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Upgrade to PhysX 5.1.3

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This commit is contained in:
Wojtek Figat
2023-03-03 17:13:46 +01:00
parent 0112f70c05
commit a26d0d03eb
452 changed files with 58188 additions and 8646 deletions
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46
Source/ThirdParty/PhysX/vehicle/PxVehicleComponents.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_CORE_COMPONENTS_H
#define PX_VEHICLE_CORE_COMPONENTS_H
/** \addtogroup vehicle
@{
*/
#ifndef PX_VEHICLE_COMPONENTS_H
#define PX_VEHICLE_COMPONENTS_H
#include "foundation/PxMemory.h"
#include "foundation/PxVec3.h"
@@ -44,7 +40,7 @@ namespace physx
{
#endif
class PxVehicleChassisData
class PX_DEPRECATED PxVehicleChassisData
{
public:
@@ -86,7 +82,7 @@ private:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleChassisData)& 0x0f));
class PxVehicleEngineData
class PX_DEPRECATED PxVehicleEngineData
{
public:
@@ -239,7 +235,7 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleEngineData)& 0x0f));
class PxVehicleGearsData
class PX_DEPRECATED PxVehicleGearsData
{
public:
@@ -344,7 +340,7 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGearsData)& 0x0f));
class PxVehicleAutoBoxData
class PX_DEPRECATED PxVehicleAutoBoxData
{
public:
@@ -427,7 +423,7 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleAutoBoxData)& 0x0f));
class PxVehicleDifferential4WData
class PX_DEPRECATED PxVehicleDifferential4WData
{
public:
@@ -532,7 +528,7 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDifferential4WData)& 0x0f));
class PxVehicleDifferentialNWData
class PX_DEPRECATED PxVehicleDifferentialNWData
{
public:
@@ -579,7 +575,7 @@ public:
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDifferentialNWData)& 0x0f));
class PxVehicleAckermannGeometryData
class PX_DEPRECATED PxVehicleAckermannGeometryData
{
public:
@@ -652,7 +648,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleAckermannGeometryData)& 0x0f));
\brief Choose between a potentially more expensive but more accurate solution to the clutch model or a potentially cheaper but less accurate solution.
@see PxVehicleClutchData
*/
struct PxVehicleClutchAccuracyMode
struct PX_DEPRECATED PxVehicleClutchAccuracyMode
{
enum Enum
{
@@ -661,7 +657,7 @@ struct PxVehicleClutchAccuracyMode
};
};
class PxVehicleClutchData
class PX_DEPRECATED PxVehicleClutchData
{
public:
@@ -759,7 +755,7 @@ to give less jerky handling behavior.
\note The tire load applied as input to the tire force computation is the filtered normalized load multiplied by the rest load.
*/
class PxVehicleTireLoadFilterData
class PX_DEPRECATED PxVehicleTireLoadFilterData
{
public:
@@ -815,7 +811,7 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTireLoadFilterData)& 0x0f));
class PxVehicleWheelData
class PX_DEPRECATED PxVehicleWheelData
{
public:
@@ -957,7 +953,7 @@ private:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelData)& 0x0f));
class PxVehicleSuspensionData
class PX_DEPRECATED PxVehicleSuspensionData
{
public:
@@ -1023,7 +1019,8 @@ public:
\note The sum of the sprung masses of all suspensions of a vehicle should match the mass of the PxRigidDynamic associated with the vehicle.
When this condition is satisfied for a vehicle on a horizontal plane the wheels of the vehicle are guaranteed to sit at the rest pose
defined by the wheel centre offset. The mass matching condition is not enforced.
defined by the wheel centre offset. For special cases, where this condition can not be met easily, the flag
#PxVehicleWheelsSimFlag::eDISABLE_SPRUNG_MASS_SUM_CHECK allows to provide sprung mass values that do not sum up to the mass of the PxRigidDynamic.
\note As the wheel compresses or elongates along the suspension direction the force generated by the spring is
F = |gravity|*mSprungMass + deltaX*mSpringStrength + deltaXDot*mSpringDamperRate
@@ -1135,7 +1132,7 @@ private:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleSuspensionData)& 0x0f));
class PxVehicleAntiRollBarData
class PX_DEPRECATED PxVehicleAntiRollBarData
{
public:
@@ -1175,7 +1172,7 @@ private:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleAntiRollBarData)& 0x0f));
class PxVehicleTireData
class PX_DEPRECATED PxVehicleTireData
{
public:
friend class PxVehicleWheels4SimData;
@@ -1355,5 +1352,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTireData)& 0x0f));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_CORE_COMPONENTS_H
#endif

17
Source/ThirdParty/PhysX/vehicle/PxVehicleDrive.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_DRIVE_H
#define PX_VEHICLE_DRIVE_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleComponents.h"
@@ -53,7 +49,7 @@ class PxRigidDynamic;
\brief Data structure describing non-wheel configuration data of a vehicle that has engine, gears, clutch, and auto-box.
@see PxVehicleWheelsSimData for wheels configuration data.
*/
class PxVehicleDriveSimData
class PX_DEPRECATED PxVehicleDriveSimData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -168,7 +164,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData) & 15));
\brief Data structure with instanced dynamics data for vehicle with engine, clutch, gears, autobox
@see PxVehicleWheelsDynData for wheels dynamics data.
*/
class PxVehicleDriveDynData
class PX_DEPRECATED PxVehicleDriveDynData
{
public:
@@ -493,7 +489,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveDynData) & 15));
\brief A complete vehicle with instance dynamics data and configuration data for wheels and engine,clutch,gears,autobox.
@see PxVehicleDrive4W, PxVehicleDriveTank
*/
class PxVehicleDrive : public PxVehicleWheels
class PX_DEPRECATED PxVehicleDrive : public PxVehicleWheels
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -561,5 +557,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_DRIVE_H
#endif

19
Source/ThirdParty/PhysX/vehicle/PxVehicleDrive4W.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_4WDRIVE_H
#define PX_VEHICLE_4WDRIVE_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleDrive.h"
#include "vehicle/PxVehicleWheels.h"
@@ -56,7 +52,7 @@ class PxRigidDynamic;
The drive model incorporates engine, clutch, gears, autobox, differential, and Ackermann steer correction.
@see PxVehicleDriveSimData
*/
class PxVehicleDriveSimData4W : public PxVehicleDriveSimData
class PX_DEPRECATED PxVehicleDriveSimData4W : public PxVehicleDriveSimData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -140,7 +136,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimData4W) & 15));
@see PxVehicleWheelsSimData, PxVehicleWheelsDynData
*/
struct PxVehicleDrive4WWheelOrder
struct PX_DEPRECATED PxVehicleDrive4WWheelOrder
{
enum Enum
{
@@ -157,7 +153,7 @@ struct PxVehicleDrive4WWheelOrder
@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
*/
struct PxVehicleDrive4WControl
struct PX_DEPRECATED PxVehicleDrive4WControl
{
enum Enum
{
@@ -173,7 +169,7 @@ struct PxVehicleDrive4WControl
/**
\brief Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels and up to 16 non-driven wheels.
*/
class PxVehicleDrive4W : public PxVehicleDrive
class PX_DEPRECATED PxVehicleDrive4W : public PxVehicleDrive
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -274,5 +270,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrive4W) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_4WDRIVE_H
#endif

17
Source/ThirdParty/PhysX/vehicle/PxVehicleDriveNW.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_NWDRIVE_H
#define PX_VEHICLE_NWDRIVE_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleDrive.h"
#include "vehicle/PxVehicleWheels.h"
@@ -55,7 +51,7 @@ class PxRigidDynamic;
engine, clutch, gears, autobox, differential.
@see PxVehicleDriveSimData
*/
class PxVehicleDriveSimDataNW : public PxVehicleDriveSimData
class PX_DEPRECATED PxVehicleDriveSimDataNW : public PxVehicleDriveSimData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -115,7 +111,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveSimDataNW) & 15));
@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
*/
struct PxVehicleDriveNWControl
struct PX_DEPRECATED PxVehicleDriveNWControl
{
enum Enum
{
@@ -131,7 +127,7 @@ struct PxVehicleDriveNWControl
/**
\brief Data structure with instanced dynamics data and configuration data of a vehicle with up to PX_MAX_NB_WHEELS driven wheels.
*/
class PxVehicleDriveNW : public PxVehicleDrive
class PX_DEPRECATED PxVehicleDriveNW : public PxVehicleDrive
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -232,5 +228,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveNW) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_NWDRIVE_H
#endif

19
Source/ThirdParty/PhysX/vehicle/PxVehicleDriveTank.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_DRIVE_TANK_H
#define PX_VEHICLE_DRIVE_TANK_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleDrive.h"
#include "vehicle/PxVehicleWheels.h"
@@ -56,7 +52,7 @@ class PxRigidDynamic;
@see PxVehicleWheelsSimData, PxVehicleWheelsDynData
*/
struct PxVehicleDriveTankWheelOrder
struct PX_DEPRECATED PxVehicleDriveTankWheelOrder
{
enum Enum
{
@@ -102,7 +98,7 @@ the tank will turn to the left.
@see PxVehicleDriveDynData::setAnalogInput, PxVehicleDriveDynData::getAnalogInput
*/
struct PxVehicleDriveTankControl
struct PX_DEPRECATED PxVehicleDriveTankControl
{
enum Enum
{
@@ -134,7 +130,7 @@ thrust to the right wheels.
@see PxVehicleDriveTank::setDriveModel
*/
struct PxVehicleDriveTankControlModel
struct PX_DEPRECATED PxVehicleDriveTankControlModel
{
enum Enum
{
@@ -147,7 +143,7 @@ struct PxVehicleDriveTankControlModel
/**
\brief Data structure with instanced dynamics data and configuration data of a tank.
*/
class PxVehicleDriveTank : public PxVehicleDrive
class PX_DEPRECATED PxVehicleDriveTank : public PxVehicleDrive
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -276,5 +272,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_DRIVE_TANK_H
#endif

13
Source/ThirdParty/PhysX/vehicle/PxVehicleNoDrive.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_NO_DRIVE_H
#define PX_VEHICLE_NO_DRIVE_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleComponents.h"
@@ -53,7 +49,7 @@ class PxRigidDynamic;
/**
\brief Data structure with instanced dynamics data and configuration data of a vehicle with no drive model.
*/
class PxVehicleNoDrive : public PxVehicleWheels
class PX_DEPRECATED PxVehicleNoDrive : public PxVehicleWheels
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -212,5 +208,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleNoDrive) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_NO_DRIVE_H
#endif

231
Source/ThirdParty/PhysX/vehicle/PxVehicleSDK.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,17 +22,15 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_SDK_H
#define PX_VEHICLE_SDK_H
/** \addtogroup vehicle
@{
*/
#include "foundation/Px.h"
#include "foundation/PxVec3.h"
#include "common/PxTypeInfo.h"
#if !PX_DOXYGEN
@@ -57,7 +54,7 @@ Call this before using any of the vehicle functions.
@see PxCloseVehicleSDK
*/
PX_C_EXPORT bool PX_CALL_CONV PxInitVehicleSDK(PxPhysics& physics, PxSerializationRegistry* serializationRegistry = NULL);
PX_DEPRECATED PX_C_EXPORT bool PX_CALL_CONV PxInitVehicleSDK(PxPhysics& physics, PxSerializationRegistry* serializationRegistry = NULL);
/**
@@ -72,7 +69,7 @@ Call this function as part of the physx shutdown process.
@see PxInitVehicleSDK
*/
PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* serializationRegistry = NULL);
PX_DEPRECATED PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* serializationRegistry = NULL);
/**
@@ -92,7 +89,7 @@ PX_C_EXPORT void PX_CALL_CONV PxCloseVehicleSDK(PxSerializationRegistry* seriali
/**
@see PxVehicleDrive4W, PxVehicleDriveTank, PxVehicleDriveNW, PxVehicleNoDrive, PxVehicleWheels::getVehicleType
*/
struct PxVehicleTypes
struct PX_DEPRECATED PxVehicleTypes
{
enum Enum
{
@@ -113,7 +110,7 @@ struct PxVehicleTypes
\note This enum can be used to identify a vehicle object stored in a PxCollection.
@see PxBase, PxTypeInfo, PxBase::getConcreteType
*/
struct PxVehicleConcreteType
struct PX_DEPRECATED PxVehicleConcreteType
{
enum Enum
{
@@ -128,17 +125,20 @@ struct PxVehicleConcreteType
/**
\brief Set the basis vectors of the vehicle simulation
Default values PxVec3(0,1,0), PxVec3(0,0,1)
See PxVehicleContext for the default values.
Call this function before using PxVehicleUpdates unless the default values are correct.
Call this function before using PxVehicleUpdates unless the default values are correct
or the settings structure is explicitly provided.
@see PxVehicleContext
*/
void PxVehicleSetBasisVectors(const PxVec3& up, const PxVec3& forward);
PX_DEPRECATED void PxVehicleSetBasisVectors(const PxVec3& up, const PxVec3& forward);
/**
@see PxVehicleSetUpdateMode
*/
struct PxVehicleUpdateMode
struct PX_DEPRECATED PxVehicleUpdateMode
{
enum Enum
{
@@ -153,13 +153,14 @@ struct PxVehicleUpdateMode
with an acceleration to be applied in the next PhysX SDK update or as an immediate velocity modification.
Default behavior is immediate velocity modification.
See PxVehicleContext for the default value.
Call this function before using PxVehicleUpdates for the first time if the default is not the desired behavior.
Call this function before using PxVehicleUpdates for the first time if the default is not the desired behavior
or if the settings structure is not explicitly provided.
@see PxVehicleUpdates
@see PxVehicleUpdates, PxVehicleContext
*/
void PxVehicleSetUpdateMode(PxVehicleUpdateMode::Enum vehicleUpdateMode);
PX_DEPRECATED void PxVehicleSetUpdateMode(PxVehicleUpdateMode::Enum vehicleUpdateMode);
/**
@@ -211,9 +212,9 @@ by the contact modification callback PxVehicleModifyWheelContacts.
\note Both angles have default values of Pi/4.
@see PxVehicleSuspensionSweeps, PxVehicleModifyWheelContacts
@see PxVehicleSuspensionSweeps, PxVehicleModifyWheelContacts, PxVehicleContext
*/
void PxVehicleSetSweepHitRejectionAngles(const PxF32 pointRejectAngle, const PxF32 normalRejectAngle);
PX_DEPRECATED void PxVehicleSetSweepHitRejectionAngles(const PxF32 pointRejectAngle, const PxF32 normalRejectAngle);
/**
@@ -225,13 +226,195 @@ the suspension must be applied to dynamic objects that lie under the wheel. This
when a heavy wheel is driving on a light object. The value of maxHitActorAcceleration clamps the applied force so that it never
generates an acceleration greater than the specified value.
\note Default value of maxHitActorAcceleration is PX_MAX_REAL
See PxVehicleContext for the default value.
@see PxVehicleContext
*/
void PxVehicleSetMaxHitActorAcceleration(const PxF32 maxHitActorAcceleration);
PX_DEPRECATED void PxVehicleSetMaxHitActorAcceleration(const PxF32 maxHitActorAcceleration);
/**
\brief Common parameters and settings used for the vehicle simulation.
To be passed into PxVehicleUpdates(), for example.
@see PxVehicleUpdates()
*/
class PX_DEPRECATED PxVehicleContext
{
public:
/**
\brief The axis denoting the up direction for vehicles.
<b>Range:</b> unit length vector<br>
<b>Default:</b> PxVec3(0,1,0)
@see PxVehicleSetBasisVectors()
*/
PxVec3 upAxis;
/**
\brief The axis denoting the forward direction for vehicles.
<b>Range:</b> unit length vector<br>
<b>Default:</b> PxVec3(0,0,1)
@see PxVehicleSetBasisVectors()
*/
PxVec3 forwardAxis;
/**
\brief The axis denoting the side direction for vehicles.
Has to be the cross product of the up- and forward-axis. The method
computeSideAxis() can be used to do that computation for you.
<b>Range:</b> unit length vector<br>
<b>Default:</b> PxVec3(1,0,0)
@see PxVehicleSetBasisVectors(), computeSideAxis()
*/
PxVec3 sideAxis;
/**
\brief Apply vehicle simulation results as acceleration or velocity modification.
See PxVehicleSetUpdateMode() for details.
<b>Default:</b> eVELOCITY_CHANGE
@see PxVehicleSetUpdateMode()
*/
PxVehicleUpdateMode::Enum updateMode;
/**
\brief Cosine of threshold angle for rejecting sweep hits.
See PxVehicleSetSweepHitRejectionAngles() for details.
<b>Range:</b> (1, -1)<br>
<b>Default:</b> 0.707f (cosine of 45 degrees)
@see PxVehicleSetSweepHitRejectionAngles()
*/
PxF32 pointRejectAngleThresholdCosine;
/**
\brief Cosine of threshold angle for rejecting sweep hits.
See PxVehicleSetSweepHitRejectionAngles() for details.
<b>Range:</b> (1, -1)<br>
<b>Default:</b> 0.707f (cosine of 45 degrees)
@see PxVehicleSetSweepHitRejectionAngles()
*/
PxF32 normalRejectAngleThresholdCosine;
/**
\brief Maximum acceleration experienced by PxRigidDynamic instances that are found to be in contact with a wheel.
See PxVehicleSetMaxHitActorAcceleration() for details.
<b>Range:</b> [0, PX_MAX_REAL]<br>
<b>Default:</b> PX_MAX_REAL
@see PxVehicleSetMaxHitActorAcceleration()
*/
PxF32 maxHitActorAcceleration;
public:
/**
\brief Constructor sets to default.
*/
PX_INLINE PxVehicleContext();
/**
\brief (re)sets the structure to the default.
*/
PX_INLINE void setToDefault();
/**
\brief Check if the settings descriptor is valid.
\return True if the current settings are valid.
*/
PX_INLINE bool isValid() const;
/**
\brief Compute the side-axis from the up- and forward-axis
*/
PX_INLINE void computeSideAxis();
};
PX_INLINE PxVehicleContext::PxVehicleContext():
upAxis(0.0f, 1.0f, 0.0f),
forwardAxis(0.0f, 0.0f, 1.0f),
sideAxis(1.0f, 0.0f, 0.0f),
updateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE),
pointRejectAngleThresholdCosine(0.707f), // cosine of 45 degrees
normalRejectAngleThresholdCosine(0.707f), // cosine of 45 degrees
maxHitActorAcceleration(PX_MAX_REAL)
{
}
PX_INLINE void PxVehicleContext::setToDefault()
{
*this = PxVehicleContext();
}
PX_INLINE bool PxVehicleContext::isValid() const
{
if (!upAxis.isNormalized())
return false;
if (!forwardAxis.isNormalized())
return false;
if (!sideAxis.isNormalized())
return false;
if (((upAxis.cross(forwardAxis)) - sideAxis).magnitude() > 0.02f) // somewhat above 1 degree assuming both have unit length
return false;
if ((pointRejectAngleThresholdCosine >= 1) || (pointRejectAngleThresholdCosine <= -1))
return false;
if ((normalRejectAngleThresholdCosine >= 1) || (normalRejectAngleThresholdCosine <= -1))
return false;
if (maxHitActorAcceleration < 0.0f)
return false;
return true;
}
PX_INLINE void PxVehicleContext::computeSideAxis()
{
sideAxis = upAxis.cross(forwardAxis);
}
/**
\brief Get the default vehicle context.
Will be used if the corresponding parameters are not specified in methods like
PxVehicleUpdates() etc.
To set the default values, see the methods PxVehicleSetBasisVectors(),
PxVehicleSetUpdateMode() etc.
\return The default vehicle context.
@see PxVehicleSetBasisVectors() PxVehicleSetUpdateMode()
*/
PX_DEPRECATED const PxVehicleContext& PxVehicleGetDefaultContext();
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_SDK_H
#endif

13
Source/ThirdParty/PhysX/vehicle/PxVehicleShaders.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_SHADERS_H
#define PX_VEHICLE_SHADERS_H
/** \addtogroup vehicle
@{
*/
#include "foundation/PxSimpleTypes.h"
@@ -61,7 +57,7 @@ namespace physx
\param[out] tireAlignMoment is the aligning moment of the tire that is to be applied to the vehicle's rigid body (not currently used).
@see PxVehicleWheelsDynData::setTireForceShaderFunction, PxVehicleWheelsDynData::setTireForceShaderData
*/
typedef void (*PxVehicleComputeTireForce)
PX_DEPRECATED typedef void (*PxVehicleComputeTireForce)
(const void* shaderData,
const PxF32 tireFriction,
const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber,
@@ -75,5 +71,4 @@ typedef void (*PxVehicleComputeTireForce)
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_SHADERS_H
#endif

89
Source/ThirdParty/PhysX/vehicle/PxVehicleTireFriction.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,17 +22,15 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_TIREFRICTION_H
#define PX_VEHICLE_TIREFRICTION_H
/** \addtogroup vehicle
@{
*/
#include "foundation/PxSimpleTypes.h"
#include "common/PxSerialFramework.h"
#if !PX_DOXYGEN
namespace physx
@@ -41,12 +38,14 @@ namespace physx
#endif
class PxMaterial;
class PxCollection;
class PxOutputStream;
/**
\brief Driving surface type. Each PxMaterial is associated with a corresponding PxVehicleDrivableSurfaceType.
@see PxMaterial, PxVehicleDrivableSurfaceToTireFrictionPairs
*/
struct PxVehicleDrivableSurfaceType
struct PX_DEPRECATED PxVehicleDrivableSurfaceType
{
enum
{
@@ -59,7 +58,7 @@ struct PxVehicleDrivableSurfaceType
\brief Friction for each combination of driving surface type and tire type.
@see PxVehicleDrivableSurfaceType, PxVehicleTireData::mType
*/
class PxVehicleDrivableSurfaceToTireFrictionPairs
class PX_DEPRECATED PxVehicleDrivableSurfaceToTireFrictionPairs
{
public:
@@ -116,28 +115,83 @@ public:
*/
void setTypePairFriction(const PxU32 surfaceType, const PxU32 tireType, const PxReal value);
/**
\brief Compute the surface type associated with a specified PxMaterial instance.
\param[in] surfaceMaterial is the material to be queried for its associated surface type.
\note The surface type may be used to query the friction of a surface type/tire type pair using getTypePairFriction()
\return The surface type associated with a specified PxMaterial instance.
If surfaceMaterial is not referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs a value of 0 will be returned.
@see setup
@see getTypePairFriction
*/
PxU32 getSurfaceType(const PxMaterial& surfaceMaterial) const;
/**
\brief Return the friction for a specified combination of surface type and tire type.
\return The friction for a specified combination of surface type and tire type.
\note The final friction value used by the tire model is the value returned by getTypePairFriction
multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph
\note The surface type is associated with a PxMaterial. The mapping between the two may be queried using getSurfaceType().
@see PxVehicleTireData::mFrictionVsSlipGraph
@see getSurfaceType
*/
PxReal getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const;
/**
\brief Return the friction for a specified combination of PxMaterial and tire type.
\return The friction for a specified combination of PxMaterial and tire type.
\note The final friction value used by the tire model is the value returned by getTypePairFriction
multiplied by the value computed from PxVehicleTireData::mFrictionVsSlipGraph
\note If surfaceMaterial is not referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs
a surfaceType of value 0 will be assumed and the corresponding friction value will be returned.
@see PxVehicleTireData::mFrictionVsSlipGraph
*/
PxReal getTypePairFriction(const PxMaterial& surfaceMaterial, const PxU32 tireType) const;
/**
\brief Return the maximum number of surface types
\return The maximum number of surface types
@see allocate
*/
PxU32 getMaxNbSurfaceTypes() const {return mMaxNbSurfaceTypes;}
PX_FORCE_INLINE PxU32 getMaxNbSurfaceTypes() const {return mMaxNbSurfaceTypes;}
/**
\brief Return the maximum number of tire types
\return The maximum number of tire types
@see allocate
*/
PxU32 getMaxNbTireTypes() const {return mMaxNbTireTypes;}
PX_FORCE_INLINE PxU32 getMaxNbTireTypes() const {return mMaxNbTireTypes;}
/**
\brief Binary serialization of a PxVehicleDrivableSurfaceToTireFrictionPairs instance.
The PxVehicleDrivableSurfaceToTireFrictionPairs instance is serialized to a PxOutputStream.
The materials referenced by the PxVehicleDrivableSurfaceToTireFrictionPairs instance are
serialized to a PxCollection.
\param[in] frictionTable is the PxVehicleDrivableSurfaceToTireFrictionPairs instance to be serialized.
\param[in] materialIds are unique ids that will be used to add the materials to the collection.
\param[in] nbMaterialIds is the length of the materialIds array. It must be sufficient to cover all materials.
\param[out] collection is the PxCollection instance that is to be used to serialize the PxMaterial instances referenced by the
PxVehicleDrivableSurfaceToTireFrictionPairs instance.
\param[out] stream contains the memory block for the binary serialized friction table.
\note If a material has already been added to the collection with a PxSerialObjectId, it will not be added again.
\note If all materials have already been added to the collection with a PxSerialObjectId, it is legal to pass a NULL ptr for the materialIds array.
\note frictionTable references PxMaterial instances, which are serialized using PxCollection.
The PxCollection instance may be used to serialize an entire scene that also references some or none of those material instances
or particular objects in a scene or nothing at all. The complementary deserialize() function requires the same collection instance
or more typically a deserialized copy of the collection to be passed as a function argument.
@see deserializeFromBinary
*/
static void serializeToBinary(const PxVehicleDrivableSurfaceToTireFrictionPairs& frictionTable, const PxSerialObjectId* materialIds, const PxU32 nbMaterialIds, PxCollection* collection, PxOutputStream& stream);
/**
\brief Deserialize from a memory block to create a PxVehicleDrivableSurfaceToTireFrictionPairs instance.
\param[in] collection contains the PxMaterial instances that will be referenced by the friction table.
\param[in] memBlock is a binary array that may be retrieved or copied from the stream in the complementary serializeToBinary function.
\return A PxVehicleDrivableSurfaceToTireFrictionPairs instance whose base address is equal to the memBlock ptr.
@see serializeToBinary
*/
static PxVehicleDrivableSurfaceToTireFrictionPairs* deserializeFromBinary(const PxCollection& collection, void* memBlock);
private:
@@ -173,6 +227,11 @@ private:
*/
PxVehicleDrivableSurfaceType* mDrivableSurfaceTypes;
/**
\brief A PxSerialObjectId per surface type used internally for serialization.
*/
PxSerialObjectId* mMaterialSerialIds;
/**
\brief Number of different driving surface types.
@@ -203,13 +262,6 @@ private:
*/
PxU32 mMaxNbTireTypes;
#if !PX_P64_FAMILY
PxU32 mPad[1];
#else
PxU32 mPad[2];
#endif
PxVehicleDrivableSurfaceToTireFrictionPairs(){}
~PxVehicleDrivableSurfaceToTireFrictionPairs(){}
};
@@ -219,5 +271,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) &
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_TIREFRICTION_H
#endif

159
Source/ThirdParty/PhysX/vehicle/PxVehicleUpdate.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,40 +22,37 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_UPDATE_H
#define PX_VEHICLE_UPDATE_H
/** \addtogroup vehicle
@{
*/
#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleTireFriction.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxMemory.h"
#include "foundation/PxTransform.h"
#include "PxBatchQueryDesc.h"
#include "PxQueryFiltering.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxBatchQuery;
class PxContactModifyPair;
class PxVehicleWheels;
class PxVehicleDrivableSurfaceToTireFrictionPairs;
class PxVehicleTelemetryData;
class PxBatchQueryExt;
/**
\brief Structure containing data describing the non-persistent state of each suspension/wheel/tire unit.
This structure is filled out in PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData
@see PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData
*/
struct PxWheelQueryResult
struct PX_DEPRECATED PxWheelQueryResult
{
PxWheelQueryResult()
{
@@ -220,7 +216,7 @@ namespace physx
PxTransform localPose;
};
struct PxVehicleWheelQueryResult
struct PX_DEPRECATED PxVehicleWheelQueryResult
{
/**
\brief Pointer to an PxWheelQueryResult buffer of length nbWheelQueryResults
@@ -240,12 +236,12 @@ namespace physx
};
/**
\brief Structure containing data that is computed for a wheel during concurrent calls to PxVehicleUpdates
but which cannot be safely concurrently applied.
\brief Structure containing data that is computed for a wheel during concurrent calls to PxVehicleUpdates or
PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which cannot be safely concurrently applied.
@see PxVehicleUpdates, PxVehiclePostUpdates, PxVehicleConcurrentUpdate
@see PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData, PxVehiclePostUpdates, PxVehicleConcurrentUpdate
*/
struct PxVehicleWheelConcurrentUpdateData
struct PX_DEPRECATED PxVehicleWheelConcurrentUpdateData
{
friend class PxVehicleUpdate;
@@ -266,13 +262,13 @@ namespace physx
};
/**
\brief Structure containing data that is computed for a vehicle and its wheels during concurrent calls to PxVehicleUpdates
but which cannot be safely concurrently applied.
\brief Structure containing data that is computed for a vehicle and its wheels during concurrent calls to PxVehicleUpdates or
PxVehicleUpdateSingleVehicleAndStoreTelemetryData but which cannot be safely concurrently applied.
@see PxVehicleUpdates, PxVehiclePostUpdates, PxVehicleWheelConcurrentUpdateData
@see PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData, PxVehiclePostUpdates, PxVehicleWheelConcurrentUpdateData
*/
struct PxVehicleConcurrentUpdateData
struct PX_DEPRECATED PxVehicleConcurrentUpdateData
{
friend class PxVehicleUpdate;
@@ -311,21 +307,18 @@ namespace physx
/**
\brief Perform raycasts for all suspension lines for all vehicles.
\param[in] batchQuery is a PxBatchQuery instance used to specify shader data and functions for the raycast scene queries.
\param[in] batchQuery is a PxBatchQueryExt instance used to specify shader data and functions for the raycast scene queries.
\param[in] nbVehicles is the number of vehicles in the vehicles array.
\param[in] vehicles is an array of all vehicles that are to have a raycast issued from each wheel.
\param[in] nbSceneQueryResults must be greater than or equal to the total number of wheels of all the vehicles in the vehicles array; that is,
sceneQueryResults must have dimensions large enough for one raycast hit result per wheel for all the vehicles in the vehicles array.
\param[in] sceneQueryResults must persist without being overwritten until the end of the next PxVehicleUpdates call.
\param[in] vehiclesToRaycast is an array of bools of length nbVehicles that is used to decide if raycasts will be performed for the corresponding vehicle
in the vehicles array. If vehiclesToRaycast[i] is true then suspension line raycasts will be performed for vehicles[i]. If vehiclesToRaycast[i] is
false then suspension line raycasts will not be performed for vehicles[i].
\param[in] queryFlags filter flags for the batched scene queries
\note If vehiclesToRaycast is NULL then raycasts are performed for all vehicles in the vehicles array.
\note If vehiclesToRaycast[i] is false then the vehicle stored in vehicles[i] will automatically use the raycast or sweep hit planes recorded by the most recent
@@ -344,28 +337,23 @@ namespace physx
\note Only blocking hits are supported (PxQueryHitType::eBLOCK).
@see PxVehicleDrive4W::setToRestState, PxVehicleDriveNW::setToRestState, PxVehicleDriveTank::setToRestState, PxVehicleNoDrive::setToRestState
*/
void PxVehicleSuspensionRaycasts
(PxBatchQuery* batchQuery,
const PxU32 nbVehicles, PxVehicleWheels** vehicles,
const PxU32 nbSceneQueryResults, PxRaycastQueryResult* sceneQueryResults,
const bool* vehiclesToRaycast = NULL);
@see PxBatchQueryExt::raycast
*/
PX_DEPRECATED void PxVehicleSuspensionRaycasts( PxBatchQueryExt* batchQuery,
const PxU32 nbVehicles, PxVehicleWheels** vehicles,
const bool* vehiclesToRaycast = NULL,
const PxQueryFlags queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER);
/**
\brief Perform sweeps for all suspension lines for all vehicles.
\param[in] batchQuery is a PxBatchQuery instance used to specify shader data and functions for the sweep scene queries.
\param[in] batchQuery is a PxBatchQueryExt instance used to specify shader data and functions for the sweep scene queries.
\param[in] nbVehicles is the number of vehicles in the vehicles array.
\param[in] vehicles is an array of all vehicles that are to have a sweep issued from each wheel.
\param[in] nbSceneQueryResults must be greater than or equal to the total number of wheels of all the vehicles in the vehicles array; that is,
sceneQueryResults must have dimensions large enough for one sweep hit result per wheel for all the vehicles in the vehicles array.
\param[in] sceneQueryResults must persist without being overwritten until the end of the next PxVehicleUpdates call.
\param[in] nbHitsPerQuery is the maximum numbers of hits that will be returned for each query.
\param[in] vehiclesToSweep is an array of bools of length nbVehicles that is used to decide if sweeps will be performed for the corresponding vehicle
@@ -374,7 +362,14 @@ namespace physx
\param[in] sweepWidthScale scales the geometry of the wheel used in the sweep. Values < 1 result in a thinner swept wheel, while values > 1 result in a fatter swept wheel.
\param[in] sweepRadiusScale scales the geometry of the wheel used in the sweep. Values < 1 result in a larger swept wheel, while values > 1 result in a smaller swept wheel.
\param[in] sweepRadiusScale scales the geometry of the wheel used in the sweep. Values < 1 result in a smaller swept wheel, while values > 1 result in a larger swept wheel.
\param[in] sweepInflation Inflation parameter for sweeps. This is the inflation parameter from PxScene::sweep(). It inflates the shape and makes it rounder,
which gives smoother and more reliable normals.
\param[in] queryFlags filter flags for the batched scene queries
\param[in] context the vehicle context to use for the suspension sweeps.
\note If vehiclesToSweep is NULL then sweeps are performed for all vehicles in the vehicles array.
@@ -403,16 +398,17 @@ namespace physx
@see PxVehicleDrive4W::setToRestState, PxVehicleDriveNW::setToRestState, PxVehicleDriveTank::setToRestState, PxVehicleNoDrive::setToRestState
@see PxBatchQuery::sweep
@see PxBatchQueryExt::sweep PxScene::sweep()
@see PxVehicleSetSweepHitRejectionAngles
*/
void PxVehicleSuspensionSweeps
(PxBatchQuery* batchQuery,
const PxU32 nbVehicles, PxVehicleWheels** vehicles,
const PxU32 nbSceneQueryResults, PxSweepQueryResult* sceneQueryResults, const PxU16 nbHitsPerQuery,
const bool* vehiclesToSweep = NULL,
const PxF32 sweepWidthScale = 1.0f, const PxF32 sweepRadiusScale = 1.0f);
PX_DEPRECATED void PxVehicleSuspensionSweeps( PxBatchQueryExt* batchQuery,
const PxU32 nbVehicles, PxVehicleWheels** vehicles,
const PxU16 nbHitsPerQuery,
const bool* vehiclesToSweep = NULL,
const PxF32 sweepWidthScale = 1.0f, const PxF32 sweepRadiusScale = 1.0f, const PxF32 sweepInflation = 0.0f,
const PxQueryFlags queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
\brief A function called from PxContactModifyCallback::onContactModify. The function determines if rigid body contact points
@@ -435,7 +431,9 @@ namespace physx
\param[in,out] contactModifyPair describes the set of contacts involving the PxShape of the specified wheel and one other shape. The contacts in the contact set are
ignored or modified as required.
\note[in] Contact points are accepted or rejected using the threshold angles specified in the function PxVehicleSetSweepHitRejectionAngles.
\param[in] context the vehicle context to use for the contact modification.
\note Contact points are accepted or rejected using the threshold angles specified in the function PxVehicleSetSweepHitRejectionAngles.
\note If a contact point is not rejected it is modified to account for the wheel rotation speed.
@@ -444,12 +442,13 @@ namespace physx
\note Reduce maxImpulse if the wheels are frequently colliding with light objects with mass much less than the vehicle's mass.
Reducing this value encourages numerical stability.
@see PxContactModifyCallback::onContactModify, PxVehicleSetSweepHitRejectionAngles
@see PxContactModifyCallback::onContactModify, PxVehicleSetSweepHitRejectionAngles, PxVehicleContext
*/
PxU32 PxVehicleModifyWheelContacts
PX_DEPRECATED PxU32 PxVehicleModifyWheelContacts
(const PxVehicleWheels& vehicle, const PxU32 wheelId,
const PxF32 wheelTangentVelocityMultiplier, const PxReal maxImpulse,
PxContactModifyPair& contactModifyPair);
PxContactModifyPair& contactModifyPair,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
@@ -472,16 +471,18 @@ namespace physx
\param[out] vehicleWheelQueryResults is an array of length nbVehicles storing the wheel query results of each corresponding vehicle and wheel in the
vehicles array. A NULL pointer is permitted.
\param[out] vehicleConcurrentUpdates is an array of length nbVehicles. It is only necessary to specify vehicleConcurrentUpdates if PxVehicleUpdates is
called concurrently. The element vehicleWheelQueryResults[i] of the array stores data that is computed for vehicle[i] during PxVehicleUpdates but which
cannot be safely written when concurrently called. The data computed and stored in vehicleConcurrentUpdates must be passed to PxVehiclePostUpdates, where
it is applied to all relevant actors in sequence. A NULL pointer is permitted.
\param[out] vehicleConcurrentUpdates is an array of length nbVehicles. It is only necessary to specify vehicleConcurrentUpdates if PxVehicleUpdates is
called concurrently (also concurrently with PxVehicleUpdateSingleVehicleAndStoreTelemetryData). The element vehicleConcurrentUpdates[i] of the array
stores data that is computed for vehicle[i] during PxVehicleUpdates but which cannot be safely written when concurrently called. The data computed and
stored in vehicleConcurrentUpdates must be passed to PxVehiclePostUpdates, where it is applied to all relevant actors in sequence. A NULL pointer is permitted.
\param[in] context the vehicle context to use for the vehicle update.
\note The vehicleWheelQueryResults buffer must persist until the end of PxVehicleUpdates.
\note The vehicleWheelQueryResults buffer is left unmodified for vehicles with sleeping rigid bodies whose control inputs indicate they should remain inert.
\note If PxVehicleUpdates is called concurrently then vehicleConcurrentUpdates must be specified. Do not specify vehicleConcurrentUpdates is PxVehicleUpdates
\note If PxVehicleUpdates is called concurrently then vehicleConcurrentUpdates must be specified. Do not specify vehicleConcurrentUpdates if PxVehicleUpdates
is not called concurrently.
\note The vehicleConcurrentUpdates buffer must persist until the end of PxVehiclePostUpdate.
@@ -490,32 +491,38 @@ namespace physx
with a PxShape (PxVehicleWheelsSimData::setWheelShapeMapping); the differential of the vehicle must be configured so that no drive torque
is delivered to a disabled wheel; and the wheel must have zero rotation speed (PxVehicleWheelsDynData::setWheelRotationSpeed)
\note PxVehicleUpdates may be called concurrently provided all concurrent calls to PxVehicleUpdates involve only vehicles in the scene specified by PxVehicleUpdateSetScene.
PxVehicleUpdates must never run concurrently with PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
\note Concurrent calls to PxVehicleUpdates and PxVehicleUpdateSingleVehicleAndStoreTelemetryData are permitted if the parameter
vehicleConcurrentUpdates is used.
@see PxVehicleSetUpdateMode, PxVehicleWheelsSimData::disableWheel, PxVehicleWheelsSimData::setWheelShapeMapping, PxVehicleWheelsDynData::setWheelRotationSpeed,
PxVehiclePostUpdates
*/
void PxVehicleUpdates(
PX_DEPRECATED void PxVehicleUpdates(
const PxReal timestep, const PxVec3& gravity,
const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs,
const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL);
const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
\brief Apply actor changes that were computed in concurrent calls to PxVehicleUpdates but which could not be safely applied due to the concurrency.
\brief Apply actor changes that were computed in concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData but
which could not be safely applied due to the concurrency.
\param[in] vehicleConcurrentUpdates is an array of length nbVehicles where vehicleConcurrentUpdates[i] contains data describing actor changes that
were computed for vehicles[i] during concurrent calls to PxVehicleUpdates.
were computed for vehicles[i] during concurrent calls to PxVehicleUpdates or PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
\param[in] nbVehicles is the number of vehicles pointers in the vehicles array
\param[in,out] vehicles is an array of length nbVehicles containing all vehicles that were partially updated in concurrent calls to PxVehicleUpdates.
\param[in,out] vehicles is an array of length nbVehicles containing all vehicles that were partially updated in concurrent calls to PxVehicleUpdates or
PxVehicleUpdateSingleVehicleAndStoreTelemetryData.
@see PxVehicleUpdates
\param[in] context the vehicle context to use for the vehicle post update.
@see PxVehicleUpdates, PxVehicleUpdateSingleVehicleAndStoreTelemetryData
*/
void PxVehiclePostUpdates(
const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
PX_DEPRECATED void PxVehiclePostUpdates(
const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
@@ -534,7 +541,7 @@ namespace physx
\param[in,out] vehicles is an array of all vehicles that should be updated to map to the new scene origin.
*/
void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
PX_DEPRECATED void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
#if PX_DEBUG_VEHICLE_ON
/**
@@ -558,24 +565,34 @@ namespace physx
\param[out] telemetryData is the data structure used to record telemetry data during the update for later query or visualization
\note The vehicleWheelQueryResults buffer must persist until the end of PxVehicleUpdates
\param[out] vehicleConcurrentUpdates is an array of length 1. It is only necessary to specify vehicleConcurrentUpdates if
PxVehicleUpdateSingleVehicleAndStoreTelemetryData is called concurrently (also concurrently with PxVehicleUpdates). The
PxVehicleConcurrentUpdateData struct stores data that cannot be safely written when concurrently called. The data computed and
stored in vehicleConcurrentUpdates must be passed to PxVehiclePostUpdates, where it is applied to the vehicle actor. A NULL
pointer is permitted.
\param[in] context the vehicle context to use for the vehicle update.
\note The vehicleWheelQueryResults buffer must persist until the end of PxVehicleUpdateSingleVehicleAndStoreTelemetryData
\note The vehicleWheelQueryResults buffer is left unmodified for vehicles with sleeping rigid bodies whose control inputs indicate they should remain inert.
\note PxVehicleUpdateSingleVehicleAndStoreTelemetryData is not thread-safe. As a consequence, it must run sequentially and never concurrently with PxVehicleUpdates
\note Concurrent calls to PxVehicleUpdateSingleVehicleAndStoreTelemetryData and PxVehicleUpdates are permitted if the parameter
vehicleConcurrentUpdates is used.
@see PxVehicleSetUpdateMode, PxVehicleTelemetryData
@see PxVehiclePostUpdates, PxVehicleSetUpdateMode, PxVehicleTelemetryData
*/
void PxVehicleUpdateSingleVehicleAndStoreTelemetryData
PX_DEPRECATED void PxVehicleUpdateSingleVehicleAndStoreTelemetryData
(const PxReal timestep, const PxVec3& gravity,
const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs,
PxVehicleWheels* focusVehicle, PxVehicleWheelQueryResult* vehicleWheelQueryResults,
PxVehicleTelemetryData& telemetryData);
PxVehicleTelemetryData& telemetryData,
PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
#endif
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_UPDATE_H
#endif

17
Source/ThirdParty/PhysX/vehicle/PxVehicleUtil.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_UTILHELPER_H
#define PX_VEHICLE_UTILHELPER_H
/** \addtogroup vehicle
@{
*/
#ifndef PX_VEHICLE_UTIL_H
#define PX_VEHICLE_UTIL_H
#include "foundation/Px.h"
@@ -54,11 +50,10 @@ that wheels disabled more recently than the last call to PxVehicleUpdates report
\return True if the vehicle is in the air, false if any wheel is touching the ground.
*/
bool PxVehicleIsInAir(const PxVehicleWheelQueryResult& vehWheelQueryResults);
PX_DEPRECATED bool PxVehicleIsInAir(const PxVehicleWheelQueryResult& vehWheelQueryResults);
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_UTILHELPER_H
#endif

117
Source/ThirdParty/PhysX/vehicle/PxVehicleUtilControl.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,13 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_CONTROL_H
#define PX_VEHICLE_CONTROL_H
/** \addtogroup vehicle
@{
*/
#ifndef PX_VEHICLE_UTIL_CONTROL_H
#define PX_VEHICLE_UTIL_CONTROL_H
#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleDrive4W.h"
#include "vehicle/PxVehicleDriveNW.h"
@@ -47,14 +44,41 @@ namespace physx
void testValidAnalogValue(const PxF32 actualValue, const PxF32 minVal, const PxF32 maxVal, const char* errorString);
#endif
/**
\brief Used to produce smooth steering values in the presence of discontinuities when a vehicle e.g. lands on the ground.
Use a zero sharpness value to disable the feature (backward compatibility with previous PhysX versions).
*/
struct PX_DEPRECATED PxVehicleSteerFilter
{
PxVehicleSteerFilter(float sharpness=0.0f) : mSharpness(sharpness), mFilteredMaxSteer(0.0f) {}
static PX_FORCE_INLINE float feedbackFilter(float val, float& memory, float sharpness)
{
if(sharpness<0.0f) sharpness = 0.0f;
else if(sharpness>1.0f) sharpness = 1.0f;
return memory = val * sharpness + memory * (1.0f - sharpness);
}
PX_FORCE_INLINE float computeMaxSteer(const bool isVehicleInAir, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
const PxF32 vzAbs, const PxF32 timestep) const
{
const PxF32 targetMaxSteer = (isVehicleInAir ? 1.0f : steerVsForwardSpeedTable.getYVal(vzAbs));
if(mSharpness==0.0f)
return targetMaxSteer;
else
return feedbackFilter(targetMaxSteer, mFilteredMaxSteer, mSharpness*timestep);
}
PxReal mSharpness;
mutable PxReal mFilteredMaxSteer;
};
/**
\brief Used to produce smooth vehicle driving control values from key inputs.
@see PxVehicle4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicle4WSmoothAnalogRawInputsAndSetAnalogInputs
*/
struct PxVehicleKeySmoothingData
struct PX_DEPRECATED PxVehicleKeySmoothingData
{
public:
/**
\brief Rise rate of each analog value if digital value is 1
*/
@@ -71,10 +95,8 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleKeySmoothingData)& 0x0f));
\brief Used to produce smooth analog vehicle control values from analog inputs.
@see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
*/
struct PxVehiclePadSmoothingData
struct PX_DEPRECATED PxVehiclePadSmoothingData
{
public:
/**
\brief Rise rate of each analog value from previous value towards target if target>previous
*/
@@ -91,7 +113,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehiclePadSmoothingData)& 0x0f));
\brief Used to produce smooth vehicle driving control values from analog and digital inputs.
@see PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
*/
class PxVehicleDrive4WRawInputData
class PX_DEPRECATED PxVehicleDrive4WRawInputData
{
public:
@@ -286,13 +308,14 @@ private:
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
\param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.
\param[in] steerFilter is an optional smoothing filter for the steering angle.
\param[in] forwardAxis The axis denoting the local space forward direction of the vehicle.
*/
void PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
(const PxVehicleKeySmoothingData& keySmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
const PxVehicleDrive4WRawInputData& rawInputData,
const PxReal timestep,
const bool isVehicleInAir,
PxVehicleDrive4W& focusVehicle);
const PxVehicleDrive4WRawInputData& rawInputData, const PxReal timestep, const bool isVehicleInAir,
PxVehicleDrive4W& focusVehicle, const PxVehicleSteerFilter& steerFilter = PxVehicleSteerFilter(),
const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis);
/**
\brief Used to smooth and set analog vehicle control values from analog inputs (gamepad).
@@ -300,23 +323,24 @@ Also used to set boolean gearup, geardown values.
\param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
\param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed.
\param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle.
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
\param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
\param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs.
\param[in] steerFilter is an optional smoothing filter for the steering angle.
\param[in] forwardAxis The axis denoting the local space forward direction of the vehicle.
*/
void PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
(const PxVehiclePadSmoothingData& padSmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
const PxVehicleDrive4WRawInputData& rawInputData,
const PxReal timestep,
const bool isVehicleInAir,
PxVehicleDrive4W& focusVehicle);
const PxVehicleDrive4WRawInputData& rawInputData, const PxReal timestep, const bool isVehicleInAir,
PxVehicleDrive4W& focusVehicle, const PxVehicleSteerFilter& steerFilter = PxVehicleSteerFilter(),
const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis);
/**
\brief Used to produce smooth vehicle driving control values from analog and digital inputs.
@see PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs
*/
class PxVehicleDriveNWRawInputData : public PxVehicleDrive4WRawInputData
class PX_DEPRECATED PxVehicleDriveNWRawInputData : public PxVehicleDrive4WRawInputData
{
public:
@@ -330,16 +354,17 @@ public:
\param[in] keySmoothing describes the rise and fall rates of the corresponding analog values when keys are pressed on and off.
\param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed.
\param[in] rawInputData is the state of all digital inputs that control the vehicle.
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] timestep is the time that has passed since the last call to PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
\param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.
\param[in] steerFilter is an optional smoothing filter for the steering angle.
\param[in] forwardAxis The axis denoting the local space forward direction of the vehicle.
*/
void PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDriveNWSmoothDigitalRawInputsAndSetAnalogInputs
(const PxVehicleKeySmoothingData& keySmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
const PxVehicleDriveNWRawInputData& rawInputData,
const PxReal timestep,
const bool isVehicleInAir,
PxVehicleDriveNW& focusVehicle);
const PxVehicleDriveNWRawInputData& rawInputData, const PxReal timestep, const bool isVehicleInAir,
PxVehicleDriveNW& focusVehicle, const PxVehicleSteerFilter& steerFilter = PxVehicleSteerFilter(),
const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis);
/**
\brief Used to smooth and set analog vehicle control values from analog inputs (gamepad).
@@ -347,23 +372,24 @@ Also used to set boolean gearup, geardown values.
\param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
\param[in] steerVsForwardSpeedTable is a table of maximum allowed steer versus forward vehicle speed.
\param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle.
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] timestep is the time that has passed since the last call to PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs
\param[in] isVehicleInAir describes if the vehicle is in the air or on the ground and is used to decide whether or not to apply steerVsForwardSpeedTable.
\param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs.
\param[in] steerFilter is an optional smoothing filter for the steering angle.
\param[in] forwardAxis The axis denoting the local space forward direction of the vehicle.
*/
void PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDriveNWSmoothAnalogRawInputsAndSetAnalogInputs
(const PxVehiclePadSmoothingData& padSmoothing, const PxFixedSizeLookupTable<8>& steerVsForwardSpeedTable,
const PxVehicleDriveNWRawInputData& rawInputData,
const PxReal timestep,
const bool isVehicleInAir,
PxVehicleDriveNW& focusVehicle);
const PxVehicleDriveNWRawInputData& rawInputData, const PxReal timestep, const bool isVehicleInAir,
PxVehicleDriveNW& focusVehicle, const PxVehicleSteerFilter& steerFilter = PxVehicleSteerFilter(),
const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis);
/**
\brief Used to produce smooth analog tank control values from analog and digital inputs.
@see PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs, PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
*/
class PxVehicleDriveTankRawInputData
class PX_DEPRECATED PxVehicleDriveTankRawInputData
{
public:
@@ -618,10 +644,10 @@ private:
Also used to set boolean gearup, geardown values.
\param[in] keySmoothing describes the rise and fall rates of the corresponding analog values when keys are pressed on and off.
\param[in] rawInputData is the state of all digital inputs that control the vehicle.
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] timestep is the time that has passed since the last call to PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] focusVehicle is the vehicle that will be given analog and gearup/geardown control values arising from the digital inputs.
*/
void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
(const PxVehicleKeySmoothingData& keySmoothing,
const PxVehicleDriveTankRawInputData& rawInputData,
const PxReal timestep,
@@ -633,10 +659,10 @@ void PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
Also used to set boolean gearup, geardown values.
\param[in] padSmoothing describes how quickly the control values applied to the vehicle blend from the current vehicle values towards the raw analog values from the gamepad.
\param[in] rawInputData is the state of all gamepad analog inputs that will be used control the vehicle.
\param[in] timestep is the time that has passed since the last call to PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
\param[in] timestep is the time that has passed since the last call to PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
\param[in] focusVehicle is the vehicle that will be given analog control values arising from the gamepad inputs.
*/
void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
PX_DEPRECATED void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
(const PxVehiclePadSmoothingData& padSmoothing,
const PxVehicleDriveTankRawInputData& rawInputData,
const PxReal timestep,
@@ -647,5 +673,4 @@ void PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_CONTROL_H
#endif

32
Source/ThirdParty/PhysX/vehicle/PxVehicleUtilSetup.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,13 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_UTILSSETUP_H
#define PX_VEHICLE_UTILSSETUP_H
/** \addtogroup vehicle
@{
*/
#ifndef PX_VEHICLE_UTIL_SETUP_H
#define PX_VEHICLE_UTIL_SETUP_H
#include "foundation/PxSimpleTypes.h"
#include "vehicle/PxVehicleSDK.h"
@@ -55,8 +52,10 @@ The suspension of the rear-right wheel is modified to support the entire mass of
\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
\param[in,out] driveSimData is the data describing the drive model of the vehicle.
\param[in] context the vehicle context to use for the setup.
*/
void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
PX_DEPRECATED void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
\brief Reconfigure a PxVehicle4W instance as a three-wheeled car with delta config (1 front wheel, 2 rear wheels)
@@ -67,8 +66,10 @@ The suspension of the front-right wheel is modified to support the entire mass o
\param[in,out] wheelsSimData is the data describing the wheels/suspensions/tires of the vehicle.
\param[in,out] wheelsDynData is the data describing the dynamic state of the wheels of the vehicle.
\param[in,out] driveSimData is the data describing the drive model of the vehicle.
\param[in] context the vehicle context to use for the setup.
*/
void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
PX_DEPRECATED void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData,
const PxVehicleContext& context = PxVehicleGetDefaultContext());
/**
\brief Compute the sprung masses of the suspension springs given (i) the number of sprung masses,
@@ -87,7 +88,7 @@ a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
nbSprungMasses or greater. Each element in the sprungMasses array corresponds to the suspension located at the same array element in sprungMassCoordinates.
The center of mass of the masses in sprungMasses with the coordinates in sprungMassCoordinates satisfy the specified centerOfMass.
*/
void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
PX_DEPRECATED void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
/**
@@ -106,13 +107,13 @@ a value of 1 corresponds to (0,-1,0) and a value of 2 corresponds to (0,0,-1).
\note The suspension sprung masses are updated so that the natural frequency and damping ratio of the springs are preserved. This involves altering the
stiffness and damping rate of the suspension springs.
*/
void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);
PX_DEPRECATED void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);
/**
\brief Used by PxVehicleCopyDynamicsData
@see PxVehicleCopyDynamicsData
*/
class PxVehicleCopyDynamicsMap
class PX_DEPRECATED PxVehicleCopyDynamicsMap
{
public:
@@ -149,12 +150,11 @@ speed of all enabled src wheels.
\note src and trg must be the same vehicle type.
*/
void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);
PX_DEPRECATED void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_UTILSSETUP_H
#endif

37
Source/ThirdParty/PhysX/vehicle/PxVehicleUtilTelemetry.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,15 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_UTILSTELEMETRY_H
#define PX_VEHICLE_UTILSTELEMETRY_H
/** \addtogroup vehicle
@{
*/
#ifndef PX_VEHICLE_UTIL_TELEMETRY_H
#define PX_VEHICLE_UTIL_TELEMETRY_H
#include "vehicle/PxVehicleSDK.h"
#include "foundation/PxSimpleTypes.h"
@@ -44,7 +40,7 @@ namespace physx
#if PX_DEBUG_VEHICLE_ON
class PxVehicleGraphDesc
class PX_DEPRECATED PxVehicleGraphDesc
{
friend class PxVehicleGraph;
@@ -90,7 +86,7 @@ private:
bool isValid() const;
};
struct PxVehicleGraphChannelDesc
struct PX_DEPRECATED PxVehicleGraphChannelDesc
{
public:
@@ -134,7 +130,7 @@ private:
bool isValid() const;
};
struct PxVehicleWheelGraphChannel
struct PX_DEPRECATED PxVehicleWheelGraphChannel
{
enum Enum
{
@@ -153,7 +149,7 @@ struct PxVehicleWheelGraphChannel
};
};
struct PxVehicleDriveGraphChannel
struct PX_DEPRECATED PxVehicleDriveGraphChannel
{
enum Enum
{
@@ -170,7 +166,7 @@ struct PxVehicleDriveGraphChannel
};
};
struct PxVehicleGraphType
struct PX_DEPRECATED PxVehicleGraphType
{
enum Enum
{
@@ -180,7 +176,7 @@ struct PxVehicleGraphType
};
class PxVehicleGraph
class PX_DEPRECATED PxVehicleGraph
{
public:
@@ -246,6 +242,14 @@ public:
*/
PxF32 getLatestValue(const PxU32 channel) const ;
/**
\brief Get the raw data of a specific graph channel.
\param[in] channel is the ID of the graph channel to get data from.
\param[out] values is the buffer to write the data to. Minimum required size is eMAX_NB_SAMPLES.
*/
void getRawData(const PxU32 channel, PxReal* values) const;
private:
//Min and max of each sample.
@@ -300,7 +304,7 @@ private:
PX_COMPILE_TIME_ASSERT(PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleWheelGraphChannel::eMAX_NB_WHEEL_CHANNELS) && PxU32(PxVehicleGraph::eMAX_NB_CHANNELS) >= PxU32(PxVehicleDriveGraphChannel::eMAX_NB_DRIVE_CHANNELS));
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGraph) & 15));
class PxVehicleTelemetryData
class PX_DEPRECATED PxVehicleTelemetryData
{
public:
@@ -406,5 +410,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTelemetryData) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_UTILSTELEMETRY_H
#endif

132
Source/ThirdParty/PhysX/vehicle/PxVehicleWheels.h vendored
View File

@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,16 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_VEHICLE_WHEELS_H
#define PX_VEHICLE_WHEELS_H
/** \addtogroup vehicle
@{
*/
#include "foundation/PxSimpleTypes.h"
#include "vehicle/PxVehicleShaders.h"
@@ -57,7 +52,7 @@ class PxMaterial;
@see PxVehicleWheelsSimData::setFlags(), PxVehicleWheelsSimData::getFlags()
*/
struct PxVehicleWheelsSimFlag
struct PX_DEPRECATED PxVehicleWheelsSimFlag
{
enum Enum
{
@@ -72,7 +67,49 @@ struct PxVehicleWheelsSimFlag
this feature gives a slightly more realisitic behavior at the potential cost of more easily losing control
when steering the vehicle.
*/
eLIMIT_SUSPENSION_EXPANSION_VELOCITY = (1 << 0)
eLIMIT_SUSPENSION_EXPANSION_VELOCITY = (1 << 0),
/**
\brief Disable internal cylinder-plane intersection test.
By default the internal code runs a post-process on sweep results, approximating the wheel shape with a
cylinder and tweaking the sweep hit results accordingly. This can produce artefacts in certain cases, in
particular when the swept shape is very different from a cylinder - e.g. with swept spheres. This flag
tells the system to disable this internal test, and reuse the direct user-provided sweep results.
The default code refines the sweep results in each substep. Enabling this flag makes the system partially
reuse the same sweep results over each substep, which could potentially create other artefacts.
*/
eDISABLE_INTERNAL_CYLINDER_PLANE_INTERSECTION_TEST = (1 << 1),
/**
\brief Disable suspension force projection.
By default the internal code modulates the suspension force with the contact normal, i.e. the more the contact
normal is aligned with the suspension direction, the bigger the force. This can create issues when using a
single blocking hit, whose unique contact normal sometimes does not accurately capture the reality of the
surrounding geometry. For example it can weaken the suspension force too much, which visually makes the wheel
move up and down against e.g. a kerb. Enabling this flag tells the system to disable the modulation of the
suspension force by the contact normal.
The rationale is that a real tire has a deformed contact patch containing multiple normals, and even if some
of these normals are bent when colliding against a kerb, there would still be a large area of the contact patch
touching the ground, and getting normals aligned with the suspension. This is difficult to capture with simple
sweep results, especially with a single sweep hit whose normal is computed by a less than accurate algorithm
like GJK. Using this flag shortcuts these issues, which can improves the behavior when driving over kerbs or
small obstacles.
*/
eDISABLE_SUSPENSION_FORCE_PROJECTION = (1 << 2),
/**
\brief Disable check for sprung mass values summing up to chassis mass.
Generally, the sum of the suspension sprung mass values should match the chassis mass. However, there can be
scenarios where this is not necessarily desired. Taking a semi-trailer truck as an example, a large part of
the trailer mass will rest on the tractor unit and not the trailer wheels. This flag allows the user to set
the values as desired without error messages being sent.
*/
eDISABLE_SPRUNG_MASS_SUM_CHECK = (1 << 3)
};
};
@@ -88,7 +125,7 @@ PX_FLAGS_OPERATORS(PxVehicleWheelsSimFlag::Enum, PxU32)
\brief Data structure describing configuration data of a vehicle with up to 20 wheels.
*/
class PxVehicleWheelsSimData
class PX_DEPRECATED PxVehicleWheelsSimData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -584,10 +621,23 @@ public:
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsSimData) & 15));
/**
\brief Description of the per wheel intersection method to be used by PxVehicleWheelsDynData::setTireContacts()
*/
struct PX_DEPRECATED PxTireContactIntersectionMethod
{
enum Enum
{
eRAY = 0,
eCYLINDER
};
};
/**
\brief Data structure with instanced dynamics data for wheels
*/
class PxVehicleWheelsDynData
class PX_DEPRECATED PxVehicleWheelsDynData
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -674,6 +724,24 @@ public:
*/
void copy(const PxVehicleWheelsDynData& src, const PxU32 srcWheel, const PxU32 trgWheel);
/**
\brief Directly set tire contact plane and friction for all tires on the vehicle as an alternative to using PxVehicleSuspensionSweeps() or PxVehicleSuspensionRaycasts().
\param[in] nbHits is an array describing whether each tire has a contact plane or not. Each element of the array is either 0 (no contact) or 1 (contact).
\param[in] contactPlanes is an array of contact planes describing the contact plane per tire.
\param[in] contactFrictions is the friction value of each tire contact with the drivable surface.
\param[in] intersectionMethods describes how each tire will individually interact with its contact plane in order to compute the spring
compression that places the tire on the contact plane. A value of eCYLINDER will compute the spring compression by intersecting the wheel's
cylindrical shape with the contact plane. A value of eRAY will compute the spring compression by casting a ray through the wheel center
and along the suspension direction until it hits the contact plane.
\param[in] nbWheels is the length of the arrays nbContacts, contactPlanes, contactFrictions and intersectionMethods.
\note Each contact plane (n, d) obeys the rule that all points P on the plane satisfy n.dot(P) + d = 0.0.
\note The contact planes specified by setTireContacts() will persist as driving surfaces until either the next call to setTireContacts() or the next call to
\note The friction values are scaled by PxVehicleTireData::mFrictionVsSlipGraph before being applied to the tire.
\note The vehicle model assumes that the tire contacts are with static objects.
PxVehicleSuspensionSweeps() or PxVehicleSuspensionRaycasts().
*/
void setTireContacts(const PxU32* nbHits, const PxPlane* contactPlanes, const PxReal* contactFrictions, const PxTireContactIntersectionMethod::Enum* intersectionMethods, const PxU32 nbWheels);
private:
/**
@@ -723,6 +791,31 @@ public:
PxU32 getNbWheelRotationAngle() const { return mNbActiveWheels; }
PxVehicleWheels4DynData* getWheel4DynData() const { return mWheels4DynData; }
//~serialization
/**
\brief Retrieve the number of PxConstraint objects associated with the vehicle.
You can use #getConstraints() to retrieve the constraint pointers.
\return Number of constraints associated with this vehicle.
@see PxConstraint getConstraints()
*/
PxU32 getNbConstraints() const { return mNbWheels4; }
/**
\brief Retrieve all the PxConstraint objects associated with the vehicle.
There is one PxConstraint per block of 4 wheels. The count can be extracted through #getNbConstraints()
\param[out] userBuffer The buffer to store the constraint pointers.
\param[in] bufferSize Size of provided user buffer.
\param[in] startIndex Index of first constraint pointer to be retrieved
\return Number of constraint pointers written to the buffer.
@see PxConstraint getNbConstraints()
*/
PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const;
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));
@@ -730,7 +823,7 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheelsDynData) & 15));
\brief Data structure with instanced dynamics data and configuration data of a vehicle with just wheels
@see PxVehicleDrive, PxVehicleDrive4W, PxVehicleDriveTank
*/
class PxVehicleWheels : public PxBase
class PX_DEPRECATED PxVehicleWheels : public PxBase
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
@@ -761,15 +854,21 @@ public:
/**
\brief Compute the rigid body velocity component along the forward vector of the rigid body transform.
\param[in] forwardAxis The axis denoting the local space forward direction of the vehicle.
@see PxVehicleSetBasisVectors
*/
PxReal computeForwardSpeed() const;
PxReal computeForwardSpeed(const PxVec3& forwardAxis = PxVehicleGetDefaultContext().forwardAxis) const;
/**
\brief Compute the rigid body velocity component along the right vector of the rigid body transform.
\param[in] sideAxis The axis denoting the local space side direction of the vehicle.
@see PxVehicleSetBasisVectors
*/
PxReal computeSidewaysSpeed() const;
PxReal computeSidewaysSpeed(const PxVec3& sideAxis = PxVehicleGetDefaultContext().sideAxis) const;
/**
\brief Data describing the setup of all the wheels/suspensions/tires.
@@ -844,7 +943,7 @@ protected:
#if PX_P64_FAMILY
PxU8 mPad0[14];
#else
PxU8 mPad0[14];
PxU8 mPad0[8];
#endif
//serialization
@@ -870,5 +969,4 @@ PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleWheels) & 15));
} // namespace physx
#endif
/** @} */
#endif //PX_VEHICLE_WHEELS_H
#endif