
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reference pose far enough to place wheel on the ground.
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*/
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void PxVehiclePhysXRoadGeometryQueryUpdate
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(const PxVehicleWheelParams& wheelParams, const PxVehicleSuspensionParams& suspParams,
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const PxVehiclePhysXRoadGeometryQueryType::Enum queryType,
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PxQueryFilterCallback* filterCallback, const PxQueryFilterData& filterData,
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const PxVehiclePhysXMaterialFrictionParams& materialFrictionParams,
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const PxReal wheelYawAngle, const PxVehicleRigidBodyState& rigidBodyState,
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const PxScene& scene, const PxConvexMesh* unitCylinderSweepMesh,
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const PxVehicleFrame& frame,
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PxVehicleRoadGeometryState& roadGeomState,
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PxVehiclePhysXRoadGeometryQueryState* physxRoadGeometryState);
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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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