85 lines
2.9 KiB
C++
85 lines
2.9 KiB
C++
// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
|
|
// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
|
|
// SPDX-License-Identifier: MIT
|
|
|
|
#pragma once
|
|
|
|
#include <Jolt/ObjectStream/SerializableObject.h>
|
|
#include <Jolt/Core/StreamIn.h>
|
|
#include <Jolt/Core/StreamOut.h>
|
|
#ifdef JPH_DEBUG_RENDERER
|
|
#include <Jolt/Renderer/DebugRenderer.h>
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
JPH_NAMESPACE_BEGIN
|
|
|
|
class PhysicsSystem;
|
|
class VehicleController;
|
|
class VehicleConstraint;
|
|
class WheelSettings;
|
|
class Wheel;
|
|
class StateRecorder;
|
|
|
|
/// Basic settings object for interface that controls acceleration / deceleration of the vehicle
|
|
class JPH_EXPORT VehicleControllerSettings : public SerializableObject, public RefTarget<VehicleControllerSettings>
|
|
{
|
|
JPH_DECLARE_SERIALIZABLE_ABSTRACT(JPH_EXPORT, VehicleControllerSettings)
|
|
|
|
public:
|
|
/// Saves the contents of the controller settings in binary form to inStream.
|
|
virtual void SaveBinaryState(StreamOut &inStream) const = 0;
|
|
|
|
/// Restore the contents of the controller settings in binary form from inStream.
|
|
virtual void RestoreBinaryState(StreamIn &inStream) = 0;
|
|
|
|
/// Create an instance of the vehicle controller class
|
|
virtual VehicleController * ConstructController(VehicleConstraint &inConstraint) const = 0;
|
|
};
|
|
|
|
/// Runtime data for interface that controls acceleration / deceleration of the vehicle
|
|
class JPH_EXPORT VehicleController : public NonCopyable
|
|
{
|
|
public:
|
|
JPH_OVERRIDE_NEW_DELETE
|
|
|
|
/// Constructor / destructor
|
|
explicit VehicleController(VehicleConstraint &inConstraint) : mConstraint(inConstraint) { }
|
|
virtual ~VehicleController() = default;
|
|
|
|
/// Access the vehicle constraint that this controller is part of
|
|
VehicleConstraint & GetConstraint() { return mConstraint; }
|
|
const VehicleConstraint & GetConstraint() const { return mConstraint; }
|
|
|
|
protected:
|
|
// The functions below are only for the VehicleConstraint
|
|
friend class VehicleConstraint;
|
|
|
|
// Create a new instance of wheel
|
|
virtual Wheel * ConstructWheel(const WheelSettings &inWheel) const = 0;
|
|
|
|
// If the vehicle is allowed to go to sleep
|
|
virtual bool AllowSleep() const = 0;
|
|
|
|
// Called before the wheel probes have been done
|
|
virtual void PreCollide(float inDeltaTime, PhysicsSystem &inPhysicsSystem) = 0;
|
|
|
|
// Called after the wheel probes have been done
|
|
virtual void PostCollide(float inDeltaTime, PhysicsSystem &inPhysicsSystem) = 0;
|
|
|
|
// Solve longitudinal and lateral constraint parts for all of the wheels
|
|
virtual bool SolveLongitudinalAndLateralConstraints(float inDeltaTime) = 0;
|
|
|
|
// Saving state for replay
|
|
virtual void SaveState(StateRecorder &inStream) const = 0;
|
|
virtual void RestoreState(StateRecorder &inStream) = 0;
|
|
|
|
#ifdef JPH_DEBUG_RENDERER
|
|
// Drawing interface
|
|
virtual void Draw(DebugRenderer *inRenderer) const = 0;
|
|
#endif // JPH_DEBUG_RENDERER
|
|
|
|
VehicleConstraint & mConstraint; ///< The vehicle constraint we belong to
|
|
};
|
|
|
|
JPH_NAMESPACE_END
|