From 15740faf9fe9fe4be08965098bbf2947e096aeeb Mon Sep 17 00:00:00 2001
From: chai <chaifix@163.com>
Date: Wed, 14 Aug 2019 22:50:43 +0800
Subject: +Unity Runtime code
---
Runtime/Dynamics/WheelCollider.h | 142 +++++++++++++++++++++++++++++++++++++++
1 file changed, 142 insertions(+)
create mode 100644 Runtime/Dynamics/WheelCollider.h
(limited to 'Runtime/Dynamics/WheelCollider.h')
diff --git a/Runtime/Dynamics/WheelCollider.h b/Runtime/Dynamics/WheelCollider.h
new file mode 100644
index 0000000..53ddcaf
--- /dev/null
+++ b/Runtime/Dynamics/WheelCollider.h
@@ -0,0 +1,142 @@
+#ifndef WHEELCOLLIDER_H
+#define WHEELCOLLIDER_H
+
+#include "Collider.h"
+#include "Runtime/Math/Vector3.h"
+#include "JointDescriptions.h"
+
+class NxMaterial;
+
+// ----------------------------------------------------------------------
+
+struct WheelFrictionCurve
+{
+ float extremumSlip; ///<Extremum Slip. range { 0.001, infinity }
+ float extremumValue; ///<Extremum Value. range { 0.001, infinity }
+ float asymptoteSlip; ///<Asymptote Slip. range { 0.001, infinity }
+ float asymptoteValue; ///<Asymptote Value. range { 0.001, infinity }
+ float stiffnessFactor; ///<Stiffness Factor. range { 0, infinity }
+
+ bool operator != (const WheelFrictionCurve& c)const
+ {
+ return extremumSlip != c.extremumSlip
+ || extremumValue != c.extremumValue
+ || asymptoteSlip != c.asymptoteSlip
+ || asymptoteValue != c.asymptoteValue
+ || stiffnessFactor != c.stiffnessFactor
+ ;
+ }
+
+ DECLARE_SERIALIZE_OPTIMIZE_TRANSFER (WheelFrictionCurve)
+};
+
+
+template<class TransferFunction>
+void WheelFrictionCurve::Transfer (TransferFunction& transfer)
+{
+ TRANSFER_SIMPLE( extremumSlip );
+ TRANSFER_SIMPLE( extremumValue );
+ TRANSFER_SIMPLE( asymptoteSlip );
+ TRANSFER_SIMPLE( asymptoteValue );
+ TRANSFER_SIMPLE( stiffnessFactor );
+}
+
+// ----------------------------------------------------------------------
+
+struct WheelHit
+{
+ Vector3f point;
+ Vector3f normal;
+ Vector3f forwardDir;
+ Vector3f sidewaysDir;
+ float force;
+ float forwardSlip;
+ float sidewaysSlip;
+ Collider* collider;
+};
+
+
+// ----------------------------------------------------------------------
+
+
+class WheelCollider : public Collider
+{
+public:
+ REGISTER_DERIVED_CLASS (WheelCollider, Collider)
+ DECLARE_OBJECT_SERIALIZE (WheelCollider)
+
+ WheelCollider(MemLabelId label, ObjectCreationMode mode);
+
+ virtual void Reset();
+ virtual void SmartReset();
+ virtual void AwakeFromLoad(AwakeFromLoadMode mode);
+
+ Vector3f GetCenter() const { return m_Center; }
+ void SetCenter( const Vector3f& center );
+
+ float GetRadius() const { return m_Radius; }
+ void SetRadius( float f );
+
+ float GetSuspensionDistance() const { return m_SuspensionDistance; }
+ void SetSuspensionDistance( float f );
+
+ void SetSuspensionSpring( const JointSpring& spring );
+ const JointSpring& GetSuspensionSpring() const { return m_SuspensionSpring; }
+
+ void SetForwardFriction( const WheelFrictionCurve& curve );
+ const WheelFrictionCurve& GetForwardFriction() const { return m_ForwardFriction; }
+
+ void SetSidewaysFriction( const WheelFrictionCurve& curve );
+ const WheelFrictionCurve& GetSidewaysFriction() const { return m_SidewaysFriction; }
+
+ float GetMass() const { return m_Mass; }
+ void SetMass( float f );
+
+ float GetMotorTorque() const;
+ void SetMotorTorque( float f );
+
+ float GetBrakeTorque() const;
+ void SetBrakeTorque( float f );
+
+ float GetSteerAngle() const;
+ void SetSteerAngle( float f );
+
+ bool IsGrounded() const;
+ bool GetGroundHit( WheelHit& hit ) const;
+
+ float GetRpm() const;
+
+ void TransformChanged( int changeMask );
+
+ static void InitializeClass();
+ static void CleanupClass() { }
+
+ Vector3f GetGlobalCenter() const;
+ float GetGlobalRadius() const;
+ float GetGlobalSuspensionDistance() const;
+ Matrix4x4f CalculateTransform() const;
+
+ virtual bool SupportsMaterial () const { return false; }
+
+protected:
+ virtual void FetchPoseFromTransform();
+ virtual bool GetRelativeToParentPositionAndRotation( Transform& transform, Transform& anyParent, Matrix4x4f& matrix );
+
+ virtual void Create(const Rigidbody* ignoreRigidbody);
+ virtual void ScaleChanged();
+ virtual void Cleanup();
+
+private:
+ Vector3f m_Center;
+ JointSpring m_SuspensionSpring;
+ WheelFrictionCurve m_ForwardFriction;
+ WheelFrictionCurve m_SidewaysFriction;
+ float m_Radius; ///< range { 0, infinity }
+ float m_SuspensionDistance; ///< range { 0, infinity }
+ float m_Mass; ///< range { 0.0001, infinity }
+
+ // the wheel material is shared by all instances
+ static NxMaterial* m_WheelMaterial;
+};
+
+#endif
--
cgit v1.1-26-g67d0