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Codestyle fixes #2192

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This commit is contained in:
Wojtek Figat
2024-02-23 14:43:14 +01:00
parent 387f84d9d7
commit 8351a75676
3 changed files with 140 additions and 149 deletions
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64
Source/Engine/Physics/Actors/WheeledVehicle.cpp
View File

@@ -43,7 +43,7 @@ WheeledVehicle::DriveControlSettings WheeledVehicle::GetDriveControl() const
return _driveControl;
}
void WheeledVehicle::SetDriveControl(DriveControlSettings& value)
void WheeledVehicle::SetDriveControl(DriveControlSettings value)
{
value.RiseRateAcceleration = Math::Max(value.RiseRateAcceleration, 0.01f);
value.RiseRateBrake = Math::Max(value.RiseRateBrake, 0.01f);
@@ -58,28 +58,29 @@ void WheeledVehicle::SetDriveControl(DriveControlSettings& value)
// Don't let have an invalid steer vs speed list.
if (value.SteerVsSpeed.Count() < 1)
value.SteerVsSpeed.Add(WheeledVehicle::SteerControl());
else // physx backend requires the max of 4 values only
else // PhysX backend requires the max of 4 values only
while (value.SteerVsSpeed.Count() > 4)
value.SteerVsSpeed.RemoveLast();
// Maintain all values clamped to have a ordened speed list
int steerVsSpeedCount = value.SteerVsSpeed.Count();
for (int i = 0; i < steerVsSpeedCount; i++)
// Maintain all values clamped to have an ordered speed list
const int32 steerVsSpeedCount = value.SteerVsSpeed.Count();
for (int32 i = 0; i < steerVsSpeedCount; i++)
{
// Apply only on changed value
if (_driveControl.SteerVsSpeed[i].Speed != value.SteerVsSpeed[i].Speed || _driveControl.SteerVsSpeed[i].Steer != value.SteerVsSpeed[i].Steer)
if (Math::NotNearEqual(_driveControl.SteerVsSpeed[i].Speed, value.SteerVsSpeed[i].Speed) ||
Math::NotNearEqual(_driveControl.SteerVsSpeed[i].Steer, value.SteerVsSpeed[i].Steer))
{
WheeledVehicle::SteerControl& steerVsSpeed = value.SteerVsSpeed[i];
SteerControl& steerVsSpeed = value.SteerVsSpeed[i];
steerVsSpeed.Steer = Math::Saturate(steerVsSpeed.Steer);
steerVsSpeed.Speed = Math::Max(steerVsSpeed.Speed, 10.0f);
// Clamp speeds to have an ordened list.
// Clamp speeds to have an ordered list
if (i >= 1)
{
WheeledVehicle::SteerControl& lastSteerVsSpeed = value.SteerVsSpeed[i - 1];
WheeledVehicle::SteerControl& nextSteerVsSpeed = value.SteerVsSpeed[Math::Clamp(i + 1, 0, steerVsSpeedCount - 1)];
float minSpeed = lastSteerVsSpeed.Speed;
float maxSpeed = nextSteerVsSpeed.Speed;
const SteerControl& lastSteerVsSpeed = value.SteerVsSpeed[i - 1];
const SteerControl& nextSteerVsSpeed = value.SteerVsSpeed[Math::Clamp(i + 1, 0, steerVsSpeedCount - 1)];
const float minSpeed = lastSteerVsSpeed.Speed;
const float maxSpeed = nextSteerVsSpeed.Speed;
if (i + 1 < steerVsSpeedCount - 1)
steerVsSpeed.Speed = Math::Clamp(steerVsSpeed.Speed, minSpeed, maxSpeed);
@@ -88,7 +89,7 @@ void WheeledVehicle::SetDriveControl(DriveControlSettings& value)
}
else if (steerVsSpeedCount > 1)
{
WheeledVehicle::SteerControl& nextSteerVsSpeed = value.SteerVsSpeed[i + 1];
const SteerControl& nextSteerVsSpeed = value.SteerVsSpeed[i + 1];
steerVsSpeed.Speed = Math::Min(steerVsSpeed.Speed, nextSteerVsSpeed.Speed);
}
}
@@ -108,7 +109,8 @@ void WheeledVehicle::SetWheels(const Array<Wheel>& value)
{
auto& oldWheel = _wheels.Get()[wheelIndex];
auto& newWheel = value.Get()[wheelIndex];
if (Math::NotNearEqual(oldWheel.SuspensionForceOffset, newWheel.SuspensionForceOffset) || oldWheel.Collider != newWheel.Collider)
if (Math::NotNearEqual(oldWheel.SuspensionForceOffset, newWheel.SuspensionForceOffset) ||
oldWheel.Collider != newWheel.Collider)
{
softUpdate = false;
break;
@@ -321,7 +323,7 @@ void WheeledVehicle::Setup()
return;
// Release previous
void *scene = GetPhysicsScene()->GetPhysicsScene();
void* scene = GetPhysicsScene()->GetPhysicsScene();
if (_vehicle)
{
PhysicsBackend::RemoveVehicle(scene, this);
@@ -414,21 +416,20 @@ void WheeledVehicle::OnDebugDrawSelected()
}
}
// Draw anti roll bars axes
int wheelsCount = _wheels.Count();
for (int i = 0; i < GetAntiRollBars().Count(); i++)
// Anti roll bars axes
const int32 wheelsCount = _wheels.Count();
for (int32 i = 0; i < GetAntiRollBars().Count(); i++)
{
int axleIndex = GetAntiRollBars()[i].Axle;
int leftWheelIndex = axleIndex * 2;
int rightWheelIndex = leftWheelIndex + 1;
const int32 axleIndex = GetAntiRollBars()[i].Axle;
const int32 leftWheelIndex = axleIndex * 2;
const int32 rightWheelIndex = leftWheelIndex + 1;
if (leftWheelIndex >= wheelsCount || rightWheelIndex >= wheelsCount)
continue;
if (!_wheels[leftWheelIndex].Collider || !_wheels[rightWheelIndex].Collider)
continue;
DEBUG_DRAW_LINE(_wheels[leftWheelIndex].Collider->GetPosition(), _wheels[rightWheelIndex].Collider->GetPosition(), Color::Yellow, 0, false);
}
// Center of mass
DEBUG_DRAW_WIRE_SPHERE(BoundingSphere(_transform.LocalToWorld(_centerOfMassOffset), 10.0f), Color::Blue, 0, false);
@@ -437,7 +438,7 @@ void WheeledVehicle::OnDebugDrawSelected()
#endif
void WheeledVehicle::Serialize(SerializeStream& stream, const void *otherObj)
void WheeledVehicle::Serialize(SerializeStream& stream, const void* otherObj)
{
RigidBody::Serialize(stream, otherObj);
@@ -454,7 +455,7 @@ void WheeledVehicle::Serialize(SerializeStream& stream, const void *otherObj)
SERIALIZE_MEMBER(AntiRollBars, _antiRollBars);
}
void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier *modifier)
void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier* modifier)
{
RigidBody::Deserialize(stream, modifier);
@@ -472,7 +473,7 @@ void WheeledVehicle::Deserialize(DeserializeStream& stream, ISerializeModifier *
_fixInvalidForwardDir |= modifier->EngineBuild < 6341;
}
void WheeledVehicle::OnColliderChanged(Collider *c)
void WheeledVehicle::OnColliderChanged(Collider* c)
{
RigidBody::OnColliderChanged(c);
@@ -495,7 +496,7 @@ void WheeledVehicle::OnActiveInTreeChanged()
Setup();
}
void WheeledVehicle::OnPhysicsSceneChanged(PhysicsScene *previous)
void WheeledVehicle::OnPhysicsSceneChanged(PhysicsScene* previous)
{
RigidBody::OnPhysicsSceneChanged(previous);
@@ -518,10 +519,9 @@ void WheeledVehicle::OnTransformChanged()
// Transform all vehicle children around the vehicle origin to fix the vehicle facing direction
const Quaternion rotationDelta(0.0f, -0.7071068f, 0.0f, 0.7071068f);
const Vector3 origin = GetPosition();
for (Actor *child : Children)
for (Actor* child : Children)
{
Transform trans = child->GetTransform();
;
const Vector3 pivotOffset = trans.Translation - origin;
if (pivotOffset.IsZero())
{
@@ -541,7 +541,7 @@ void WheeledVehicle::OnTransformChanged()
}
}
void WheeledVehicle::BeginPlay(SceneBeginData *data)
void WheeledVehicle::BeginPlay(SceneBeginData* data)
{
RigidBody::BeginPlay(data);
@@ -550,14 +550,14 @@ void WheeledVehicle::BeginPlay(SceneBeginData *data)
#endif
#if USE_EDITOR
GetSceneRendering()->AddPhysicsDebug<WheeledVehicle,& WheeledVehicle::DrawPhysicsDebug>(this);
GetSceneRendering()->AddPhysicsDebug<WheeledVehicle, &WheeledVehicle::DrawPhysicsDebug>(this);
#endif
}
void WheeledVehicle::EndPlay()
{
#if USE_EDITOR
GetSceneRendering()->RemovePhysicsDebug<WheeledVehicle,& WheeledVehicle::DrawPhysicsDebug>(this);
GetSceneRendering()->RemovePhysicsDebug<WheeledVehicle, &WheeledVehicle::DrawPhysicsDebug>(this);
#endif
#if WITH_VEHICLE

36
Source/Engine/Physics/Actors/WheeledVehicle.h
View File

@@ -29,16 +29,16 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
// Tank Drive. Can have more than 4 wheel. Not use steer, control acceleration for each tank track.
Tank,
};
/// <summary>
/// Vehicle driving types.
/// Used only on tanks to specify the drive mode.
/// Vehicle driving types. Used only on tanks to specify the drive mode.
/// </summary>
API_ENUM() enum class DriveModes
{
// Drive turning the vehicle using only one track
// Drive turning the vehicle using only one track.
Standard,
// Drive turning the vehicle using all tracks inverse direction.
Special
Special,
};
/// <summary>
@@ -52,21 +52,14 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
/// <summary>
/// The vehicle speed.
/// </summary>
API_FIELD(Attributes = "Limit(0)") float Speed;
API_FIELD(Attributes = "Limit(0)") float Speed = 1000;
/// <summary>
/// The target max steer of the speed.
/// </summary>
API_FIELD(Attributes = "Limit(0, 1)") float Steer;
API_FIELD(Attributes = "Limit(0, 1)") float Steer = 1;
/// <summary>
/// Create a Steer/Speed relationship structure.
/// </summary>
SteerControl()
{
Speed = 1000;
Steer = 1;
}
SteerControl() = default;
/// <summary>
/// Create a Steer/Speed relationship structure.
@@ -177,8 +170,7 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
API_FIELD(Attributes="EditorOrder(17)") float FallRateSteer = 5.0f;
/// <summary>
/// Vehicle control relationship between speed and steer. The higher is the speed,
/// decrease steer to make vehicle more maneuverable (limited only 4 relationships).
/// Vehicle control relationship between speed and steer. The higher is the speed, decrease steer to make vehicle more maneuverable (limited only 4 relationships).
/// </summary>
API_FIELD() Array<WheeledVehicle::SteerControl> SteerVsSpeed = Array<WheeledVehicle::SteerControl>
{
@@ -249,7 +241,7 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
/// <summary>
/// Number of gears to move to forward
/// </summary>
API_FIELD(Attributes = "Limit(1, 30)") int ForwardGearsRatios = 5;
API_FIELD(Attributes = "Limit(1, 30)") int32 ForwardGearsRatios = 5;
/// <summary>
/// Time it takes to switch gear. Specified in seconds (s).
@@ -429,7 +421,7 @@ API_CLASS(Attributes="ActorContextMenu(\"New/Physics/Wheeled Vehicle\"), ActorTo
/// <summary>
/// The specific axle with wheels to apply anti roll.
/// </summary>
API_FIELD() int Axle;
API_FIELD() int32 Axle;
/// <summary>
/// The anti roll stiffness.
@@ -449,8 +441,8 @@ private:
DriveTypes _driveType = DriveTypes::Drive4W, _driveTypeCurrent;
Array<WheelData, FixedAllocation<20>> _wheelsData;
float _throttle = 0.0f, _steering = 0.0f, _brake = 0.0f, _handBrake = 0.0f, _tankLeftThrottle = 0.0f, _tankRightThrottle = 0.0f, _tankLeftBrake = 0.0f, _tankRightBrake = 0.0f;
Array<WheeledVehicle::Wheel> _wheels;
Array<WheeledVehicle::AntiRollBar> _antiRollBars;
Array<Wheel> _wheels;
Array<AntiRollBar> _antiRollBars;
DriveControlSettings _driveControl;
EngineSettings _engine;
DifferentialSettings _differential;
@@ -494,7 +486,7 @@ public:
/// <summary>
/// Sets the vehicle drive control settings.
/// </summary>
API_PROPERTY() void SetDriveControl(DriveControlSettings& value);
API_PROPERTY() void SetDriveControl(DriveControlSettings value);
/// <summary>
/// Sets the vehicle wheels settings.
@@ -532,7 +524,7 @@ public:
API_PROPERTY() void SetGearbox(const GearboxSettings& value);
// <summary>
/// Sets axles anti roll bars to increase vehicle estability.
/// Sets axles anti roll bars to increase vehicle stability.
/// </summary>
API_PROPERTY() void SetAntiRollBars(const Array<AntiRollBar>& value);

189
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
View File

@@ -59,6 +59,7 @@
#if WITH_PVD
#include <ThirdParty/PhysX/pvd/PxPvd.h>
#endif
// Temporary memory size used by the PhysX during the simulation. Must be multiply of 4kB and 16bit aligned.
#define PHYSX_SCRATCH_BLOCK_SIZE (1024 * 128)
@@ -975,6 +976,7 @@ void PhysicalMaterial::UpdatePhysicsMaterial()
bool CollisionCooking::CookConvexMesh(CookingInput& input, BytesContainer& output)
{
PROFILE_CPU();
ENSURE_CAN_COOK;
if (input.VertexCount == 0)
LOG(Warning, "Empty mesh data for collision cooking.");
@@ -1018,6 +1020,7 @@ bool CollisionCooking::CookConvexMesh(CookingInput& input, BytesContainer& outpu
bool CollisionCooking::CookTriangleMesh(CookingInput& input, BytesContainer& output)
{
PROFILE_CPU();
ENSURE_CAN_COOK;
if (input.VertexCount == 0 || input.IndexCount == 0)
LOG(Warning, "Empty mesh data for collision cooking.");
@@ -1052,6 +1055,7 @@ bool CollisionCooking::CookTriangleMesh(CookingInput& input, BytesContainer& out
bool CollisionCooking::CookHeightField(int32 cols, int32 rows, const PhysicsBackend::HeightFieldSample* data, WriteStream& stream)
{
PROFILE_CPU();
ENSURE_CAN_COOK;
PxHeightFieldDesc heightFieldDesc;
@@ -1444,45 +1448,45 @@ void PhysicsBackend::EndSimulateScene(void* scene)
const float breakThreshold = 8.0f;
const float forwardSpeed = wheelVehicle->GetForwardSpeed();
int currentGear = wheelVehicle->GetCurrentGear();
// Tank tracks direction: 1 forward -1 backward 0 neutral
// Tank tracks direction: 1 forward -1 backward 0 neutral
bool toForward = false;
toForward |= throttle > deadZone;
toForward |= (leftThrottle > deadZone) && (rightThrottle > deadZone); // 1 1
toForward |= (leftThrottle > deadZone) && (rightThrottle > deadZone); // 1 1
bool toBackward = false;
toBackward |= throttle < -deadZone;
toBackward |= (leftThrottle < -deadZone) && (rightThrottle < -deadZone); // -1 -1
toBackward |= (leftThrottle < -deadZone) && (rightThrottle < deadZone); // -1 0
toBackward |= (leftThrottle < deadZone) && (rightThrottle < -deadZone); // 0 -1
toBackward |= (leftThrottle < -deadZone) && (rightThrottle < -deadZone); // -1 -1
toBackward |= (leftThrottle < -deadZone) && (rightThrottle < deadZone); // -1 0
toBackward |= (leftThrottle < deadZone) && (rightThrottle < -deadZone); // 0 -1
bool isTankTurning = false;
if (isTank)
{
isTankTurning |= leftThrottle > deadZone && rightThrottle < -deadZone; // 1 -1
isTankTurning |= leftThrottle < -deadZone && rightThrottle > deadZone; // -1 1
isTankTurning |= leftThrottle < deadZone && rightThrottle > deadZone; // 0 1
isTankTurning |= leftThrottle > deadZone && rightThrottle < deadZone; // 1 0
isTankTurning |= leftThrottle < -deadZone && rightThrottle < deadZone; // -1 0
isTankTurning |= leftThrottle < deadZone && rightThrottle < -deadZone; // 0 -1
{
isTankTurning |= leftThrottle > deadZone && rightThrottle < -deadZone; // 1 -1
isTankTurning |= leftThrottle < -deadZone && rightThrottle > deadZone; // -1 1
isTankTurning |= leftThrottle < deadZone && rightThrottle > deadZone; // 0 1
isTankTurning |= leftThrottle > deadZone && rightThrottle < deadZone; // 1 0
isTankTurning |= leftThrottle < -deadZone && rightThrottle < deadZone; // -1 0
isTankTurning |= leftThrottle < deadZone && rightThrottle < -deadZone; // 0 -1
if (toForward || toBackward)
{
isTankTurning = false;
}
}
// Automatic gear change when changing driving direction
if (Math::Abs(forwardSpeed) < invalidDirectionThreshold)
{
int targetGear = wheelVehicle->GetTargetGear();
int targetGear = wheelVehicle->GetTargetGear();
if (toBackward && currentGear > 0 && targetGear >= 0)
{
currentGear = -1;
}
else if (!toBackward && currentGear <= 0 && targetGear <= 0)
{
currentGear = 1;
currentGear = 1;
}
else if (isTankTurning && currentGear <= 0)
{
@@ -1565,24 +1569,25 @@ void PhysicsBackend::EndSimulateScene(void* scene)
leftBrake = 1.0f;
}
// Smooth input controls
// Smooth input controls
// @formatter:off
PxVehiclePadSmoothingData padSmoothing =
{
{
{
wheelVehicle->_driveControl.RiseRateAcceleration, // rise rate eANALOG_INPUT_ACCEL
wheelVehicle->_driveControl.RiseRateBrake, // rise rate eANALOG_INPUT_BRAKE
wheelVehicle->_driveControl.RiseRateHandBrake, // rise rate eANALOG_INPUT_HANDBRAKE
wheelVehicle->_driveControl.RiseRateSteer, // rise rate eANALOG_INPUT_STEER_LEFT
wheelVehicle->_driveControl.RiseRateSteer, // rise rate eANALOG_INPUT_STEER_RIGHT
},
{
wheelVehicle->_driveControl.FallRateAcceleration, // fall rate eANALOG_INPUT_ACCEL
wheelVehicle->_driveControl.FallRateBrake, // fall rate eANALOG_INPUT_BRAKE
wheelVehicle->_driveControl.FallRateHandBrake, // fall rate eANALOG_INPUT_HANDBRAKE
wheelVehicle->_driveControl.FallRateSteer, // fall rate eANALOG_INPUT_STEER_LEFT
wheelVehicle->_driveControl.FallRateSteer, // fall rate eANALOG_INPUT_STEER_RIGHT
}
};
wheelVehicle->_driveControl.RiseRateAcceleration, // rise rate eANALOG_INPUT_ACCEL
wheelVehicle->_driveControl.RiseRateBrake, // rise rate eANALOG_INPUT_BRAKE
wheelVehicle->_driveControl.RiseRateHandBrake, // rise rate eANALOG_INPUT_HANDBRAKE
wheelVehicle->_driveControl.RiseRateSteer, // rise rate eANALOG_INPUT_STEER_LEFT
wheelVehicle->_driveControl.RiseRateSteer, // rise rate eANALOG_INPUT_STEER_RIGHT
},
{
wheelVehicle->_driveControl.FallRateAcceleration, // fall rate eANALOG_INPUT_ACCEL
wheelVehicle->_driveControl.FallRateBrake, // fall rate eANALOG_INPUT_BRAKE
wheelVehicle->_driveControl.FallRateHandBrake, // fall rate eANALOG_INPUT_HANDBRAKE
wheelVehicle->_driveControl.FallRateSteer, // fall rate eANALOG_INPUT_STEER_LEFT
wheelVehicle->_driveControl.FallRateSteer, // fall rate eANALOG_INPUT_STEER_RIGHT
}
};
PxVehicleKeySmoothingData keySmoothing =
{
{
@@ -1600,6 +1605,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
wheelVehicle->_driveControl.FallRateSteer, // fall rate eANALOG_INPUT_STEER_RIGHT
}
};
// @formatter:on
// Reduce steer by speed to make vehicle more easier to maneuver
@@ -1659,14 +1665,13 @@ void PhysicsBackend::EndSimulateScene(void* scene)
rawInputData.setAnalogRightBrake(rightBrake);
rawInputData.setAnalogLeftThrust(leftThrottle);
rawInputData.setAnalogRightThrust(rightThrottle);
PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs(padSmoothing, rawInputData, scenePhysX->LastDeltaTime, *(PxVehicleDriveTank*)drive);
break;
}
}
}
else
{
{
switch (wheelVehicle->_driveTypeCurrent)
{
case WheeledVehicle::DriveTypes::Drive4W:
@@ -1693,7 +1698,7 @@ void PhysicsBackend::EndSimulateScene(void* scene)
}
case WheeledVehicle::DriveTypes::Tank:
{
// Convert analogic inputs to digital inputs.
// Convert analog inputs to digital inputs
leftThrottle = Math::Round(leftThrottle);
rightThrottle = Math::Round(rightThrottle);
leftBrake = Math::Round(leftBrake);
@@ -1707,8 +1712,8 @@ void PhysicsBackend::EndSimulateScene(void* scene)
rawInputData.setAnalogLeftThrust(leftThrottle);
rawInputData.setAnalogRightThrust(rightThrottle);
// Needs to pass analogic values to vehicle to maintein current moviment direction because digital inputs accept only true/false values to tracks thrust instead of -1 to 1
PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs(padSmoothing, rawInputData, scenePhysX->LastDeltaTime, *(PxVehicleDriveTank *)drive);
// Needs to pass analog values to vehicle to maintain current movement direction because digital inputs accept only true/false values to tracks thrust instead of -1 to 1
PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs(padSmoothing, rawInputData, scenePhysX->LastDeltaTime, *(PxVehicleDriveTank*)drive);
break;
}
}
@@ -2428,7 +2433,7 @@ void PhysicsBackend::SetRigidActorPose(void* actor, const Vector3& position, con
actorPhysX->setGlobalPose(trans, wakeUp);
}
else
actorPhysX->setKinematicTarget(trans);
actorPhysX->setKinematicTarget(trans);
}
else
{
@@ -2964,7 +2969,7 @@ void PhysicsBackend::SetHingeJointLimit(void* joint, const LimitAngularRange& va
void PhysicsBackend::SetHingeJointDrive(void* joint, const HingeJointDrive& value)
{
auto jointPhysX = (PxRevoluteJoint*)joint;
jointPhysX->setDriveVelocity(Math::Max(value.Velocity, 0.0f));
jointPhysX->setDriveVelocity(value.Velocity);
jointPhysX->setDriveForceLimit(Math::Max(value.ForceLimit, 0.0f));
jointPhysX->setDriveGearRatio(Math::Max(value.GearRatio, 0.0f));
jointPhysX->setRevoluteJointFlag(PxRevoluteJointFlag::eDRIVE_FREESPIN, value.FreeSpin);
@@ -3265,7 +3270,6 @@ PxVehicleDifferentialNWData CreatePxVehicleDifferentialNWData(const WheeledVehic
PxVehicleDifferentialNWData differentialNwData;
for (int32 i = 0; i < wheels.Count(); i++)
differentialNwData.setDrivenWheel(i, true);
return differentialNwData;
}
@@ -3286,7 +3290,7 @@ PxVehicleGearsData CreatePxVehicleGearsData(const WheeledVehicle::GearboxSetting
PxVehicleGearsData gears;
// Total gears is forward gears + neutral/rear gears
int gearsAmount = settings.ForwardGearsRatios + 2;
const int32 gearsCount = Math::Clamp<int32>(settings.ForwardGearsRatios + 2, 2, PxVehicleGearsData::eGEARSRATIO_COUNT);
// Setup gears torque/top speed relations
// Higher torque = less speed
@@ -3302,24 +3306,23 @@ PxVehicleGearsData CreatePxVehicleGearsData(const WheeledVehicle::GearboxSetting
// Gear4 = 1.8
// Gear5 = 1
gears.mRatios[0] = -(gearsAmount - 2); // reverse
gears.mRatios[1] = 0; // neutral
gears.mRatios[0] = (float)-(gearsCount - 2); // Reverse
gears.mRatios[1] = 0; // Neutral
// Setup all gears except neutral and reverse
for (int i = gearsAmount; i > 2; i--) {
float gearsRatios = settings.ForwardGearsRatios;
float currentGear = i - 2;
gears.mRatios[i] = Math::Lerp(gearsRatios, 1.0f, (currentGear / gearsRatios));
for (int32 i = gearsCount; i > 2; i--)
{
float gearsRatios = (float)settings.ForwardGearsRatios;
float currentGear = i - 2.0f;
gears.mRatios[i] = Math::Lerp(gearsRatios, 1.0f, currentGear / gearsRatios);
}
// reset unused gears
for (int i = gearsAmount; i < PxVehicleGearsData::eGEARSRATIO_COUNT; i++)
// Reset unused gears
for (int32 i = gearsCount; i < PxVehicleGearsData::eGEARSRATIO_COUNT; i++)
gears.mRatios[i] = 0;
gears.mSwitchTime = Math::Max(settings.SwitchTime, 0.0f);
gears.mNbRatios = Math::Clamp(gearsAmount, 2, (int)PxVehicleGearsData::eGEARSRATIO_COUNT);
gears.mNbRatios = gearsCount;
return gears;
}
@@ -3388,7 +3391,7 @@ PxVehicleAckermannGeometryData CreatePxVehicleAckermannGeometryData(PxVehicleWhe
return ackermann;
}
PxVehicleAntiRollBarData CreatePxPxVehicleAntiRollBarData(const WheeledVehicle::AntiRollBar& settings, int leftWheelIndex, int rightWheelIndex)
PxVehicleAntiRollBarData CreatePxPxVehicleAntiRollBarData(const WheeledVehicle::AntiRollBar& settings, int32 leftWheelIndex, int32 rightWheelIndex)
{
PxVehicleAntiRollBarData antiRollBar;
antiRollBar.mWheel0 = leftWheelIndex;
@@ -3397,7 +3400,7 @@ PxVehicleAntiRollBarData CreatePxPxVehicleAntiRollBarData(const WheeledVehicle::
return antiRollBar;
}
bool SortWheelsFrontToBack(WheeledVehicle::Wheel const &a, WheeledVehicle::Wheel const &b)
bool SortWheelsFrontToBack(WheeledVehicle::Wheel const& a, WheeledVehicle::Wheel const& b)
{
return a.Collider && b.Collider && a.Collider->GetLocalPosition().Z > b.Collider->GetLocalPosition().Z;
}
@@ -3412,17 +3415,15 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
{
Sorting::QuickSort(actor->_wheels.Get(), actor->_wheels.Count(), SortWheelsFrontToBack);
// sort wheels by side
// Sort wheels by side
if (actor->_driveType == WheeledVehicle::DriveTypes::Tank)
{
for (int i = 0; i < actor->_wheels.Count() - 1; i += 2)
for (int32 i = 0; i < actor->_wheels.Count() - 1; i += 2)
{
auto a = actor->_wheels[i];
auto b = actor->_wheels[i + 1];
if (!a.Collider || !b.Collider)
continue;
if (a.Collider->GetLocalPosition().X > b.Collider->GetLocalPosition().X)
{
actor->_wheels[i] = b;
@@ -3482,7 +3483,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
// TODO: get gravityDirection from scenePhysX->Scene->getGravity()
PxVehicleComputeSprungMasses(wheels.Count(), offsets, centerOfMassOffset.p, mass, 1, sprungMasses);
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(wheels.Count());
int wheelsCount = wheels.Count();
int32 wheelsCount = wheels.Count();
for (int32 i = 0; i < wheelsCount; i++)
{
auto& wheel = *wheels[i];
@@ -3498,7 +3499,7 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
const PxVehicleWheelData& wheelData = CreatePxVehicleWheelData(wheel);
const PxVehicleSuspensionData& suspensionData = CreatePxVehicleSuspensionData(wheel, sprungMasses[i]);
wheelsSimData->setTireData(i,tireData);
wheelsSimData->setTireData(i, tireData);
wheelsSimData->setWheelData(i, wheelData);
wheelsSimData->setSuspensionData(i, suspensionData);
wheelsSimData->setSuspTravelDirection(i, centerOfMassOffset.rotate(PxVec3(0.0f, -1.0f, 0.0f)));
@@ -3530,16 +3531,15 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
}
}
// Add Anti roll bars for wheels axles
for (int i = 0; i < actor->GetAntiRollBars().Count(); i++)
for (int32 i = 0; i < actor->GetAntiRollBars().Count(); i++)
{
int axleIndex = actor->GetAntiRollBars()[i].Axle;
int leftWheelIndex = axleIndex * 2;
int rightWheelIndex = leftWheelIndex + 1;
int32 axleIndex = actor->GetAntiRollBars()[i].Axle;
int32 leftWheelIndex = axleIndex * 2;
int32 rightWheelIndex = leftWheelIndex + 1;
if (leftWheelIndex >= wheelsCount || rightWheelIndex >= wheelsCount)
continue;
const PxVehicleAntiRollBarData &antiRollBar = CreatePxPxVehicleAntiRollBarData(actor->GetAntiRollBars()[i], leftWheelIndex, rightWheelIndex);
const PxVehicleAntiRollBarData& antiRollBar = CreatePxPxVehicleAntiRollBarData(actor->GetAntiRollBars()[i], leftWheelIndex, rightWheelIndex);
wheelsSimData->addAntiRollBarData(antiRollBar);
}
for (auto child : actor->Children)
@@ -3582,14 +3582,14 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
const PxVehicleEngineData& engineData = CreatePxVehicleEngineData(engine);
const PxVehicleGearsData& gearsData = CreatePxVehicleGearsData(gearbox);
const PxVehicleAutoBoxData& autoBoxData = CreatePxVehicleAutoBoxData();
const PxVehicleClutchData& cluchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleClutchData& clutchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAckermannGeometryData& geometryData = CreatePxVehicleAckermannGeometryData(wheelsSimData);
driveSimData.setDiffData(differentialData);
driveSimData.setEngineData(engineData);
driveSimData.setGearsData(gearsData);
driveSimData.setAutoBoxData(autoBoxData);
driveSimData.setClutchData(cluchData);
driveSimData.setClutchData(clutchData);
driveSimData.setAckermannGeometryData(geometryData);
// Create vehicle drive
@@ -3607,14 +3607,13 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
const PxVehicleEngineData& engineData = CreatePxVehicleEngineData(engine);
const PxVehicleGearsData& gearsData = CreatePxVehicleGearsData(gearbox);
const PxVehicleAutoBoxData& autoBoxData = CreatePxVehicleAutoBoxData();
const PxVehicleClutchData& cluchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAckermannGeometryData& geometryData = CreatePxVehicleAckermannGeometryData(wheelsSimData);
const PxVehicleClutchData& clutchData = CreatePxVehicleClutchData(gearbox);
driveSimData.setDiffData(differentialData);
driveSimData.setEngineData(engineData);
driveSimData.setGearsData(gearsData);
driveSimData.setAutoBoxData(autoBoxData);
driveSimData.setClutchData(cluchData);
driveSimData.setClutchData(clutchData);
// Create vehicle drive
auto driveNW = PxVehicleDriveNW::allocate(wheels.Count());
@@ -3635,18 +3634,18 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
case WheeledVehicle::DriveTypes::Tank:
{
PxVehicleDriveSimData4W driveSimData;
const PxVehicleDifferential4WData &differentialData = CreatePxVehicleDifferential4WData(differential);
const PxVehicleEngineData &engineData = CreatePxVehicleEngineData(engine);
const PxVehicleGearsData &gearsData = CreatePxVehicleGearsData(gearbox);
const PxVehicleAutoBoxData &autoBoxData = CreatePxVehicleAutoBoxData();
const PxVehicleClutchData &cluchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAckermannGeometryData &geometryData = CreatePxVehicleAckermannGeometryData(wheelsSimData);
const PxVehicleDifferential4WData& differentialData = CreatePxVehicleDifferential4WData(differential);
const PxVehicleEngineData& engineData = CreatePxVehicleEngineData(engine);
const PxVehicleGearsData& gearsData = CreatePxVehicleGearsData(gearbox);
const PxVehicleAutoBoxData& autoBoxData = CreatePxVehicleAutoBoxData();
const PxVehicleClutchData& clutchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAckermannGeometryData& geometryData = CreatePxVehicleAckermannGeometryData(wheelsSimData);
driveSimData.setDiffData(differentialData);
driveSimData.setEngineData(engineData);
driveSimData.setGearsData(gearsData);
driveSimData.setAutoBoxData(autoBoxData);
driveSimData.setClutchData(cluchData);
driveSimData.setClutchData(clutchData);
driveSimData.setAckermannGeometryData(geometryData);
// Create vehicle drive
@@ -3700,24 +3699,24 @@ void PhysicsBackend::UpdateVehicleWheels(WheeledVehicle* actor)
}
}
void PhysicsBackend::UpdateVehicleAntiRollBars(WheeledVehicle *actor)
void PhysicsBackend::UpdateVehicleAntiRollBars(WheeledVehicle* actor)
{
int wheelsCount = actor->_wheels.Count();
auto drive = (PxVehicleWheels *)actor->_vehicle;
PxVehicleWheelsSimData *wheelsSimData = &drive->mWheelsSimData;
auto drive = (PxVehicleWheels*)actor->_vehicle;
PxVehicleWheelsSimData* wheelsSimData = &drive->mWheelsSimData;
// Update Anti roll bars for wheels axles
for (int i = 0; i < actor->GetAntiRollBars().Count(); i++)
// Update anti roll bars for wheels axles
const auto& antiRollBars = actor->GetAntiRollBars();
for (int32 i = 0; i < antiRollBars.Count(); i++)
{
int axleIndex = actor->GetAntiRollBars()[i].Axle;
int leftWheelIndex = axleIndex * 2;
int rightWheelIndex = leftWheelIndex + 1;
const int32 axleIndex = antiRollBars.Get()[i].Axle;
const int32 leftWheelIndex = axleIndex * 2;
const int32 rightWheelIndex = leftWheelIndex + 1;
if (leftWheelIndex >= wheelsCount || rightWheelIndex >= wheelsCount)
continue;
const PxVehicleAntiRollBarData &antiRollBar = CreatePxPxVehicleAntiRollBarData(actor->GetAntiRollBars()[i], leftWheelIndex, rightWheelIndex);
if (wheelsSimData->getNbAntiRollBarData() - 1 < i)
const PxVehicleAntiRollBarData& antiRollBar = CreatePxPxVehicleAntiRollBarData(antiRollBars.Get()[i], leftWheelIndex, rightWheelIndex);
if ((int32)wheelsSimData->getNbAntiRollBarData() - 1 < i)
{
wheelsSimData->addAntiRollBarData(antiRollBar);
}
@@ -3753,8 +3752,8 @@ void PhysicsBackend::SetVehicleEngine(void* vehicle, const void* value)
case PxVehicleTypes::eDRIVETANK:
{
auto driveTank = (PxVehicleDriveTank*)drive;
const PxVehicleEngineData &engineData = CreatePxVehicleEngineData(engine);
PxVehicleDriveSimData &driveSimData = driveTank->mDriveSimData;
const PxVehicleEngineData& engineData = CreatePxVehicleEngineData(engine);
PxVehicleDriveSimData& driveSimData = driveTank->mDriveSimData;
driveSimData.setEngineData(engineData);
break;
}
@@ -3812,11 +3811,11 @@ void PhysicsBackend::SetVehicleGearbox(void* vehicle, const void* value)
}
case PxVehicleTypes::eDRIVETANK:
{
auto driveTank = (PxVehicleDriveTank *)drive;
const PxVehicleGearsData &gearData = CreatePxVehicleGearsData(gearbox);
const PxVehicleClutchData &clutchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAutoBoxData &autoBoxData = CreatePxVehicleAutoBoxData();
PxVehicleDriveSimData &driveSimData = driveTank->mDriveSimData;
auto driveTank = (PxVehicleDriveTank*)drive;
const PxVehicleGearsData& gearData = CreatePxVehicleGearsData(gearbox);
const PxVehicleClutchData& clutchData = CreatePxVehicleClutchData(gearbox);
const PxVehicleAutoBoxData& autoBoxData = CreatePxVehicleAutoBoxData();
PxVehicleDriveSimData& driveSimData = driveTank->mDriveSimData;
driveSimData.setGearsData(gearData);
driveSimData.setAutoBoxData(autoBoxData);
driveSimData.setClutchData(clutchData);