void PxVehicleDriveTank::setup
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData& driveData,
const PxU32 numDrivenWheels)
{
PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDriveTank::setup - illegal drive data");
//Set up the wheels.
PxVehicleDrive::setup(physics,vehActor,wheelsData,numDrivenWheels,0);
//Start setting up the drive.
PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
//Copy the simulation data.
mDriveSimData = driveData;
}
void PxVehicleWheels::setup
(PxPhysics* physics, PxRigidDynamic* vehActor,
const PxVehicleWheelsSimData& wheelsData,
const PxU32 numDrivenWheels, const PxU32 numNonDrivenWheels)
{
PX_CHECK_AND_RETURN(wheelsData.getNumWheels() == mWheelsSimData.getNumWheels(), "PxVehicleWheels::setup - vehicle must be setup with same number of wheels as wheelsData");
PX_CHECK_AND_RETURN(vehActor, "PxVehicleWheels::setup - vehActor is null ptr : you need to instantiate an empty PxRigidDynamic for the vehicle");
PX_CHECK_AND_RETURN(vehActor->getNbShapes() >= (numDrivenWheels + numNonDrivenWheels + 1), "PxVehicleWheels::setup - not enough wheels shapes have been added to vehActor");
PX_CHECK_AND_RETURN(wheelsData.isValid(), "PxVehicleWheels::setup -invalid wheelsData");
#ifdef PX_CHECKED
PxF32 totalSprungMass=0.0f;
for(PxU32 i=0;i<(numDrivenWheels+numNonDrivenWheels);i++)
{
totalSprungMass+=wheelsData.getSuspensionData(i).mSprungMass;
}
PX_CHECK_MSG(PxAbs((vehActor->getMass()-totalSprungMass)/vehActor->getMass()) < 0.01f, "Sum of suspension sprung masses doesn't match actor mass");
#endif
//Copy the simulation data.
mWheelsSimData=wheelsData;
//Set the actor pointer.
mActor=vehActor;
//Pose the wheels from the wheels offset data.
const PxTransform chassisCMOffset=vehActor->getCMassLocalPose();
for(PxU32 i=0;i<wheelsData.mNumActiveWheels;i++)
{
if(mWheelShapeMap[i]!=PX_MAX_U8)
{
//Get the shape.
const PxU32 shapeIndex=mWheelShapeMap[i];
PxShape* shapeBuffer[1];
vehActor->getShapes(shapeBuffer,1,shapeIndex);
PxTransform wheelOffset=chassisCMOffset;
wheelOffset.p+=wheelsData.getWheelCentreOffset(i);
shapeBuffer[0]->setLocalPose(wheelOffset);
}
}
//Set all the sq result ptrs to null.
const PxU32 numSuspWheelTire4=wheelsData.mNumWheels4;
for(PxU32 i=0;i<numSuspWheelTire4;i++)
{
mWheelsDynData.mWheels4DynData[i].mSqResults=NULL;
}
//Set up the suspension limits constraints.
for(PxU32 i=0;i<numSuspWheelTire4;i++)
{
PxVehicleConstraintShader& shader=mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader();
for(PxU32 j=0;j<4;j++)
{
shader.mData.mSuspLimitData.mCMOffsets[j]=wheelsData.mWheels4SimData[i].getSuspForceAppPointOffset(j);
shader.mData.mSuspLimitData.mDirs[j]=wheelsData.mWheels4SimData[i].getSuspTravelDirection(j);
shader.mData.mSuspLimitData.mErrors[j]=0.0f;
shader.mData.mSuspLimitData.mActiveFlags[j]=false;
shader.mData.mStickyTireData.mCMOffsets[j]=PxVec3(0,0,0);
shader.mData.mStickyTireData.mDirs[j]=PxVec3(0,0,0);
shader.mData.mStickyTireData.mTargetSpeeds[j]=0.0f;
shader.mData.mStickyTireData.mActiveFlags[j]=false;
}
#ifdef PX_PS3
PxConstraintShaderTable t =
{
PxVehicleConstraintShader::vehicleSuspLimitConstraintSolverPrep,
PxVehicle4WSuspLimitConstraintShaderSpu,
PXVEHICLE4WSUSPLIMITCONSTRAINTSHADERSPU_SIZE,
0,
PxVehicleConstraintShader::visualiseConstraint
};
#else
PxConstraintShaderTable t =
{
PxVehicleConstraintShader::vehicleSuspLimitConstraintSolverPrep,
0,
0,
0,
PxVehicleConstraintShader::visualiseConstraint
};
#endif
shader.mConstraint=physics->createConstraint(vehActor, NULL, shader, t, sizeof(PxVehicleConstraintShader::VehicleConstraintData));
shader.mConstraint->markDirty();
}
//Set up the shader data ptrs.
for(PxU32 i=0;i<wheelsData.mNumActiveWheels;i++)
{
mWheelsDynData.setTireForceShaderData(i,&mWheelsSimData.getTireData(i));
}
//Disable the unused wheels.
for(PxU32 i=wheelsData.mNumActiveWheels;i<4*mWheelsSimData.mNumWheels4;i++)
{
mWheelsSimData.disableWheel(i);
}
}
const PxVec3& PxVehicleWheelsSimData::getWheelCentreOffset(const PxU32 id) const
{
PX_CHECK_MSG(id < 4*mNumWheels4, "PxVehicleWheelsSimData::getWheelCentreOffset - Illegal wheel");
return mWheels4SimData[id>>2].getWheelCentreOffset(id & 3);
}
const PxVec3& PxVehicleWheelsSimData::getSuspTravelDirection(const PxU32 id) const
{
PX_CHECK_MSG(id < 4*mNumWheels4, "PxVehicleWheelsSimData::getSuspTravelDirection - Illegal wheel");
return mWheels4SimData[id>>2].getSuspTravelDirection(id & 3);
}
const PxVehicleTireData& PxVehicleWheelsSimData::getTireData(const PxU32 id) const
{
PX_CHECK_MSG(id < 4*mNumWheels4, "PxVehicleWheelsSimData::getTireData - Illegal wheel");
return mWheels4SimData[id>>2].getTireData(id & 3);
}
void testValidAnalogValue(const PxF32 actualValue, const PxF32 minVal, const PxF32 maxVal, const char* errorString)
{
const PxF32 tolerance = 1e-2f;
PX_CHECK_MSG((actualValue > (minVal - tolerance)) && (actualValue < (maxVal + tolerance)), errorString);
}