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00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
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00025 //
00026 // Copyright (c) 2008-2012 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_VEHICLE_WHEELS_H
00032 #define PX_VEHICLE_WHEELS_H
00033 
00037 #include "foundation/PxSimpleTypes.h"
00038 #include "vehicle/PxVehicleShaders.h"
00039 #include "vehicle/PxVehicleComponents.h"
00040 
00041 #ifndef PX_DOXYGEN
00042 namespace physx
00043 {
00044 #endif
00045 
00046 class PxVehicleWheels4SimData;
00047 class PxVehicleWheels4DynData;
00048 class PxRigidDynamic;
00049 class PxShape;
00050 class PxPhysics;
00051 class PxMaterial;
00052 
00057 class PxVehicleWheelsSimData
00058 {
00059 public:
00060 
00061     friend class PxVehicleWheels;
00062     friend class PxVehicleDrive4W;
00063     friend class PxVehicleDriveTank;
00064     friend class PxVehicleUpdate;
00065 
00070     static PxVehicleWheelsSimData* allocate(const PxU32 numWheels);
00071 
00081     void setChassisMass(const PxF32 chassisMass);
00082 
00087     void free();
00088 
00092     PxVehicleWheelsSimData& operator=(const PxVehicleWheelsSimData& src);
00093 
00097     void copy(const PxVehicleWheelsSimData& src, const PxU32 srcWheel, const PxU32 trgWheel);
00098 
00103     PxU32 getNumWheels() const {return mNumActiveWheels;}
00104 
00108     const PxVehicleSuspensionData& getSuspensionData(const PxU32 id) const;
00109 
00113     const PxVehicleWheelData& getWheelData(const PxU32 id) const;
00114 
00118     const PxVehicleTireData& getTireData(const PxU32 id) const;
00119 
00123     const PxVec3& getSuspTravelDirection(const PxU32 id) const;
00124 
00129     const PxVec3& getSuspForceAppPointOffset(const PxU32 id) const;
00130 
00135     const PxVec3& getTireForceAppPointOffset(const PxU32 id) const;
00136 
00140     const PxVec3& getWheelCentreOffset(const PxU32 id) const;   
00141 
00145     PX_FORCE_INLINE const PxVehicleTireLoadFilterData& getTireLoadFilterData() const 
00146     {
00147         return mNormalisedLoadFilter;
00148     }
00149 
00153     void setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp);
00154 
00158     void setWheelData(const PxU32 id, const PxVehicleWheelData& wheel);
00159 
00163     void setTireData(const PxU32 id, const PxVehicleTireData& tire);
00164 
00168     void setSuspTravelDirection(const PxU32 id, const PxVec3& dir);
00169     
00174     void setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset);                                  
00175     
00180     void setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset);
00181 
00185     void setWheelCentreOffset(const PxU32 id, const PxVec3& offset);                                    
00186 
00190     void setTireLoadFilterData(const PxVehicleTireLoadFilterData& tireLoadFilter);
00191 
00195     void disableWheel(const PxU32 wheel);
00196 
00200     bool getIsWheelDisabled(const PxU32 wheel) const;
00201 
00202 private:
00203 
00204     PxVehicleWheelsSimData(){}
00205     ~PxVehicleWheelsSimData(){}
00206 
00211     PxVehicleTireLoadFilterData mNormalisedLoadFilter;
00212 
00216     PxVehicleWheels4SimData* mWheels4SimData;
00217 
00221     PxU32 mNumWheels4;
00222 
00226     PxU32 mNumActiveWheels;
00227 
00228 #ifdef PX_X64
00229     //PxU32 mPad[0];
00230 #else
00231     PxU32 mPad[1];
00232 #endif
00233 
00237     bool isValid() const;
00238 };
00239 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsSimData) & 15));
00240 
00241 
00245 class PxVehicleWheelsDynData
00246 {
00247 public:
00248 
00249     friend class PxVehicleWheels;
00250     friend class PxVehicleDrive4W;
00251     friend class PxVehicleDriveTank;
00252     friend class PxVehicleUpdate;
00253 
00258     void setToRestState();
00259 
00263     void setTireForceShaderFunction(PxVehicleComputeTireForce tireForceShaderFn);
00264 
00268     void setTireForceShaderData(const PxU32 tireId, const void* tireForceShaderData);
00269 
00273     PxReal getWheelRotationSpeed(const PxU32 wheelIdx) const;
00274 
00278     PxReal getSteer(const PxU32 wheelIdx) const;
00279 
00283     PxReal getWheelRotationAngle(const PxU32 wheelIdx) const;
00284 
00288     PxReal getSuspJounce(const PxU32 suspIdx) const;
00289 
00293     PxReal getTireLongSlip(const PxU32 tireIdx) const;
00294 
00298     PxReal getTireLatSlip(const PxU32 tireIdx) const;
00299 
00303     PxReal getTireFriction(const PxU32 tireIdx) const;
00304 
00308     PxU32 getTireDrivableSurfaceType(const PxU32 tireIdx) const;
00309 
00313     const PxMaterial* getTireDrivableSurfaceMaterial(const PxU32 tireIdx) const;
00314 
00318     void getSuspRaycast(const PxU32 suspIdx, PxVec3& start, PxVec3& dir, PxReal& length) const;
00319 
00323     PxVec3 getSuspLineStart(const PxU32 tireIdx) const;
00324 
00328     PxVec3 getSuspLineDir(const PxU32 tireIdx) const;
00329 
00330 private:
00331 
00335     bool isValid() const;
00336 
00337     PxVehicleWheelsDynData(){}
00338     ~PxVehicleWheelsDynData(){}
00339 
00343     PxVehicleWheels4DynData* mWheels4DynData;
00344 
00348     PxVehicleTireForceCalculator* mTireForceCalculators;
00349 
00353     PxU32 mNumWheels4;
00354 
00358     PxU32 mNumActiveWheels;
00359 
00360 #ifdef PX_X64
00361     PxU32 mPad[1];
00362 #endif
00363 };
00364 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));
00365 
00370 class PxVehicleWheels
00371 {
00372 public:
00373 
00374     friend class PxVehicleUpdate;
00375     friend class PxVehicleConstraintShader;
00376 
00381     PX_FORCE_INLINE PxU32 getVehicleType() const {return mType;}
00382 
00386     PX_FORCE_INLINE PxRigidDynamic* getRigidDynamicActor() {return mActor;}
00387 
00391     PX_FORCE_INLINE const PxRigidDynamic* getRigidDynamicActor() const {return mActor;}
00392 
00402     void setWheelShapeMapping(const PxU32 wheelId, const PxI32 shapeId);
00403 
00407     PxReal computeForwardSpeed() const;
00408 
00412     PxReal computeSidewaysSpeed() const;
00413 
00417     bool isInAir() const;
00418 
00422     bool isInAir(const PxU32 wheelId) const;
00423 
00427     PxVehicleWheelsSimData mWheelsSimData;
00428 
00432     PxVehicleWheelsDynData mWheelsDynData;  
00433 
00434 protected:
00435 
00439     void setToRestState();
00440 
00444     bool isValid() const;
00445 
00449     static PxU32 computeByteSize(const PxU32 numWheels4);
00450 
00454     static PxU8* patchupPointers(PxVehicleWheels* veh, PxU8* ptr, const PxU32 numWheels4, const PxU32 numWheels);
00455 
00460     void free();
00461 
00465     void setup
00466         (PxPhysics* physics, PxRigidDynamic* vehActor, 
00467          const PxVehicleWheelsSimData& wheelsData,
00468          const PxU32 numDrivenWheels, const PxU32 numNonDrivenWheels);
00469 
00470     PxRigidDynamic* mActor;
00471 
00475     PxU8 mWheelShapeMap[PX_MAX_NUM_WHEELS];
00476 
00480     PxU8 mType;
00481 
00482 private:
00483 
00488     PxU8 mOnConstraintReleaseCounter;
00489 
00490     PxU8 mPad[2];
00491 
00492 #ifndef PX_X64
00493     PxU32 mPad2[1];
00494 #endif
00495 };
00496 PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheels) & 15));
00497 
00498 #ifndef PX_DOXYGEN
00499 } // namespace physx
00500 #endif
00501 
00503 #endif //PX_VEHICLE_WHEELS_H