bool PxVehicleTireLoadFilterData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mMaxNormalisedLoad>=mMinNormalisedLoad, "PxVehicleTireLoadFilterData.mMaxNormalisedLoad must be greater than or equal to PxVehicleTireLoadFilterData.mMinNormalisedLoad", false);
PX_CHECK_AND_RETURN_VAL(mMaxFilteredNormalisedLoad>0, "PxVehicleTireLoadFilterData.mMaxFilteredNormalisedLoad must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/(mMaxNormalisedLoad - mMinNormalisedLoad)) - mDenominator) < 0.001f, "PxVehicleTireLoadFilterData.mMaxFilteredNormalisedLoad, PxVehicleTireLoadFilterData.mMinNormalisedLoad, and PxVehicleTireLoadFilterData.mDenominator don't match", false);
return true;
}
PxReal PxVehicleDrivableSurfaceToTireFrictionPairs::getTypePairFriction(const PxU32 surfaceType, const PxU32 tireType) const
{
PX_CHECK_AND_RETURN_VAL(tireType<mNumTireTypes, "Invalid tireType", 0.0f);
PX_CHECK_AND_RETURN_VAL(surfaceType<mNumSurfaceTypes, "Invalid surfaceType", 0.0f);
return *(mPairs + mNumTireTypes*surfaceType + tireType);
}
bool PxVehicleAckermannGeometryData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mAccuracy>=0.0f && mAccuracy<=1.0f, "PxVehicleAckermannGeometryData.mAccuracy must be in range (0,1)", false);
PX_CHECK_AND_RETURN_VAL(mFrontWidth>0.0f, "PxVehicleAckermannGeometryData.mFrontWidth must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mRearWidth>0.0f, "PxVehicleAckermannGeometryData.mRearWidth must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mAxleSeparation>0.0f, "PxVehicleAckermannGeometryData.mAxleSeparation must be greater than zero", false);
return true;
}
bool PxVehicleDriveSimData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mEngine.isValid(), "Invalid PxVehicleCoreSimulationData.mEngine", false);
PX_CHECK_AND_RETURN_VAL(mGears.isValid(), "Invalid PxVehicleCoreSimulationData.mGears", false);
PX_CHECK_AND_RETURN_VAL(mClutch.isValid(), "Invalid PxVehicleCoreSimulationData.mClutch", false);
PX_CHECK_AND_RETURN_VAL(mAutoBox.isValid(), "Invalid PxVehicleCoreSimulationData.mAutoBox", false);
return true;
}
bool PxVehicleTireData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mFrictionVsSlipGraph[0][0]>=0.0f && mFrictionVsSlipGraph[0][1]>=0.0f, "Illegal values for mFrictionVsSlipGraph[0]", false);
PX_CHECK_AND_RETURN_VAL(mFrictionVsSlipGraph[1][0]>=0.0f && mFrictionVsSlipGraph[1][1]>=0.0f, "Illegal values for mFrictionVsSlipGraph[1]", false);
PX_CHECK_AND_RETURN_VAL(mFrictionVsSlipGraph[2][0]>=0.0f && mFrictionVsSlipGraph[2][1]>=0.0f, "Illegal values for mFrictionVsSlipGraph[2]", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/(mFrictionVsSlipGraph[1][0]-mFrictionVsSlipGraph[0][0])) - mFrictionVsSlipGraphRecipx1Minusx0) < 0.001f, "PxVehicleTireData.mFrictionVsSlipGraphRecipx1Minusx0 not set up", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/(mFrictionVsSlipGraph[2][0]-mFrictionVsSlipGraph[1][0])) - mFrictionVsSlipGraphRecipx2Minusx1) < 0.001f, "PxVehicleTireData.mFrictionVsSlipGraphRecipx2Minusx1 not set up", false);
return true;
}
bool PxVehicleSuspensionData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mSpringStrength>=0.0f, "PxVehicleSuspensionData.mSpringStrength must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mSpringDamperRate>=0.0f, "PxVehicleSuspensionData.mSpringDamperRate must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mMaxCompression>=0.0f, "PxVehicleSuspensionData.mMaxCompression must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mMaxDroop>=0.0f, "PxVehicleSuspensionData.mMaxDroop must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mSprungMass>=0.0f, "PxVehicleSuspensionData.mSprungMass must be greater than or equal to zero", false);
return true;
}
bool PxVehicleAutoBoxData::isValid() const
{
for(PxU32 i=0;i<PxVehicleGearsData::eMAX_NUM_GEAR_RATIOS;i++)
{
PX_CHECK_AND_RETURN_VAL(mUpRatios[i]>=0.0f, "PxVehicleAutoBoxData.mUpRatios must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mDownRatios[i]>=0.0f, "PxVehicleAutoBoxData.mDownRatios must be greater than or equal to zero", false);
}
return true;
}
bool PxVehicleWheelData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mRadius>0.0f, "PxVehicleWheelData.mRadius must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mWidth>0.0f, "PxVehicleWheelData.mWidth must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mMass>0.0f, "PxVehicleWheelData.mMass must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mMOI>0.0f, "PxVehicleWheelData.mMOI must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mDampingRate>0.0f, "PxVehicleWheelData.mDampingRate must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mMaxBrakeTorque>=0.0f, "PxVehicleWheelData.mMaxBrakeTorque must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mMaxHandBrakeTorque>=0.0f, "PxVehicleWheelData.mMaxHandBrakeTorque must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mToeAngle<=PxPi, "PxVehicleWheelData.mToeAngle must be less than Pi", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/mRadius) - mRecipRadius) < 0.001f, "PxVehicleWheelData.mRadius and PxVehicleWheelData.mRecipRadius don't match", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/mMOI) - mRecipMOI) < 0.001f, "PxVehicleWheelData.mMOI and PxVehicleWheelData.mRecipMOI don't match", false);
return true;
}
bool NpArticulation::isSleeping() const
{
NP_READ_CHECK(getOwnerScene());
PX_CHECK_AND_RETURN_VAL(getAPIScene(), "Articulation::isSleeping: articulation must be in a scene.", true);
return getArticulation().isSleeping();
}
bool PxVehicleWheelsDynData::isValid() const
{
for(PxU32 i=0;i<mNumWheels4;i++)
{
PX_CHECK_AND_RETURN_VAL(mWheels4DynData[i].isValid(), "Invalid PxVehicleSuspWheelTireNDynData.mSuspWheelTire4DynData[i]", false);
}
return true;
}
bool PxVehicleWheels4SimData::isValid(const PxU32 id) const
{
PX_ASSERT(id<4);
PX_CHECK_AND_RETURN_VAL(mSuspensions[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspensions", false);
PX_CHECK_AND_RETURN_VAL(mWheels[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mWheels", false);
PX_CHECK_AND_RETURN_VAL(mTires[id].isValid(), "Invalid PxVehicleSuspWheelTire4SimulationData.mTires", false);
PX_CHECK_AND_RETURN_VAL(mSuspDownwardTravelDirections[id].magnitude()>=0.999f && mSuspDownwardTravelDirections[id].magnitude()<=1.001f, "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspDownwardTravelDirections", false);
PX_CHECK_AND_RETURN_VAL(mSuspForceAppPointOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mSuspForceAppPointOffsets.mSuspForceAppPointOffsets", false);
PX_CHECK_AND_RETURN_VAL(mTireForceAppPointOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mTireForceAppPointOffsets.mTireForceAppPointOffsets", false);
PX_CHECK_AND_RETURN_VAL(mWheelCentreOffsets[id].magnitude()!=0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mWheelCentreOffsets.mWheelCentreOffsets", false);
PX_CHECK_AND_RETURN_VAL(mTireRestLoads[id]>0.0f, "Invalid PxVehicleSuspWheelTire4SimulationData.mTireRestLoads", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/mTireRestLoads[id]) - mRecipTireRestLoads[id]) <= 0.001f, "Invalid PxVehicleSuspWheelTire4SimulationData.mRecipTireRestLoads", false);
PX_UNUSED(id);
return true;
}
PxSpatialIndexItemId NpSpatialIndex::insert(PxSpatialIndexItem& item,
const PxBounds3& bounds)
{
PX_SIMD_GUARD;
PX_CHECK_AND_RETURN_VAL(bounds.isValid(), "PxSpatialIndex::insert: bounds are not valid.", PX_SPATIAL_INDEX_INVALID_ITEM_ID);
Sq::PrunerHandle output;
Sq::PrunerPayload payload;
payload.data[0] = reinterpret_cast<size_t>(&item);
mPruner->addObjects(&output, &bounds, &payload);
mPendingUpdates = true;
return output;
}
bool PxVehicleEngineData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mPeakTorque>0.0f, "PxVehicleEngineData.mPeakTorque must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mMaxOmega>0.0f, "PxVehicleEngineData.mMaxOmega must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mDampingRateFullThrottle>0.0f, "PxVehicleEngineData.mDampingRateFullThrottle must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mDampingRateZeroThrottleClutchEngaged>0.0f, "PxVehicleEngineData.mDampingRateZeroThrottleClutchEngaged must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mDampingRateZeroThrottleClutchDisengaged>0.0f, "PxVehicleEngineData.mDampingRateZeroThrottleClutchDisengaged must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mRecipMaxOmega>0.0f, "PxVehicleEngineData.mRecipMaxOmega must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(PxAbs((1.0f/mMaxOmega)-mRecipMaxOmega) <= 0.001f, "PxVehicleEngineData.mMaxOmega and PxVehicleEngineData.mRecipMaxOmega don't match", false);
return true;
}
bool PxVehicleDifferential4WData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mFrontRearSplit<=1.0f && mFrontRearSplit>=0.0f, "PxVehicleDifferential4WData.mFrontRearSplit must be in range (0,1)", false);
PX_CHECK_AND_RETURN_VAL(mFrontLeftRightSplit<=1.0f && mFrontLeftRightSplit>=0.0f, "PxVehicleDifferential4WData.mFrontLeftRightSplit must be in range (0,1)", false);
PX_CHECK_AND_RETURN_VAL(mRearLeftRightSplit<=1.0f || mRearLeftRightSplit>=0.0f, "PxVehicleDifferential4WData.mRearLeftRightSplit must be in range (0,1)", false);
PX_CHECK_AND_RETURN_VAL(mCentreBias>=1.0f, "PxVehicleDifferential4WData.mCentreBias must be greater than or equal to 1.0f", false);
PX_CHECK_AND_RETURN_VAL(mFrontBias>=1.0f, "PxVehicleDifferential4WData.mFrontBias must be greater than or equal to 1.0f", false);
PX_CHECK_AND_RETURN_VAL(mRearBias>=1.0f, "PxVehicleDifferential4WData.mRearBias must be greater than or equal to 1.0f", false);
PX_CHECK_AND_RETURN_VAL(mType<eMAX_NUM_DIFF_TYPES, "PxVehicleDifferential4WData.mType has illegal value", false);
return true;
}
bool PxVehicleWheelsSimData::isValid() const
{
for(PxU32 i=0;i<mNumWheels4-1;i++)
{
mWheels4SimData[i].isValid(0);
mWheels4SimData[i].isValid(1);
mWheels4SimData[i].isValid(2);
mWheels4SimData[i].isValid(3);
}
const PxU32 numInLastBlock = 4 - (4*mNumWheels4 - mNumActiveWheels);
for(PxU32 i=0;i<numInLastBlock;i++)
{
mWheels4SimData[mNumWheels4-1].isValid(i);
}
PX_CHECK_AND_RETURN_VAL(mNormalisedLoadFilter.isValid(), "Invalid PxVehicleWheelsSimData.mNormalisedLoadFilter", false);
return true;
}
bool PxVehicleGearsData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mFinalRatio>0, "PxVehicleGearsData.mFinalRatio must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mNumRatios>=1, "PxVehicleGearsData.mNumRatios must be greater than zero", false);
PX_CHECK_AND_RETURN_VAL(mSwitchTime>=0.0f, "PxVehicleGearsData.mSwitchTime must be greater than or equal to zero", false);
PX_CHECK_AND_RETURN_VAL(mRatios[PxVehicleGearsData::eREVERSE]<0.0f, "PxVehicleGearsData.mRatios[PxVehicleGearsData::eREVERSE] must be less than zero", false);
PX_CHECK_AND_RETURN_VAL(mRatios[PxVehicleGearsData::eNEUTRAL]==0.0f, "PxVehicleGearsData.mRatios[PxVehicleGearsData::eNEUTRAL] must be zero", false);
for(PxU32 i=PxVehicleGearsData::eFIRST;i<mNumRatios;i++)
{
PX_CHECK_AND_RETURN_VAL(mRatios[i]>0.0f, "Forward gear ratios must be greater than zero", false);
}
for(PxU32 i=PxVehicleGearsData::eSECOND;i<mNumRatios;i++)
{
PX_CHECK_AND_RETURN_VAL(mRatios[i]<mRatios[i-1], "Forward gear ratios must be a descending sequence of gear ratios", false);
}
return true;
}
PxVehicleDrivableSurfaceToTireFrictionPairs* PxVehicleDrivableSurfaceToTireFrictionPairs::create
(const PxU32 maxNumTireTypes, const PxU32 maxNumSurfaceTypes, const PxMaterial** drivableSurfaceMaterials, const PxVehicleDrivableSurfaceType* drivableSurfaceTypes)
{
PX_CHECK_AND_RETURN_VAL(maxNumSurfaceTypes < eMAX_NUM_SURFACE_TYPES, "maxNumSurfaceTypes must be less than eMAX_NUM_SURFACE_TYPES", NULL);
PxU32 byteSize = ((sizeof(PxU32)*(maxNumTireTypes*maxNumSurfaceTypes) + 15) & ~15);
byteSize += ((sizeof(PxMaterial*)*maxNumSurfaceTypes + 15) & ~15);
byteSize += ((sizeof(PxVehicleDrivableSurfaceType)*maxNumSurfaceTypes + 15) & ~15);
byteSize += ((sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) + 15) & ~ 15);
PxU8* ptr = (PxU8*)PX_ALLOC(byteSize, PX_DEBUG_EXP("PxVehicleDrivableSurfaceToTireFrictionPairs"));
PxVehicleDrivableSurfaceToTireFrictionPairs* pairs = (PxVehicleDrivableSurfaceToTireFrictionPairs*)ptr;
ptr += ((sizeof(PxVehicleDrivableSurfaceToTireFrictionPairs) + 15) & ~ 15);
pairs->mPairs = (PxReal*)ptr;
ptr += ((sizeof(PxU32)*(maxNumTireTypes*maxNumSurfaceTypes) + 15) & ~15);
pairs->mDrivableSurfaceMaterials = (const PxMaterial**)ptr;
ptr += ((sizeof(PxMaterial*)*maxNumSurfaceTypes + 15) & ~15);
pairs->mDrivableSurfaceTypes = (PxVehicleDrivableSurfaceType*)ptr;
ptr += ((sizeof(PxVehicleDrivableSurfaceType)*maxNumSurfaceTypes +15) & ~15);
for(PxU32 i=0;i<maxNumSurfaceTypes;i++)
{
pairs->mDrivableSurfaceTypes[i] = drivableSurfaceTypes[i];
pairs->mDrivableSurfaceMaterials[i] = drivableSurfaceMaterials[i];
}
for(PxU32 i=0;i<maxNumTireTypes*maxNumSurfaceTypes;i++)
{
pairs->mPairs[i]=1.0f;
}
pairs->mNumTireTypes=maxNumTireTypes;
pairs->mNumSurfaceTypes=maxNumSurfaceTypes;
return pairs;
}
bool PxVehicleChassisData::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mMOI.x>0.0f && mMOI.y>0.0f && mMOI.z>0.0f, "Illegal PxVehicleChassisData.mMOI - each element of the chassis moi needs to non-zero", false);
PX_CHECK_AND_RETURN_VAL(mMass>0.0f, "Ilegal PxVehicleChassisData.mMass - chassis mass needs to be non-zero", false);
return true;
}
bool PxVehicleWheelsSimData::getIsWheelDisabled(const PxU32 wheel) const
{
PX_CHECK_AND_RETURN_VAL(wheel < 4*mNumWheels4, "PxVehicleWheelsSimData::getIsWheelDisabled - Illegal wheel", false);
const PxVehicleSuspensionData& suspData=getSuspensionData(wheel);
return (PX_DISABLED_SUSPENSION_SPRUNGMASS==suspData.mSprungMass && PX_DISABLED_SUSPENSION_SPRINTSTRENGTH==suspData.mSpringStrength);
}
bool PxVehicleWheels::isValid() const
{
PX_CHECK_AND_RETURN_VAL(mWheelsSimData.isValid(), "invalid mWheelsSimData", false);
PX_CHECK_AND_RETURN_VAL(mWheelsDynData.isValid(), "invalid mWheelsDynData", false);
return true;
}
PxVec3 PxVehicleWheelsDynData::getSuspLineDir(const PxU32 tireIdx) const
{
PX_CHECK_AND_RETURN_VAL(tireIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getSuspLineDirs - Illegal wheel", PxVec3(0,0,0));
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(tireIdx>>2)];
return suspWheelTire4.mSuspLineDirs[tireIdx & 3];
}
PxReal PxVehicleWheelsDynData::getTireFriction(const PxU32 tireIdx) const
{
PX_CHECK_AND_RETURN_VAL(tireIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getTireFriction - Illegal wheel", 0.0f);
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(tireIdx>>2)];
return suspWheelTire4.mTireFrictions[tireIdx & 3];
}
const PxMaterial* PxVehicleWheelsDynData::getTireDrivableSurfaceMaterial(const PxU32 tireIdx) const
{
PX_CHECK_AND_RETURN_VAL(tireIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getTireDrivableSurfaceType - Illegal wheel", 0);
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(tireIdx>>2)];
return suspWheelTire4.mTireSurfaceMaterials[tireIdx & 3];
}
PxReal PxVehicleWheelsDynData::getSteer(const PxU32 wheelIdx) const
{
PX_CHECK_AND_RETURN_VAL(wheelIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getSteer - Illegal wheel", 0.0f);
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
return suspWheelTire4.mSteerAngles[wheelIdx & 3];
}
PxReal PxVehicleWheelsDynData::getSuspJounce(const PxU32 suspIdx) const
{
PX_CHECK_AND_RETURN_VAL(suspIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getSuspJounce - Illegal wheel", 0.0f);
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(suspIdx>>2)];
return suspWheelTire4.mSuspJounces[suspIdx & 3];
}
PxReal PxVehicleWheelsDynData::getWheelRotationSpeed(const PxU32 wheelIdx) const
{
PX_CHECK_AND_RETURN_VAL(wheelIdx < mNumActiveWheels, "PxVehicleWheelsDynData::getWheelRotationSpeed - Illegal wheel", 0.0f);
const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
return suspWheelTire4.mWheelSpeeds[wheelIdx & 3];
}
PxReal PxVehicleDriveDynData::getAnalogInput(const PxU32 type) const
{
PX_CHECK_AND_RETURN_VAL(type<eMAX_NB_ANALOG_INPUTS, "PxVehicleDriveDynData::getAnalogInput - illegal type", 0.0f);
return mControlAnalogVals[type];
}
bool PxVehicleDrive::isValid() const
{
PX_CHECK_AND_RETURN_VAL(PxVehicleWheels::isValid(), "invalid PxVehicleWheels", false);
PX_CHECK_AND_RETURN_VAL(mDriveDynData.isValid(), "Invalid PxVehicleDrive.mCoreSimData", false);
return true;
}
PxReal PxVehicleNoDrive::getBrakeTorque(const PxU32 id) const
{
PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getBrakeTorque - Illegal wheel", 0);
return mBrakeTorques[id];
}
PxReal PxVehicleNoDrive::getSteerAngle(const PxU32 id) const
{
PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getSteerAngle - Illegal wheel",0);
return mSteerAngles[id];
}
