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- //
- // 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.
-
- #include "common/PxBase.h"
- #include "common/PxCollection.h"
- #include "extensions/PxRepXSimpleType.h"
-
- #include "PxVehicleMetaDataObjects.h"
- #include "PxVehicleSerialization.h"
- #include "PxVehicleSuspWheelTire4.h"
- #include "PxVehicleSuspLimitConstraintShader.h"
- #include "SnRepXSerializerImpl.h"
- #include "PsFPU.h"
-
-
- namespace physx
- {
- using namespace Sn;
-
- template<typename TVehicleType>
- inline void* createVehicle( PxPhysics& physics, PxRigidDynamic* vehActor,
- const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData, const PxVehicleDriveSimDataNW& driveDataNW,
- const PxU32 numWheels, const PxU32 numNonDrivenWheels)
- {
- PX_UNUSED(physics);
- PX_UNUSED(vehActor);
- PX_UNUSED(wheelsData);
- PX_UNUSED(driveData);
- PX_UNUSED(driveDataNW);
- PX_UNUSED(numWheels);
- PX_UNUSED(numNonDrivenWheels);
- return NULL;
- }
-
- template<>
- inline void* createVehicle<PxVehicleDrive4W>(PxPhysics& physics, PxRigidDynamic* vehActor,
- const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData, const PxVehicleDriveSimDataNW& /*driveDataNW*/,
- const PxU32 numWheels, const PxU32 numNonDrivenWheels)
- {
- PxVehicleDrive4W* vehDrive4W = PxVehicleDrive4W::allocate(numWheels);
- vehDrive4W->setup(&physics, vehActor->is<PxRigidDynamic>(), wheelsData, driveData, numNonDrivenWheels);
- return vehDrive4W;
- }
-
- template<>
- inline void* createVehicle<PxVehicleDriveTank>(PxPhysics& physics, PxRigidDynamic* vehActor,
- const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData, const PxVehicleDriveSimDataNW& /*driveDataNW*/,
- const PxU32 numWheels, const PxU32 numNonDrivenWheels)
- {
- PxVehicleDriveTank* tank = PxVehicleDriveTank::allocate(numWheels);
- tank->setup(&physics, vehActor->is<PxRigidDynamic>(), wheelsData, driveData, numWheels - numNonDrivenWheels);
- return tank;
- }
-
- template<>
- inline void* createVehicle<PxVehicleDriveNW>(PxPhysics& physics, PxRigidDynamic* vehActor,
- const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& /*driveData*/, const PxVehicleDriveSimDataNW& driveDataNW,
- const PxU32 numWheels, const PxU32 numNonDrivenWheels)
- {
- PxVehicleDriveNW* vehDriveNW = PxVehicleDriveNW::allocate(numWheels);
- vehDriveNW->setup(&physics, vehActor->is<PxRigidDynamic>(), wheelsData, driveDataNW, numWheels - numNonDrivenWheels);
- return vehDriveNW;
- }
-
- template<>
- inline void* createVehicle<PxVehicleNoDrive>(PxPhysics& physics, PxRigidDynamic* vehActor,
- const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& /*driveData*/, const PxVehicleDriveSimDataNW& /*driveDataNW*/,
- const PxU32 numWheels, const PxU32 /*numNonDrivenWheels*/)
- {
- PxVehicleNoDrive* vehNoDrive = PxVehicleNoDrive::allocate(numWheels);
- vehNoDrive->setup(&physics, vehActor->is<PxRigidDynamic>(), wheelsData);
- return vehNoDrive;
- }
-
- template<typename TVehicleType>
- PxRepXObject PxVehicleRepXSerializer<TVehicleType>::fileToObject( XmlReader& inReader, XmlMemoryAllocator& inAllocator, PxRepXInstantiationArgs& inArgs, PxCollection* inCollection )
- {
- PxRigidActor* vehActor = NULL;
- readReference<PxRigidActor>( inReader, *inCollection, "PxRigidDynamicRef", vehActor );
- if ( vehActor == NULL )
- return PxRepXObject();
-
- PxU32 numWheels = 0;
- readProperty( inReader, "NumWheels", numWheels );
- if( numWheels == 0)
- {
- Ps::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
- "PxSerialization::createCollectionFromXml: PxVehicleRepXSerializer: Xml field NumWheels is zero!");
- return PxRepXObject();
- }
-
- PxU32 numNonDrivenWheels = 0;
- readProperty( inReader, "NumNonDrivenWheels", numNonDrivenWheels );
-
- //change to numwheel
- PxVehicleWheelsSimData* wheelsSimData=PxVehicleWheelsSimData::allocate(numWheels);
- {
- inReader.pushCurrentContext();
- if ( inReader.gotoChild( "MWheelsSimData" ) )
- {
- readAllProperties( inArgs, inReader, wheelsSimData, inAllocator, *inCollection );
- }
-
- inReader.popCurrentContext();
- }
-
- PxVehicleDriveSimData4W driveSimData;
- {
- inReader.pushCurrentContext();
- if ( inReader.gotoChild( "MDriveSimData" ) )
- {
- readAllProperties( inArgs, inReader, &driveSimData, inAllocator, *inCollection );
- }
-
- inReader.popCurrentContext();
- }
-
- PxVehicleDriveSimDataNW nmSimData;
- {
- inReader.pushCurrentContext();
- if ( inReader.gotoChild( "MDriveSimDataNW" ) )
- {
- readAllProperties( inArgs, inReader, &driveSimData, inAllocator, *inCollection );
- }
- inReader.popCurrentContext();
- }
- TVehicleType* drive = static_cast<TVehicleType*>(createVehicle<TVehicleType>(inArgs.physics, vehActor->is<PxRigidDynamic>(), *wheelsSimData, driveSimData, nmSimData, numWheels, numNonDrivenWheels));
- readAllProperties( inArgs, inReader, drive, inAllocator, *inCollection );
-
- PxVehicleWheels4DynData* wheel4DynData = drive->mWheelsDynData.getWheel4DynData();
- PX_ASSERT( wheel4DynData );
- for(PxU32 i=0;i<wheelsSimData->getNbWheels4();i++)
- {
- PxConstraint* constraint = wheel4DynData[i].getVehicletConstraintShader().getPxConstraint();
- if( constraint )
- inCollection->add(*constraint);
- }
-
- if( wheelsSimData )
- wheelsSimData->free();
-
- return PxCreateRepXObject(drive);
- }
-
- template<typename TVehicleType>
- void PxVehicleRepXSerializer<TVehicleType>::objectToFileImpl( const TVehicleType* drive, PxCollection* inCollection, XmlWriter& inWriter, MemoryBuffer& inTempBuffer, PxRepXInstantiationArgs& /*inArgs*/ )
- {
- PX_SIMD_GUARD; // denorm exception triggered in PxVehicleGearsDataGeneratedInfo::visitInstanceProperties on osx
- writeReference( inWriter, *inCollection, "PxRigidDynamicRef", drive->getRigidDynamicActor() );
- writeProperty( inWriter, *inCollection, inTempBuffer, "NumWheels", drive->mWheelsSimData.getNbWheels() );
- writeProperty( inWriter, *inCollection, inTempBuffer, "NumNonDrivenWheels", drive->getNbNonDrivenWheels());
- writeAllProperties( drive, inWriter, inTempBuffer, *inCollection );
- }
-
- PxVehicleNoDrive::PxVehicleNoDrive()
- : PxVehicleWheels(PxVehicleConcreteType::eVehicleNoDrive, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
- {}
-
- PxVehicleDrive4W::PxVehicleDrive4W()
- : PxVehicleDrive(PxVehicleConcreteType::eVehicleDrive4W, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
- {}
-
- PxVehicleDriveNW::PxVehicleDriveNW()
- : PxVehicleDrive(PxVehicleConcreteType::eVehicleDriveNW, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
- {}
-
- PxVehicleDriveTank::PxVehicleDriveTank()
- : PxVehicleDrive(PxVehicleConcreteType::eVehicleDriveTank, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
- , mDriveModel(PxVehicleDriveTankControlModel::eSTANDARD)
- {}
-
- // explicit template instantiations
- template struct PxVehicleRepXSerializer<PxVehicleDrive4W>;
- template struct PxVehicleRepXSerializer<PxVehicleDriveTank>;
- template struct PxVehicleRepXSerializer<PxVehicleDriveNW>;
- template struct PxVehicleRepXSerializer<PxVehicleNoDrive>;
-
- }