Debug renderer: rendering triangles and improved performance, and smaller fixes.

panda/src/physx/Sources.pp

@@ -71,6 +71,7 @@
     physxJointLimitDesc.I physxJointLimitDesc.h \
     physxJointLimitSoftDesc.I physxJointLimitSoftDesc.h \
     physxKitchen.I physxKitchen.h \
+    physxLinearInterpolationValues.I physxLinearInterpolationValues.h \
     physxManager.I physxManager.h \
     physxMask.I physxMask.h \
     physxMaterial.I physxMaterial.h \
@@ -120,6 +121,10 @@
     physxUtilLib.I physxUtilLib.h \
     physxWheelShape.I physxWheelShape.h \
     physxWheelShapeDesc.I physxWheelShapeDesc.h \
+    #physxVehicleGears.I physxVehicleGears.h \
+    #physxVehicleGearsDesc.I physxVehicleGearsDesc.h \
+    #physxVehicleMotor.I physxVehicleMotor.h \
+    #physxVehicleMotorDesc.I physxVehicleMotorDesc.h \
 
   #define INCLUDED_SOURCES \
     config_physx.cxx \
@@ -182,6 +187,7 @@
     physxJointLimitDesc.cxx \
     physxJointLimitSoftDesc.cxx \
     physxKitchen.cxx \
+    physxLinearInterpolationValues.cxx \
     physxManager.cxx \
     physxMask.cxx \
     physxMaterial.cxx \
@@ -231,6 +237,10 @@
     physxUtilLib.cxx \
     physxWheelShape.cxx \
     physxWheelShapeDesc.cxx \
+    #physxVehicleGears.cxx \
+    #physxVehicleGearsDesc.cxx \
+    #physxVehicleMotor.cxx \
+    #physxVehicleMotorDesc.cxx \
 
   #define INSTALL_HEADERS \
     config_physx.h \
@@ -293,6 +303,7 @@
     physxJointLimitDesc.I physxJointLimitDesc.h \
     physxJointLimitSoftDesc.I physxJointLimitSoftDesc.h \
     physxKitchen.I physxKitchen.h \
+    physxLinearInterpolationValues.I physxLinearInterpolationValues.h \
     physxManager.I physxManager.h \
     physxMask.I physxMask.h \
     physxMaterial.I physxMaterial.h \
@@ -342,6 +353,10 @@
     physxUtilLib.I physxUtilLib.h \
     physxWheelShape.I physxWheelShape.h \
     physxWheelShapeDesc.I physxWheelShapeDesc.h \
+    #physxVehicleGears.I physxVehicleGears.h \
+    #physxVehicleGearsDesc.I physxVehicleGearsDesc.h \
+    #physxVehicleMotor.I physxVehicleMotor.h \
+    #physxVehicleMotorDesc.I physxVehicleMotorDesc.h \
 
   #define IGATESCAN all
 

panda/src/physx/config_physx.cxx

@@ -54,6 +54,10 @@
 #include "physxSphericalJoint.h"
 #include "physxTriangleMesh.h"
 #include "physxTriangleMeshShape.h"
+//#include "physxVehicle.h"
+//#include "physxVehicleGears.h"
+//#include "physxVehicleMotor.h"
+//#include "physxWheel.h"
 #include "physxWheelShape.h"
 
 ConfigureDef(config_physx);
@@ -140,6 +144,10 @@ init_libphysx() {
   PhysxSphericalJoint::init_type();
   PhysxTriangleMesh::init_type();
   PhysxTriangleMeshShape::init_type();
+  //PhysxVehicle::init_type();
+  //PhysxVehicleGears::init_type();
+  //PhysxVehicleMotor::init_type();
+  //PhysxWheel::init_type();
   PhysxWheelShape::init_type();
 
   PandaSystem *ps = PandaSystem::get_global_ptr();

panda/src/physx/physxController.cxx

@@ -279,12 +279,12 @@ report_scene_changed() {
 }
 
 ////////////////////////////////////////////////////////////////////
-//     Function: PhysxController::update
+//     Function: PhysxController::update_controller
 //       Access: Public
 //  Description: 
 ////////////////////////////////////////////////////////////////////
 void PhysxController::
-update(float dt) {
+update_controller(float dt) {
 
   nassertv(_error_type == ET_ok);
 

panda/src/physx/physxController.h

@@ -61,7 +61,7 @@ PUBLISHED:
   INLINE void ls(ostream &out, int indent_level=0) const;
 
 public:
-  void update(float dt);
+  void update_controller(float dt);
 
   static PhysxController *factory(NxControllerType shapeType);
 

panda/src/physx/physxDebugGeomNode.I

@@ -23,6 +23,26 @@ INLINE PhysxDebugGeomNode::
 PhysxDebugGeomNode() : GeomNode("debug") {
 
   _scale = 1.0f;
+
+  _vdata = new GeomVertexData("", GeomVertexFormat::get_v3c4(), Geom::UH_stream);
+
+  // Lines
+  _prim_lines = new GeomLines(Geom::UH_stream);
+  _prim_lines->set_shade_model(Geom::SM_uniform);
+
+  _geom_lines = new Geom(_vdata);
+  _geom_lines->add_primitive(_prim_lines);
+
+  this->add_geom(_geom_lines);
+
+  // Triangles
+  _prim_triangles = new GeomTriangles(Geom::UH_stream);
+  _prim_triangles->set_shade_model(Geom::SM_uniform);
+
+  _geom_triangles = new Geom(_vdata);
+  _geom_triangles->add_primitive(_prim_triangles);
+
+  this->add_geom(_geom_triangles);
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/physx/physxDebugGeomNode.cxx

@@ -14,6 +14,9 @@
 
 #include "physxDebugGeomNode.h"
 
+#include "geomVertexFormat.h"
+#include "geomVertexWriter.h"
+
 TypeHandle PhysxDebugGeomNode::_type_handle;
 
 ////////////////////////////////////////////////////////////////////
@@ -35,31 +38,72 @@ update(NxScene *scenePtr) {
     return;
   }
 
-  const NxDebugLine *lines = renderable->getLines();
-  NxU32 n = renderable->getNbLines();
+  GeomVertexWriter vwriter = GeomVertexWriter(_vdata, InternalName::get_vertex());
+  GeomVertexWriter cwriter = GeomVertexWriter(_vdata, InternalName::get_color());
 
-  _segs.reset();
+  int v = 0;
 
-  for (NxU32 i=0; i<n; i++)
+  _prim_lines->clear_vertices();
+  _prim_triangles->clear_vertices();
+
+  // Lines
   {
-    NxF32 b = NxF32((lines[i].color)&0xff) / 255.0f;
-    NxF32 g = NxF32((lines[i].color>>8)&0xff) / 255.0f;
-    NxF32 r = NxF32((lines[i].color>>16)&0xff) / 255.0f;
+    NxU32 n = renderable->getNbLines();
+    const NxDebugLine *lines = renderable->getLines();
 
-    NxVec3 p0 = lines[i].p0;
-    NxVec3 p1 = lines[i].p1;
+    for (NxU32 i=0; i<n; i++)
+    {
+      NxF32 b = NxF32((lines[i].color)&0xff) / 255.0f;
+      NxF32 g = NxF32((lines[i].color>>8)&0xff) / 255.0f;
+      NxF32 r = NxF32((lines[i].color>>16)&0xff) / 255.0f;
+
+      NxVec3 p0 = lines[i].p0;
+      NxVec3 p1 = lines[i].p1;
+
+      cwriter.add_data4f(r, g, b, 1.0f);
+      vwriter.add_data3f(p0.x, p0.y, p0.z);
+      _prim_lines->add_vertex(v++);
+
+      cwriter.add_data4f(r, g, b, 1.0f);
+      vwriter.add_data3f(p1.x, p1.y, p1.z);
+      _prim_lines->add_vertex(v++);
+    }
 
-    _segs.set_color(r, g, b);
-    _segs.move_to(p0.x, p0.y, p0.z);
-    _segs.draw_to(p1.x, p1.y, p1.z);
   }
 
-  GeomNode *node = _segs.create();
-  remove_all_geoms();
-  add_geoms_from(node);
-  delete node;
+  // Triangles
+  {
+    NxU32 n = renderable->getNbTriangles();
+    const NxDebugTriangle *triangles = renderable->getTriangles();
 
-  physx_cat.spam() << "Updated PhysxDebugGeomNode geometry (" << n << " lines)\n";
+    for (NxU32 i=0; i<n; i++)
+    {
+      NxF32 b = NxF32((triangles[i].color)&0xff) / 255.0f;
+      NxF32 g = NxF32((triangles[i].color>>8)&0xff) / 255.0f;
+      NxF32 r = NxF32((triangles[i].color>>16)&0xff) / 255.0f;
+
+      NxVec3 p0 = triangles[i].p0;
+      NxVec3 p1 = triangles[i].p1;
+      NxVec3 p2 = triangles[i].p2;
+
+      cwriter.add_data4f(r, g, b, 1.0f);
+      vwriter.add_data3f(p0.x, p0.y, p0.z);
+      _prim_triangles->add_vertex(v++);
+
+      cwriter.add_data4f(r, g, b, 1.0f);
+      vwriter.add_data3f(p1.x, p1.y, p1.z);
+      _prim_triangles->add_vertex(v++);
+
+      cwriter.add_data4f(r, g, b, 1.0f);
+      vwriter.add_data3f(p2.x, p2.y, p2.z);
+      _prim_triangles->add_vertex(v++);
+    }
+  }
+
+  _prim_lines->close_primitive();
+  _prim_triangles->close_primitive();
+
+  physx_cat.spam() << "Updated PhysxDebugGeomNode geometry\n";
 }
 
 ////////////////////////////////////////////////////////////////////

panda/src/physx/physxDebugGeomNode.h

@@ -19,7 +19,10 @@
 #include "pointerTo.h"
 #include "geomNode.h"
 #include "transformState.h"
-#include "lineSegs.h"
+#include "geom.h"
+#include "geomVertexData.h"
+#include "geomLines.h"
+#include "geomTriangles.h"
 
 #include "physx_includes.h"
 
@@ -78,9 +81,14 @@ public:
   void update(NxScene *scenePtr);
 
 private:
-  LineSegs _segs;
   float _scale;
 
+  PT(GeomVertexData) _vdata;
+  PT(Geom) _geom_lines;
+  PT(GeomLines) _prim_lines;
+  PT(Geom) _geom_triangles;
+  PT(GeomTriangles) _prim_triangles;
+
 ////////////////////////////////////////////////////////////////////
 public:
   static TypeHandle get_class_type() {

panda/src/physx/physxEnums.h

@@ -301,8 +301,14 @@
 
 #endif // CPPPARSER
 
+// PhysxWheelFlag
+#define NX_WF_STEERABLE_INPUT 1<<0
+#define NX_WF_STEERABLE_AUTO 1<<1
+#define NX_WF_AFFECTED_BY_HANDBRAKE 1<<2
+#define NX_WF_ACCELERATED 1<<3
+
 ////////////////////////////////////////////////////////////////////
-//       Class : BamEnums
+//       Class : PhysxEnums
 // Description : This class exists just to provide scoping for the
 //               enums shared by PhysX classes.
 ////////////////////////////////////////////////////////////////////
@@ -603,6 +609,13 @@ PUBLISHED:
     Z_up  = NX_Z
   };
 
+  enum PhysxWheelFlag {
+    WF_steerable_input       = NX_WF_STEERABLE_INPUT,
+    WF_steerable_auto        = NX_WF_STEERABLE_AUTO,
+    WF_affected_by_handbrake = NX_WF_AFFECTED_BY_HANDBRAKE,
+    WF_accelerated           = NX_WF_ACCELERATED
+  };
+
   enum PhysxWheelShapeFlag {
     WSF_wheel_axis_contact_normal = NX_WF_WHEEL_AXIS_CONTACT_NORMAL,
     WSF_input_lat_slipvelocity    = NX_WF_INPUT_LAT_SLIPVELOCITY,

panda/src/physx/physxLinearInterpolationValues.I

@@ -0,0 +1,35 @@
+// Filename: physxLinearInterpolationValues.I
+// Created by:  enn0x (08Feb10)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::Constructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxLinearInterpolationValues::
+PhysxLinearInterpolationValues() : _min(0.0f), _max(0.0f), _map() {
+
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::Destructor
+//       Access: Public
+//  Description:
+////////////////////////////////////////////////////////////////////
+INLINE PhysxLinearInterpolationValues::
+~PhysxLinearInterpolationValues() {
+
+}
+

panda/src/physx/physxLinearInterpolationValues.cxx

@@ -0,0 +1,132 @@
+// Filename: physxLinearInterpolationValues.cxx
+// Created by:  enn0x (08Feb10)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#include "physxLinearInterpolationValues.h"
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::clear
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxLinearInterpolationValues::
+clear() {
+
+  _map.clear();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::insert
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxLinearInterpolationValues::
+insert(float index, float value) {
+
+  if (_map.empty()) {
+    _min = _max = index;
+  }
+  else {
+    _min = min(_min, index);
+    _max = max(_max, index);
+  }
+  _map[index] = value;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::is_valid
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+bool PhysxLinearInterpolationValues::
+is_valid(float number) const {
+
+  return (number >= _min) && (number <= _max);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::get_size
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+unsigned int PhysxLinearInterpolationValues::
+get_size() const {
+
+  return _map.size();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::get_value
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+float PhysxLinearInterpolationValues::
+get_value(float number) const {
+
+  MapType::const_iterator lower = _map.begin();
+  if (number < _min) {
+    return lower->second;
+  }
+
+  MapType::const_iterator upper = _map.end();
+  upper--;
+  if (number > _max) {
+    return upper->second;
+  }
+
+  upper = _map.lower_bound(number);
+  if (upper == lower) {
+    return upper->second;
+  }
+
+  lower = upper;
+  lower--;
+    
+  float w1 = number - lower->first;
+  float w2 = upper->first - number;
+
+  return ((w2 * lower->second) + (w1 * upper->second)) / (w1 + w2);
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::get_value_at_index
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+float PhysxLinearInterpolationValues::
+get_value_at_index(int index) const {
+
+  MapType::const_iterator it = _map.begin();
+
+  for (int i=0; i<index; i++) {
+    ++it;
+  }
+
+  return it->second;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxLinearInterpolationValues::output
+//       Access: Public
+//  Description: 
+////////////////////////////////////////////////////////////////////
+void PhysxLinearInterpolationValues::
+output(ostream &out) const {
+
+  MapType::const_iterator it = _map.begin();
+
+  for (; it != _map.end(); ++it) {
+    cout << it->first << " -> " << it->second << "\n";
+  }
+}
+

panda/src/physx/physxLinearInterpolationValues.h

@@ -0,0 +1,57 @@
+// Filename: physxLinearInterpolationValues.h
+// Created by:  enn0x (08Feb10)
+//
+////////////////////////////////////////////////////////////////////
+//
+// PANDA 3D SOFTWARE
+// Copyright (c) Carnegie Mellon University.  All rights reserved.
+//
+// All use of this software is subject to the terms of the revised BSD
+// license.  You should have received a copy of this license along
+// with this source code in a file named "LICENSE."
+//
+////////////////////////////////////////////////////////////////////
+
+#ifndef PHYSXLINEARINTERPOLATIONVALUES_H
+#define PHYSXLINEARINTERPOLATIONVALUES_H
+
+#include "pandabase.h"
+#include "pmap.h"
+
+#include "physx_includes.h"
+
+////////////////////////////////////////////////////////////////////
+//       Class : PhysxLinearInterpolationValues
+// Description : 
+////////////////////////////////////////////////////////////////////
+class EXPCL_PANDAPHYSX PhysxLinearInterpolationValues {
+
+public:
+  INLINE PhysxLinearInterpolationValues();
+  INLINE ~PhysxLinearInterpolationValues();
+
+  void output(ostream &out) const;
+
+  void clear();
+  void insert(float index, float value);
+  bool is_valid(float number) const;
+  float get_value(float number) const;
+  float get_value_at_index(int index) const;
+  unsigned int get_size() const;
+
+private:
+  float _min;
+  float _max;
+
+  typedef pmap<float, float> MapType;
+  MapType _map;
+};
+
+INLINE ostream &operator << (ostream &out, const PhysxLinearInterpolationValues &values) {
+  values.output(out);
+  return out;
+}
+
+#include "physxLinearInterpolationValues.I"
+
+#endif // PHYSXLINEARINTERPOLATIONVALUES_H

panda/src/physx/physxObjectCollection.h

@@ -42,4 +42,4 @@ private:
 
 #include "physxObjectCollection.I"
 
-#endif // PHYSOBJECTCOLLECTION_H
+#endif // PHYSXOBJECTCOLLECTION_H

panda/src/physx/physxScene.cxx

@@ -20,6 +20,8 @@
 #include "physxControllerDesc.h"
 #include "physxSceneStats2.h"
 #include "physxConstraintDominance.h"
+//#include "physxVehicle.h"
+//#include "physxVehicleDesc.h"
 
 TypeHandle PhysxScene::_type_handle;
 
@@ -65,6 +67,11 @@ link(NxScene *scenePtr) {
 void PhysxScene::
 unlink() {
 
+  // Destroy vehicles
+  //for (unsigned int i=0; i < _vehicles.size(); i++) {
+  //  _vehicles[i]->release();
+  //}
+
   // Unlink controllers
   NxU32 nControllers = _cm->getNbControllers();
 
@@ -131,9 +138,12 @@ unlink() {
   }
 
   // Unlink self
+  _cm->purgeControllers();
   NxReleaseControllerManager(_cm);
+
   _ptr->userData = NULL;
   _error_type = ET_released;
+
   PhysxManager::get_global_ptr()->_scenes.remove(this);
 }
 
@@ -172,11 +182,17 @@ simulate(float dt) {
 
   _pcollector_simulate.start();
 
+  // Update all vehicles
+  //for (unsigned int i=0; i < _vehicles.size(); i++) {
+  //  PhysxVehicle *vehicle = _vehicles[i];
+  //  vehicle->update_vehicle(dt);
+  //}
+
   // Update all controllers
   for (NxU32 i=0; i < _cm->getNbControllers(); i++) {
     NxController *controllerPtr = _cm->getController(i);
     PhysxController *controller = (PhysxController *)controllerPtr->getUserData();
-    controller->update(dt);
+    controller->update_controller(dt);
   }
 
   _cm->updateControllers();
@@ -327,7 +343,7 @@ PhysxActor *PhysxScene::
 create_actor(PhysxActorDesc &desc) {
 
   nassertr(_error_type == ET_ok, NULL);
-  nassertr(desc.is_valid(),NULL);
+  nassertr(desc.is_valid(), NULL);
 
   PhysxActor *actor = new PhysxActor();
   nassertr(actor, NULL);
@@ -509,7 +525,7 @@ PhysxMaterial *PhysxScene::
 create_material(PhysxMaterialDesc &desc) {
 
   nassertr(_error_type == ET_ok, NULL);
-  nassertr(desc.is_valid(),NULL);
+  nassertr(desc.is_valid(), NULL);
 
   PhysxMaterial *material = new PhysxMaterial();
   nassertr(material, NULL);
@@ -634,7 +650,7 @@ PhysxController *PhysxScene::
 create_controller(PhysxControllerDesc &desc) {
 
   nassertr(_error_type == ET_ok, NULL);
-  nassertr(desc.is_valid(),NULL);
+  nassertr(desc.is_valid(), NULL);
 
   PhysxController *controller = PhysxController::factory(desc.ptr()->getType());
   nassertr(controller, NULL);
@@ -691,7 +707,7 @@ PhysxJoint *PhysxScene::
 create_joint(PhysxJointDesc &desc) {
 
   nassertr(_error_type == ET_ok, NULL);
-  nassertr(desc.is_valid(),NULL);
+  nassertr(desc.is_valid(), NULL);
 
   PhysxJoint *joint = PhysxJoint::factory(desc.ptr()->getType());
   nassertr(joint, NULL);
@@ -751,7 +767,7 @@ create_force_field(PhysxForceFieldDesc &desc) {
 
   // Create the kernel
   desc.create_kernel(_ptr);
-  nassertr(desc.is_valid(),NULL);
+  nassertr(desc.is_valid(), NULL);
 
   // Create the force field
   PhysxForceField *field = new PhysxForceField();
@@ -840,6 +856,54 @@ get_force_field_shape_group(unsigned int idx) const {
   return groupPtr ? (PhysxForceFieldShapeGroup *)groupPtr->userData : NULL;
 }
 
+/*
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxScene::get_num_vehicles
+//       Access: Published
+//  Description: Returns the number of vehicles in the scene.
+////////////////////////////////////////////////////////////////////
+unsigned int PhysxScene::
+get_num_vehicles() const {
+
+  nassertr(_error_type == ET_ok, -1);
+  return _vehicles.size();
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxScene::create_vehicle
+//       Access: Published
+//  Description: Creates a vehicle in this scene.
+////////////////////////////////////////////////////////////////////
+PhysxVehicle *PhysxScene::
+create_vehicle(PhysxVehicleDesc &desc) {
+
+  nassertr(_error_type == ET_ok, NULL);
+  nassertr(desc.is_valid(), NULL);
+
+  PhysxVehicle *vehicle = new PhysxVehicle();
+  nassertr(vehicle, NULL);
+
+  vehicle->create(this, desc);
+
+  return vehicle;
+}
+
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxScene::get_vehicle
+//       Access: Published
+//  Description: Returns the n-th vehicle from the array of all
+//               the vehicles in the scene.
+////////////////////////////////////////////////////////////////////
+PhysxVehicle *PhysxScene::
+get_vehicle(unsigned int idx) const {
+
+  nassertr(_error_type == ET_ok, NULL);
+  nassertr_always(idx < _vehicles.size(), NULL);
+
+  return _vehicles[idx];
+}
+*/
+
 ////////////////////////////////////////////////////////////////////
 //     Function: PhysxScene::get_stats2
 //       Access: Published
@@ -1545,3 +1609,28 @@ get_dominance_group_pair(unsigned int g1, unsigned int g2) {
   return result;
 }
 
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxScene::get_wheel_shape_material
+//       Access: Published
+//  Description: Gets the shared material for all wheel shapes.
+//
+//               If this material is not already created then
+//               calling this method will create the material.
+//
+//               Normally users don't need to call this method. It
+//               is used internally by PhysWheel::create_wheel.
+////////////////////////////////////////////////////////////////////
+PhysxMaterial *PhysxScene::
+get_wheel_shape_material() {
+
+  nassertr(_error_type == ET_ok, NULL);
+
+  if (_wheelShapeMaterial == NULL) {
+    PhysxMaterialDesc materialDesc;
+    materialDesc.set_flag(PhysxMaterialDesc::MF_disable_friction, true);
+    _wheelShapeMaterial = create_material(materialDesc);
+  }
+
+  return _wheelShapeMaterial;
+}
+

panda/src/physx/physxScene.h

@@ -48,6 +48,8 @@ class PhysxRay;
 class PhysxRaycastHit;
 class PhysxRaycastReport;
 class PhysxSceneStats2;
+//class PhysxVehicle;
+//class PhysxVehicleDesc;
 
 ////////////////////////////////////////////////////////////////////
 //       Class : PhysxScene
@@ -129,6 +131,12 @@ PUBLISHED:
   PhysxForceFieldShapeGroup *get_force_field_shape_group(unsigned int idx) const;
   MAKE_SEQ(get_force_field_shape_groups, get_num_force_field_shape_groups, get_force_field_shape_group);
 
+  // Vehicles
+  //unsigned int get_num_vehicles() const;
+  //PhysxVehicle *create_vehicle(PhysxVehicleDesc &desc);
+  //PhysxVehicle *get_vehicle(unsigned int idx) const;
+  //MAKE_SEQ(get_vehicles, get_num_vehicles, get_vehicle);
+
   // Raycast queries
   bool raycast_any_shape(const PhysxRay &ray,
     PhysxShapesType shapesType=ST_all,
@@ -212,11 +220,15 @@ public:
   PhysxObjectCollection<PhysxForceField> _forcefields;
   PhysxObjectCollection<PhysxForceFieldShapeGroup> _ffgroups;
   PhysxObjectCollection<PhysxController> _controllers;
+  //PhysxObjectCollection<PhysxVehicle> _vehicles;
+
+  PhysxMaterial *get_wheel_shape_material();
 
 private:
   NxScene *_ptr;
   NxControllerManager *_cm;
   PT(PhysxDebugGeomNode) _debugNode;
+  PT(PhysxMaterial) _wheelShapeMaterial;
 
   PhysxContactReport _contact_report;
   PhysxControllerReport _controller_report;

panda/src/physx/physxShapeDesc.h

@@ -30,7 +30,7 @@ class PhysxMaterial;
 //               Descriptors for all the different shape types are
 //               derived from this class.
 ////////////////////////////////////////////////////////////////////
-class EXPCL_PANDAPHYSX PhysxShapeDesc : public PhysxEnums {
+class EXPCL_PANDAPHYSX PhysxShapeDesc : public PhysxEnums, public ReferenceCount {
 
 PUBLISHED:
   virtual void set_to_default() = 0;

panda/src/physx/physxWheelShapeDesc.I

@@ -22,7 +22,7 @@
 INLINE PhysxWheelShapeDesc::
 PhysxWheelShapeDesc() : PhysxShapeDesc() {
 
-  _desc.name = "";
+  set_to_default();
 }
 
 ////////////////////////////////////////////////////////////////////
@@ -35,17 +35,6 @@ INLINE PhysxWheelShapeDesc::
 
 }
 
-////////////////////////////////////////////////////////////////////
-//     Function: PhysxWheelShapeDesc::set_to_default
-//       Access: Published
-//  Description: (re)sets the structure to the default.
-////////////////////////////////////////////////////////////////////
-INLINE void PhysxWheelShapeDesc::
-set_to_default() {
-
-  _desc.setToDefault();
-}
-
 ////////////////////////////////////////////////////////////////////
 //     Function: PhysxWheelShapeDesc::is_valid
 //       Access: Published

panda/src/physx/physxWheelShapeDesc.cxx

@@ -14,6 +14,20 @@
 
 #include "physxWheelShapeDesc.h"
 
+////////////////////////////////////////////////////////////////////
+//     Function: PhysxWheelShapeDesc::set_to_default
+//       Access: Published
+//  Description: (re)sets the structure to the default.
+////////////////////////////////////////////////////////////////////
+void PhysxWheelShapeDesc::
+set_to_default() {
+
+  _desc.setToDefault();
+
+  _desc.name = "";
+  _desc.localPose = PhysxManager::mat4_to_nxMat34(LMatrix4f::y_to_z_up_mat());
+}
+
 ////////////////////////////////////////////////////////////////////
 //     Function: PhysxWheelShapeDesc::set_radius
 //       Access: Published

panda/src/physx/physxWheelShapeDesc.h

@@ -32,7 +32,7 @@ PUBLISHED:
   INLINE PhysxWheelShapeDesc();
   INLINE ~PhysxWheelShapeDesc();
 
-  INLINE void set_to_default();
+  void set_to_default();
   INLINE bool is_valid() const;
 
   void set_radius(float radius);

panda/src/physx/physx_composite.cxx

@@ -58,6 +58,7 @@
 #include "physxJointLimitDesc.cxx"
 #include "physxJointLimitSoftDesc.cxx"
 #include "physxKitchen.cxx"
+#include "physxLinearInterpolationValues.cxx"
 #include "physxManager.cxx"
 #include "physxMask.cxx"
 #include "physxMaterial.cxx"
@@ -105,5 +106,13 @@
 #include "physxTriangleMeshShapeDesc.cxx"
 #include "physxTriggerReport.cxx"
 #include "physxUtilLib.cxx"
+//#include "physxVehicle.cxx"
+//#include "physxVehicleDesc.cxx"
+//#include "physxVehicleGears.cxx"
+//#include "physxVehicleGearsDesc.cxx"
+//#include "physxVehicleMotor.cxx"
+//#include "physxVehicleMotorDesc.cxx"
+//#include "physxWheel.cxx"
+//#include "physxWheelDesc.cxx"
 #include "physxWheelShape.cxx"
 #include "physxWheelShapeDesc.cxx"