113 lines
4.4 KiB
C++
113 lines
4.4 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxAllocator.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintHelpers.h"
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#include "vehicle2/physxActor/PxVehiclePhysXActorStates.h"
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#include "PxConstraintDesc.h"
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#include "PxConstraint.h"
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#include "PxPhysics.h"
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#include "PxRigidDynamic.h"
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#include "PxArticulationLink.h"
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namespace physx
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{
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namespace vehicle2
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{
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PxConstraintShaderTable gVehicleConstraintTable =
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{
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vehicleConstraintSolverPrep,
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visualiseVehicleConstraint,
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PxConstraintFlag::Enum(0)
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};
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void PxVehicleConstraintsCreate(
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const PxVehicleAxleDescription& axleDescription,
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PxPhysics& physics, PxRigidBody& physxActor,
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PxVehiclePhysXConstraints& vehicleConstraints)
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{
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vehicleConstraints.setToDefault();
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//Each PxConstraint has a limit of 12 1d constraints.
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//Each wheel has longitudinal, lateral and suspension limit degrees of freedom.
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//This sums up to 3 dofs per wheel and 12 dofs per 4 wheels.
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//4 wheels therefore equals 1 PxConstraint
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//Iterate over each block of 4 wheels and create a PxConstraints for each block of 4.
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PxU32 constraintIndex = 0;
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for(PxU32 i = 0; i < axleDescription.getNbWheels(); i+= PxVehiclePhysXConstraintLimits::eNB_WHEELS_PER_PXCONSTRAINT)
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{
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void* memory = PX_ALLOC(sizeof(PxVehicleConstraintConnector), PxVehicleConstraintConnector);
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PxVehicleConstraintConnector* pxConnector = PX_PLACEMENT_NEW(memory, PxVehicleConstraintConnector)(vehicleConstraints.constraintStates + i);
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PxConstraint* pxConstraint = physics.createConstraint(&physxActor, NULL, *pxConnector, gVehicleConstraintTable, sizeof(PxVehiclePhysXConstraintState)*PxVehiclePhysXConstraintLimits::eNB_WHEELS_PER_PXCONSTRAINT);
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vehicleConstraints.constraints[constraintIndex] = pxConstraint;
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vehicleConstraints.constraintConnectors[constraintIndex] = pxConnector;
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constraintIndex++;
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}
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}
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void PxVehicleConstraintsDirtyStateUpdate
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(PxVehiclePhysXConstraints& vehicleConstraints)
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{
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for (PxU32 i = 0; i < PxVehiclePhysXConstraintLimits::eNB_CONSTRAINTS_PER_VEHICLE; i++)
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{
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if (vehicleConstraints.constraints[i])
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{
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vehicleConstraints.constraints[i]->markDirty();
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}
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}
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}
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void PxVehicleConstraintsDestroy(
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PxVehiclePhysXConstraints& vehicleConstraints)
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{
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for (PxU32 i = 0; i < PxVehiclePhysXConstraintLimits::eNB_CONSTRAINTS_PER_VEHICLE; i++)
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{
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if (vehicleConstraints.constraints[i])
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{
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vehicleConstraints.constraints[i]->release();
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vehicleConstraints.constraints[i] = NULL;
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}
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if (vehicleConstraints.constraintConnectors[i])
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{
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vehicleConstraints.constraintConnectors[i]->~PxVehicleConstraintConnector();
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PX_FREE(vehicleConstraints.constraintConnectors[i]);
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vehicleConstraints.constraintConnectors[i] = NULL;
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}
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}
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}
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} //namespace vehicle2
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} //namespace physx
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