include/vehicle2/physxActor/PxVehiclePhysXActorComponents.h
File members: include/vehicle2/physxActor/PxVehiclePhysXActorComponents.h
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// 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.
#pragma once
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
#include "vehicle2/wheel/PxVehicleWheelStates.h"
#include "PxVehiclePhysXActorFunctions.h"
#include "PxVehiclePhysXActorStates.h"
#include "common/PxProfileZone.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
class PxVehiclePhysXActorBeginComponent : public PxVehicleComponent
{
public:
PxVehiclePhysXActorBeginComponent() : PxVehicleComponent() {}
virtual ~PxVehiclePhysXActorBeginComponent() {}
virtual void getDataForPhysXActorBeginComponent(
const PxVehicleAxleDescription*& axleDescription,
const PxVehicleCommandState*& commands,
const PxVehicleEngineDriveTransmissionCommandState*& transmissionCommands,
const PxVehicleGearboxParams*& gearParams,
const PxVehicleGearboxState*& gearState,
const PxVehicleEngineParams*& engineParams,
PxVehiclePhysXActor*& physxActor,
PxVehiclePhysXSteerState*& physxSteerState,
PxVehiclePhysXConstraints*& physxConstraints,
PxVehicleRigidBodyState*& rigidBodyState,
PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
PxVehicleEngineState*& engineState) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_UNUSED(dt);
PX_UNUSED(context);
PX_PROFILE_ZONE("PxVehiclePhysXActorBeginComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
const PxVehicleCommandState* commands;
const PxVehicleEngineDriveTransmissionCommandState* transmissionCommands;
const PxVehicleGearboxParams* gearParams;
const PxVehicleGearboxState* gearState;
const PxVehicleEngineParams* engineParams;
PxVehiclePhysXActor* physxActor;
PxVehiclePhysXSteerState* physxSteerState;
PxVehiclePhysXConstraints* physxConstraints;
PxVehicleRigidBodyState* rigidBodyState;
PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
PxVehicleEngineState* engineState;
getDataForPhysXActorBeginComponent(axleDescription, commands, transmissionCommands,
gearParams, gearState, engineParams,
physxActor, physxSteerState, physxConstraints,
rigidBodyState, wheelRigidBody1dStates, engineState);
if (physxActor->rigidBody->getScene()) // Considering case where actor is not in a scene and constraints get solved via immediate mode
{
PxVehiclePhysxActorWakeup(*commands, transmissionCommands, gearParams, gearState,
*physxActor->rigidBody, *physxSteerState);
if (PxVehiclePhysxActorSleepCheck(*axleDescription, *physxActor->rigidBody, engineParams,
*rigidBodyState, *physxConstraints, wheelRigidBody1dStates, engineState))
{
return false;
}
}
PxVehicleReadRigidBodyStateFromPhysXActor(*physxActor->rigidBody, *rigidBodyState);
return true;
}
};
class PxVehiclePhysXActorEndComponent : public PxVehicleComponent
{
public:
PxVehiclePhysXActorEndComponent() : PxVehicleComponent() {}
virtual ~PxVehiclePhysXActorEndComponent() {}
virtual void getDataForPhysXActorEndComponent(
const PxVehicleAxleDescription*& axleDescription,
const PxVehicleRigidBodyState*& rigidBodyState,
PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
PxVehicleArrayData<const PxTransform>& wheelShapeLocalPoses,
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
const PxVehicleGearboxState*& gearState,
const PxReal*& throttle,
PxVehiclePhysXActor*& physxActor) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_UNUSED(dt);
PX_PROFILE_ZONE("PxVehiclePhysXActorEndComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
const PxVehicleRigidBodyState* rigidBodyState;
PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
PxVehicleArrayData<const PxTransform> wheelShapeLocalPoses;
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
PxVehicleArrayData<const PxVehicleWheelLocalPose> wheelLocalPoses;
const PxVehicleGearboxState* gearState;
const PxReal* throttle;
PxVehiclePhysXActor* physxActor;
getDataForPhysXActorEndComponent(axleDescription, rigidBodyState,
wheelParams, wheelShapeLocalPoses, wheelRigidBody1dStates, wheelLocalPoses, gearState, throttle,
physxActor);
for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
{
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
PxVehicleWriteWheelLocalPoseToPhysXWheelShape(wheelLocalPoses[wheelId].localPose, wheelShapeLocalPoses[wheelId],
physxActor->wheelShapes[wheelId]);
}
if (context.getType() == PxVehicleSimulationContextType::ePHYSX)
{
const PxVehiclePhysXSimulationContext& physxContext = static_cast<const PxVehiclePhysXSimulationContext&>(context);
PxVehicleWriteRigidBodyStateToPhysXActor(physxContext.physxActorUpdateMode, *rigidBodyState, dt, *physxActor->rigidBody);
PxVehiclePhysxActorKeepAwakeCheck(*axleDescription, wheelParams, wheelRigidBody1dStates,
physxContext.physxActorWakeCounterThreshold, physxContext.physxActorWakeCounterResetValue, gearState, throttle,
*physxActor->rigidBody);
}
else
{
PX_ALWAYS_ASSERT();
}
return true;
}
};
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif