PxVehicleDriveTank.h

Go to the documentation of this file.

//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    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
// 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
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (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) 2008-2021 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

#include "vehicle/PxVehicleDrive.h"
#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleComponents.h"


#if !PX_DOXYGEN
namespace physx
{
#endif

struct PxFilterData;
class PxGeometry;
class PxPhysics;
class PxVehicleDrivableSurfaceToTireFrictionPairs;
class PxShape;
class PxMaterial;
class PxRigidDynamic;

struct PxVehicleDriveTankWheelOrder
{
    enum Enum
    {
        eFRONT_LEFT=0,
        eFRONT_RIGHT,
        e1ST_FROM_FRONT_LEFT,
        e1ST_FROM_FRONT_RIGHT,
        e2ND_FROM_FRONT_LEFT,
        e2ND_FROM_FRONT_RIGHT,
        e3RD_FROM_FRONT_LEFT,
        e3RD_FROM_FRONT_RIGHT,
        e4TH_FROM_FRONT_LEFT,
        e4TH_FROM_FRONT_RIGHT,
        e5TH_FROM_FRONT_LEFT,
        e5TH_FROM_FRONT_RIGHT,
        e6TH_FROM_FRONT_LEFT,
        e6TH_FROM_FRONT_RIGHT,
        e7TH_FROM_FRONT_LEFT,
        e7TH_FROM_FRONT_RIGHT,
        e8TH_FROM_FRONT_LEFT,
        e8TH_FROM_FRONT_RIGHT,
        e9TH_FROM_FRONT_LEFT,
        e9TH_FROM_FRONT_RIGHT
    };
};


struct PxVehicleDriveTankControl
{
    enum Enum
    {
        eANALOG_INPUT_ACCEL=0,
        eANALOG_INPUT_BRAKE_LEFT,   
        eANALOG_INPUT_BRAKE_RIGHT,  
        eANALOG_INPUT_THRUST_LEFT,  
        eANALOG_INPUT_THRUST_RIGHT, 
        eMAX_NB_DRIVETANK_ANALOG_INPUTS
    };
};

struct PxVehicleDriveTankControlModel
{
    enum Enum
    {
        eSTANDARD=0,
        eSPECIAL
    };
};


class PxVehicleDriveTank : public PxVehicleDrive
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    friend class PxVehicleUpdate;


    static PxVehicleDriveTank* allocate(const PxU32 nbWheels);

    void free();

    void setup
        (PxPhysics* physics, PxRigidDynamic* vehActor, 
         const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
         const PxU32 nbDrivenWheels);

    static PxVehicleDriveTank* create
        (PxPhysics* physics, PxRigidDynamic* vehActor, 
         const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
         const PxU32 nbDrivenWheels);

    void setDriveModel(const PxVehicleDriveTankControlModel::Enum driveModel)
    {
        mDriveModel=driveModel;
    }

    PxVehicleDriveTankControlModel::Enum getDriveModel() const {return mDriveModel;}

    void setToRestState();

    PxVehicleDriveSimData mDriveSimData;

private:
    bool isValid() const;

    PxVehicleDriveTankControlModel::Enum mDriveModel;

    PxU32 mPad[3];

//serialization
public:
                                            PxVehicleDriveTank(PxBaseFlags baseFlags) : PxVehicleDrive(baseFlags)           {}
    static      PxVehicleDriveTank*         createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                        getBinaryMetaData(PxOutputStream& stream);
    virtual     const char*                 getConcreteTypeName()       const   {   return "PxVehicleDriveTank";    }
    virtual     bool                        isKindOf(const char* name)  const   {   return !::strcmp("PxVehicleDriveTank", name) || PxBase::isKindOf(name); }
protected:
                                            PxVehicleDriveTank();
                                            ~PxVehicleDriveTank(){}
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleDriveTank) & 15));

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_DRIVE_TANK_H