public override void SetToRestState()
{
if (nativeVehicle != IntPtr.Zero)
{
PhysXNativeVehicle.SetToRestState(nativeVehicle);
}
}
public override Radian GetEngineRotationSpeed()
{
if (nativeVehicle != IntPtr.Zero)
{
return(PhysXNativeVehicle.GetEngineRotationSpeed(nativeVehicle));
}
return(0);
}
public override int GetTargetGear()
{
if (nativeVehicle != IntPtr.Zero)
{
return(PhysXNativeVehicle.GetTargetGear(nativeVehicle));
}
return(0);
}
void PopFromWorld()
{
if (nativeVehicle != IntPtr.Zero)
{
PhysXNativeVehicle.Destroy(nativeVehicle);
nativeVehicle = IntPtr.Zero;
}
}
protected override void OnUpdate()
{
base.OnUpdate();
if (nativeVehicle != IntPtr.Zero)
{
PhysXNativeVehicle.Update(nativeVehicle, Scene.StepSize);
}
}
public override bool[] AreWheelsInAir()
{
bool[] result = new bool[WheelCount];
if (nativeVehicle != IntPtr.Zero)
{
for (int n = 0; n < WheelCount; n++)
{
result[n] = PhysXNativeVehicle.IsWheelInAir(nativeVehicle, n);
}
}
return(result);
}
public override float[] GetWheelsTireFriction()
{
float[] result = new float[WheelCount];
if (nativeVehicle != IntPtr.Zero)
{
for (int n = 0; n < WheelCount; n++)
{
result[n] = PhysXNativeVehicle.GetWheelTireFriction(nativeVehicle, n);
}
}
return(result);
}
public override float[] GetWheelsSuspensionJounce()
{
float[] result = new float[WheelCount];
if (nativeVehicle != IntPtr.Zero)
{
for (int n = 0; n < WheelCount; n++)
{
result[n] = PhysXNativeVehicle.GetWheelSuspensionJounce(nativeVehicle, n);
}
}
return(result);
}
public override Radian[] GetWheelsRotationAngle()
{
Radian[] result = new Radian[WheelCount];
if (nativeVehicle != IntPtr.Zero)
{
for (int n = 0; n < WheelCount; n++)
{
result[n] = PhysXNativeVehicle.GetWheelRotationAngle(nativeVehicle, n);
}
}
return(result);
}
public override void StartGearChange(int gear)
{
if (gear < -1)
{
gear = -1;
}
int maxNumber = GetMaxGearNumber();
if (gear > maxNumber)
{
gear = maxNumber;
}
if (nativeVehicle != IntPtr.Zero)
{
PhysXNativeVehicle.StartGearChange(nativeVehicle, gear);
}
}
public unsafe override void SetInputData(InputDataTypes inputType, InputSmoothingSettings smoothingSettings,
Pair <float, float>[] steerVsForwardSpeedTable, float accel, float brake, float steer, float handbrake)
{
if (steerVsForwardSpeedTable.Length > 8)
{
Log.Fatal("PhysXPhysicsVehicle: SetInputData: The amount of steer vs forward speed table item can't be more than 8.");
}
if (nativeVehicle != IntPtr.Zero)
{
float[] smoothingSettings2 = new float[]
{
smoothingSettings.RiseRateAccel,
smoothingSettings.RiseRateBrake,
smoothingSettings.RiseRateSteer,
smoothingSettings.RiseRateHandbrake,
smoothingSettings.FallRateAccel,
smoothingSettings.FallRateBrake,
smoothingSettings.FallRateSteer,
smoothingSettings.FallRateHandbrake
};
float[] steerVsForwardSpeedTable2 = new float[steerVsForwardSpeedTable.Length * 2];
for (int n = 0; n < steerVsForwardSpeedTable.Length; n++)
{
steerVsForwardSpeedTable2[n * 2 + 0] = steerVsForwardSpeedTable[n].First;
steerVsForwardSpeedTable2[n * 2 + 1] = steerVsForwardSpeedTable[n].Second;
}
fixed(float *pSmoothingSettings = smoothingSettings2, pSteerVsForwardSpeedTable = steerVsForwardSpeedTable2)
{
PhysXNativeVehicle.SetInputData(nativeVehicle, inputType == InputDataTypes.Digital, pSmoothingSettings,
steerVsForwardSpeedTable.Length, pSteerVsForwardSpeedTable, accel, brake, steer, handbrake);
}
}
}
void CallMethod(string message, int parameter1, double parameter2, double parameter3, out int result1,
out double result2, out double result3)
{
PhysXNativeVehicle.CallMethod(nativeVehicle, message, parameter1, parameter2, parameter3, out result1, out result2,
out result3);
}
void PushToWorld()
{
PhysXPhysicsScene scene = (PhysXPhysicsScene)Scene;
PhysXBody baseBody = (PhysXBody)BaseBody;
IntPtr generalData = PhysXNativeVehicleInitData.Create();
IntPtr wheelFrontLeftData = PhysXNativeVehicleInitData.Create();
IntPtr wheelFrontRightData = PhysXNativeVehicleInitData.Create();
IntPtr wheelRearLeftData = PhysXNativeVehicleInitData.Create();
IntPtr wheelRearRightData = PhysXNativeVehicleInitData.Create();
//Chassis mass
PhysXNativeVehicleInitData.SetParameter(generalData, "massChassis", InitData.MassChassis);
//Differential
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialType", (float)(int)InitData.DifferentialType);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontRearSplit", InitData.DifferentialFrontRearSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontLeftRightSplit", InitData.DifferentialFrontLeftRightSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialRearLeftRightSplit", InitData.DifferentialRearLeftRightSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialCenterBias", InitData.DifferentialCenterBias);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontBias", InitData.DifferentialFrontBias);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialRearBias", InitData.DifferentialRearBias);
//Engine
{
PhysXNativeVehicleInitData.SetParameter(generalData, "enginePeakTorque", InitData.EnginePeakTorque);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineMaxRPM", InitData.EngineMaxRPM);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateFullThrottle",
InitData.EngineDampingRateFullThrottle);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateZeroThrottleClutchEngaged",
InitData.EngineDampingRateZeroThrottleClutchEngaged);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateZeroThrottleClutchDisengaged",
InitData.EngineDampingRateZeroThrottleClutchDisengaged);
if (InitData.EngineTorqueCurve.Count == 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: EngineTorqueCurve is not configured.");
}
if (InitData.EngineTorqueCurve.Count > 8)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: EngineTorqueCurve can't have more than 8 values.");
}
for (int n = 0; n < InitData.EngineTorqueCurve.Count; n++)
{
InitDataClass.EngineTorqueCurveItem item = InitData.EngineTorqueCurve[n];
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("engineTorqueCurveTorque{0}", n),
item.NormalizedTorque);
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("engineTorqueCurveRev{0}", n),
item.NormalizedRev);
}
}
//Gears
{
if (InitData.Gears.Count == 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: The gears are not defined.");
}
if (InitData.FindGearByNumber(0) == null)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Neutral gear is not defined.");
}
if (InitData.FindGearByNumber(-1) == null)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Reverse gear is not defined.");
}
foreach (PhysicsVehicle.InitDataClass.GearItem gearItem in InitData.Gears)
{
if (gearItem.Number < -1)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Gear number can't be less than -1.");
}
if (gearItem.Number > 30)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Gear number can't be more than 30.");
}
if (gearItem.Number < 0 && gearItem.Ratio >= 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Reverse gear ratio must be less than zero.");
}
if (gearItem.Number == 0 && gearItem.Ratio != 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Neutral gear ratio must be zero.");
}
if (gearItem.Number > 0 && gearItem.Ratio < 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Forward gear ratios must be greater than zero.");
}
if (gearItem.Number >= 2)
{
PhysicsVehicle.InitDataClass.GearItem nextGearItem = InitData.FindGearByNumber(gearItem.Number - 1);
if (nextGearItem == null || gearItem.Ratio > nextGearItem.Ratio)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Forward gear ratios must be a descending sequence of gear ratios.");
}
}
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("gear{0}", gearItem.Number), gearItem.Ratio);
}
PhysXNativeVehicleInitData.SetParameter(generalData, "gearsSwitchTime", InitData.GearsSwitchTime);
}
//Clutch
PhysXNativeVehicleInitData.SetParameter(generalData, "clutchStrength", InitData.ClutchStrength);
//Ackermann steer accuracy
PhysXNativeVehicleInitData.SetParameter(generalData, "ackermannSteerAccuracy", InitData.AckermannSteerAccuracy);
//Wheels
InitWheelData(wheelFrontLeftData, InitData.WheelFrontLeft);
InitWheelData(wheelFrontRightData, InitData.WheelFrontRight);
InitWheelData(wheelRearLeftData, InitData.WheelRearLeft);
InitWheelData(wheelRearRightData, InitData.WheelRearRight);
//Tire settings
{
int n = 0;
foreach (InitDataClass.TireFrictionMultiplierItem frictionItem in InitData.TireFrictionMultipliers)
{
PhysXNativeVehicleInitData.SetParameter(generalData,
string.Format("tireFrictionMaterial{0}", n), frictionItem.SurfaceMaterialName);
PhysXNativeVehicleInitData.SetParameter(generalData,
string.Format("tireFrictionValue{0}", n), frictionItem.Value);
n++;
}
}
nativeVehicle = PhysXNativeVehicle.Create(scene.nativeScene, baseBody.nativeBody, generalData,
wheelFrontLeftData, wheelFrontRightData, wheelRearLeftData, wheelRearRightData);
PhysXNativeVehicleInitData.Destroy(generalData);
PhysXNativeVehicleInitData.Destroy(wheelFrontLeftData);
PhysXNativeVehicleInitData.Destroy(wheelFrontRightData);
PhysXNativeVehicleInitData.Destroy(wheelRearLeftData);
PhysXNativeVehicleInitData.Destroy(wheelRearRightData);
OnUpdateAutoGearSettings();
}
