Program Listing for include/vehicle2/pvd/PxVehiclePvdComponents.h
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// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "vehicle2/PxVehicleComponent.h"
#include "vehicle2/PxVehicleParams.h"
#include "PxVehiclePvdFunctions.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
#define VEHICLE_FLOAT_ARRAY_DATA(b) PxVehicleArrayData<PxReal> b; b.setEmpty();
#define VEHICLE_ARRAY_DATA(a, b) PxVehicleArrayData<const a> b; b.setEmpty();
#define VEHICLE_SIZED_ARRAY_DATA(a, b) PxVehicleSizedArrayData<const a> b; b.setEmpty();
class PxVehiclePVDComponent : public PxVehicleComponent
{
public:
PxVehiclePVDComponent() : PxVehicleComponent() , firstTime(true) {}
virtual ~PxVehiclePVDComponent() {}
virtual void getDataForPVDComponent(
const PxVehicleAxleDescription*& axleDescription,
const PxVehicleRigidBodyParams*& rbodyParams, const PxVehicleRigidBodyState*& rbodyState,
const PxVehicleSuspensionStateCalculationParams*& suspStateCalcParams,
PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
const PxVehicleSteerCommandResponseParams*& steerResponseParams,
PxVehicleArrayData<PxReal>& brakeResponseStates,
PxVehicleArrayData<PxReal>& steerResponseStates,
PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams,
const PxVehicleAntiRollTorque*& antiRollTorque,
const PxVehicleCommandState*& commandState,
const PxVehicleDirectDriveThrottleCommandResponseParams*& directDriveThrottleResponseParams,
const PxVehicleDirectDriveTransmissionCommandState*& directDriveTransmissionState,
PxVehicleArrayData<PxReal>& directDrivethrottleResponseState,
const PxVehicleClutchCommandResponseParams*& clutchResponseParams,
const PxVehicleClutchParams*& clutchParams,
const PxVehicleEngineParams*& engineParams,
const PxVehicleGearboxParams*& gearboxParams,
const PxVehicleAutoboxParams*& autoboxParams,
const PxVehicleMultiWheelDriveDifferentialParams*& multiWheelDiffParams,
const PxVehicleFourWheelDriveDifferentialParams*& fourWheelDiffParams,
const PxVehicleEngineDriveTransmissionCommandState*& engineDriveTransmissionState,
const PxVehicleClutchCommandResponseState*& clutchResponseState,
const PxVehicleEngineDriveThrottleCommandResponseState*& engineDriveThrottleResponseState,
const PxVehicleEngineState*& engineState,
const PxVehicleGearboxState*& gearboxState,
const PxVehicleAutoboxState*& autoboxState,
const PxVehicleDifferentialState*& diffState,
const PxVehicleClutchSlipState*& clutchSlipState,
PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxConstraintParams,
PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
const PxVehiclePhysXActor*& physxActor,
const PxVehiclePhysXRoadGeometryQueryParams*& physxRoadGeomQryParams,
PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeomStates,
PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
PxVehiclePvdObjectHandles*& objectHandles) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_UNUSED(dt);
PX_UNUSED(context);
if(!context.pvdContext.attributeHandles || !context.pvdContext.writer)
return true;
const PxVehicleAxleDescription* axleDesc = NULL;
const PxVehicleRigidBodyParams* rbodyParams = NULL;
const PxVehicleRigidBodyState* rbodyState = NULL;
const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams = NULL;
VEHICLE_SIZED_ARRAY_DATA(PxVehicleBrakeCommandResponseParams, brakeResponseParams);
const PxVehicleSteerCommandResponseParams* steerResponseParams = NULL;
VEHICLE_FLOAT_ARRAY_DATA(brakeResponseStates);
VEHICLE_FLOAT_ARRAY_DATA(steerResponseStates);
VEHICLE_ARRAY_DATA(PxVehicleWheelParams, wheelParams);
VEHICLE_ARRAY_DATA(PxVehicleWheelActuationState, wheelActuationStates);
VEHICLE_ARRAY_DATA(PxVehicleWheelRigidBody1dState, wheelRigidBody1dStates);
VEHICLE_ARRAY_DATA(PxVehicleWheelLocalPose, wheelLocalPoses);
VEHICLE_ARRAY_DATA(PxVehicleRoadGeometryState, roadGeomStates);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionParams, suspParams);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionComplianceParams, suspComplianceParams);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionForceParams, suspForceParams);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionState, suspStates);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionComplianceState, suspComplianceStates);
VEHICLE_ARRAY_DATA(PxVehicleSuspensionForce, suspForces);
VEHICLE_ARRAY_DATA(PxVehicleTireForceParams, tireForceParams);
VEHICLE_ARRAY_DATA(PxVehicleTireDirectionState, tireDirectionStates);
VEHICLE_ARRAY_DATA(PxVehicleTireSpeedState, tireSpeedStates);
VEHICLE_ARRAY_DATA(PxVehicleTireSlipState, tireSlipStates);
VEHICLE_ARRAY_DATA(PxVehicleTireStickyState, tireStickyStates);
VEHICLE_ARRAY_DATA(PxVehicleTireGripState, tireGripStates);
VEHICLE_ARRAY_DATA(PxVehicleTireCamberAngleState, tireCamberStates);
VEHICLE_ARRAY_DATA(PxVehicleTireForce, tireForces);
VEHICLE_SIZED_ARRAY_DATA(PxVehicleAntiRollForceParams, antiRollParams);
const PxVehicleAntiRollTorque* antiRollTorque = NULL;
const PxVehicleCommandState* commandState = NULL;
const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams = NULL;
const PxVehicleDirectDriveTransmissionCommandState* directDriveTransmissionState = NULL;
VEHICLE_FLOAT_ARRAY_DATA(directDrivethrottleResponseState);
const PxVehicleClutchCommandResponseParams* clutchResponseParams = NULL;
const PxVehicleClutchParams* clutchParams = NULL;
const PxVehicleEngineParams* engineParams = NULL;
const PxVehicleGearboxParams* gearboxParams = NULL;
const PxVehicleAutoboxParams* autoboxParams = NULL;
const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams = NULL;
const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffParams = NULL;
const PxVehicleEngineDriveTransmissionCommandState* engineDriveTransmissionCommandState = NULL;
const PxVehicleClutchCommandResponseState* clutchResponseState = NULL;
const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState = NULL;
const PxVehicleEngineState* engineState = NULL;
const PxVehicleGearboxState* gearboxState = NULL;
const PxVehicleAutoboxState* autoboxState = NULL;
const PxVehicleDifferentialState* diffState = NULL;
const PxVehicleClutchSlipState* clutchSlipState = NULL;
VEHICLE_ARRAY_DATA(PxVehiclePhysXSuspensionLimitConstraintParams, physxConstraintParams);
VEHICLE_ARRAY_DATA(PxVehiclePhysXMaterialFrictionParams, physxMaterialFrictionParams);
const PxVehiclePhysXActor* physxActor = NULL;
const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeomQryParams = NULL;
VEHICLE_ARRAY_DATA(PxVehiclePhysXRoadGeometryQueryState, physxRoadGeomStates);
VEHICLE_ARRAY_DATA(PxVehiclePhysXConstraintState, physxConstraintStates);
PxVehiclePvdObjectHandles* omniPvdObjectHandles = NULL;
getDataForPVDComponent(
axleDesc,
rbodyParams, rbodyState,
suspStateCalcParams,
brakeResponseParams, steerResponseParams,
brakeResponseStates, steerResponseStates,
wheelParams,
wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
roadGeomStates,
suspParams, suspComplianceParams, suspForceParams,
suspStates, suspComplianceStates,
suspForces,
tireForceParams,
tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
tireForces,
antiRollParams, antiRollTorque,
commandState,
directDriveThrottleResponseParams, directDriveTransmissionState, directDrivethrottleResponseState,
clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
engineDriveTransmissionCommandState,
clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
physxConstraintParams, physxMaterialFrictionParams,
physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
omniPvdObjectHandles);
if(!omniPvdObjectHandles)
return true;
if(firstTime)
{
PxVehiclePvdRigidBodyRegister(
rbodyParams, rbodyState,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdSuspensionStateCalculationParamsRegister(
suspStateCalcParams,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdCommandResponseRegister(
brakeResponseParams, steerResponseParams,
brakeResponseStates, steerResponseStates,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdWheelAttachmentsRegister(
*axleDesc,
wheelParams, wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
roadGeomStates,
suspParams, suspComplianceParams, suspForceParams, suspStates, suspComplianceStates,
suspForces,
tireForceParams,
tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
tireForces,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdAntiRollsRegister(
antiRollParams, antiRollTorque,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdDirectDrivetrainRegister(
commandState, directDriveTransmissionState,
directDriveThrottleResponseParams,
directDrivethrottleResponseState,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdEngineDrivetrainRegister(
commandState, engineDriveTransmissionCommandState,
clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdPhysXWheelAttachmentRegister(
*axleDesc,
physxConstraintParams, physxMaterialFrictionParams,
physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdPhysXRigidActorRegister(
physxActor,
*context.pvdContext.attributeHandles, omniPvdObjectHandles, context.pvdContext.writer);
firstTime = false;
}
PxVehiclePvdRigidBodyWrite(
rbodyParams, rbodyState,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdSuspensionStateCalculationParamsWrite(
suspStateCalcParams,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdCommandResponseWrite(
*axleDesc, brakeResponseParams, steerResponseParams, brakeResponseStates, steerResponseStates,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdWheelAttachmentsWrite(
*axleDesc,
wheelParams, wheelActuationStates, wheelRigidBody1dStates, wheelLocalPoses,
roadGeomStates,
suspParams, suspComplianceParams, suspForceParams, suspStates, suspComplianceStates,
suspForces,
tireForceParams,
tireDirectionStates, tireSpeedStates, tireSlipStates, tireStickyStates, tireGripStates, tireCamberStates,
tireForces,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdAntiRollsWrite(
antiRollParams, antiRollTorque,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdDirectDrivetrainWrite(
*axleDesc,
commandState, directDriveTransmissionState,
directDriveThrottleResponseParams,
directDrivethrottleResponseState,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdEngineDrivetrainWrite(
commandState, engineDriveTransmissionCommandState,
clutchResponseParams, clutchParams, engineParams, gearboxParams, autoboxParams, multiWheelDiffParams, fourWheelDiffParams,
clutchResponseState, throttleResponseState, engineState, gearboxState, autoboxState, diffState, clutchSlipState,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdPhysXWheelAttachmentWrite(
*axleDesc,
physxConstraintParams, physxMaterialFrictionParams,
physxActor, physxRoadGeomQryParams, physxRoadGeomStates, physxConstraintStates,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
PxVehiclePvdPhysXRigidActorWrite(
physxActor,
*context.pvdContext.attributeHandles, *omniPvdObjectHandles, context.pvdContext.writer);
return true;
}
private:
bool firstTime;
};
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif