PxVehicleUpdate.h
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All rights reserved. 00029 00030 #ifndef PX_VEHICLE_UPDATE_H 00031 #define PX_VEHICLE_UPDATE_H 00032 00036 #include "vehicle/PxVehicleSDK.h" 00037 #include "vehicle/PxVehicleTireFriction.h" 00038 #include "foundation/PxSimpleTypes.h" 00039 #include "foundation/PxMemory.h" 00040 #include "foundation/PxTransform.h" 00041 #include "PxBatchQueryDesc.h" 00042 00043 #if !PX_DOXYGEN 00044 namespace physx 00045 { 00046 #endif 00047 00048 class PxBatchQuery; 00049 class PxContactModifyPair; 00050 class PxVehicleWheels; 00051 class PxVehicleDrivableSurfaceToTireFrictionPairs; 00052 class PxVehicleTelemetryData; 00053 00059 struct PxWheelQueryResult 00060 { 00061 PxWheelQueryResult() 00062 { 00063 PxMemZero(this, sizeof(PxWheelQueryResult)); 00064 isInAir=true; 00065 tireSurfaceType = PxU32(PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN); 00066 localPose = PxTransform(PxIdentity); 00067 } 00068 00074 PxVec3 suspLineStart; 00075 00081 PxVec3 suspLineDir; 00082 00088 PxReal suspLineLength; 00089 00096 bool isInAir; 00097 00103 PxActor* tireContactActor; 00104 00110 PxShape* tireContactShape; 00111 00117 const PxMaterial* tireSurfaceMaterial; 00118 00128 PxU32 tireSurfaceType; 00129 00135 PxVec3 tireContactPoint; 00136 00142 PxVec3 tireContactNormal; 00143 00152 PxReal tireFriction; 00153 00162 PxReal suspJounce; 00163 00171 PxReal suspSpringForce; 00172 00179 PxVec3 tireLongitudinalDir; 00180 00187 PxVec3 tireLateralDir; 00188 00197 PxReal longitudinalSlip; 00198 00207 PxReal lateralSlip; 00208 00213 PxReal steerAngle; 00214 00218 PxTransform localPose; 00219 }; 00220 00221 struct PxVehicleWheelQueryResult 00222 { 00231 PxWheelQueryResult* wheelQueryResults; 00232 00237 PxU32 nbWheelQueryResults; 00238 }; 00239 00246 struct PxVehicleWheelConcurrentUpdateData 00247 { 00248 friend class PxVehicleUpdate; 00249 00250 PxVehicleWheelConcurrentUpdateData() 00251 : localPose(PxTransform(PxIdentity)), 00252 hitActor(NULL), 00253 hitActorForce(PxVec3(0,0,0)), 00254 hitActorForcePosition(PxVec3(0,0,0)) 00255 { 00256 } 00257 00258 private: 00259 00260 PxTransform localPose; 00261 PxRigidDynamic* hitActor; 00262 PxVec3 hitActorForce; 00263 PxVec3 hitActorForcePosition; 00264 }; 00265 00273 struct PxVehicleConcurrentUpdateData 00274 { 00275 friend class PxVehicleUpdate; 00276 00277 PxVehicleConcurrentUpdateData() 00278 : concurrentWheelUpdates(NULL), 00279 nbConcurrentWheelUpdates(0), 00280 linearMomentumChange(PxVec3(0,0,0)), 00281 angularMomentumChange(PxVec3(0,0,0)), 00282 staySleeping(false), 00283 wakeup(false) 00284 { 00285 } 00286 00293 PxVehicleWheelConcurrentUpdateData* concurrentWheelUpdates; 00294 00299 PxU32 nbConcurrentWheelUpdates; 00300 00301 private: 00302 00303 PxVec3 linearMomentumChange; 00304 PxVec3 angularMomentumChange; 00305 bool staySleeping; 00306 bool wakeup; 00307 }; 00308 00346 void PxVehicleSuspensionRaycasts 00347 (PxBatchQuery* batchQuery, 00348 const PxU32 nbVehicles, PxVehicleWheels** vehicles, 00349 const PxU32 nbSceneQueryResults, PxRaycastQueryResult* sceneQueryResults, 00350 const bool* vehiclesToRaycast = NULL); 00351 00352 00408 void PxVehicleSuspensionSweeps 00409 (PxBatchQuery* batchQuery, 00410 const PxU32 nbVehicles, PxVehicleWheels** vehicles, 00411 const PxU32 nbSceneQueryResults, PxSweepQueryResult* sceneQueryResults, const PxU16 nbHitsPerQuery, 00412 const bool* vehiclesToSweep = NULL, 00413 const PxF32 sweepWidthScale = 1.0f, const PxF32 sweepRadiusScale = 1.0f); 00414 00447 PxU32 PxVehicleModifyWheelContacts 00448 (const PxVehicleWheels& vehicle, const PxU32 wheelId, 00449 const PxF32 wheelTangentVelocityMultiplier, const PxReal maxImpulse, 00450 PxContactModifyPair& contactModifyPair); 00451 00452 00497 void PxVehicleUpdates( 00498 const PxReal timestep, const PxVec3& gravity, 00499 const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 00500 const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL); 00501 00502 00515 void PxVehiclePostUpdates( 00516 const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles); 00517 00518 00535 void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles); 00536 00537 #if PX_DEBUG_VEHICLE_ON 00538 00567 void PxVehicleUpdateSingleVehicleAndStoreTelemetryData 00568 (const PxReal timestep, const PxVec3& gravity, 00569 const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 00570 PxVehicleWheels* focusVehicle, PxVehicleWheelQueryResult* vehicleWheelQueryResults, 00571 PxVehicleTelemetryData& telemetryData); 00572 #endif 00573 00574 #if !PX_DOXYGEN 00575 } // namespace physx 00576 #endif 00577 00579 #endif //PX_VEHICLE_UPDATE_H
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