319 lines
18 KiB
C
319 lines
18 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#pragma once
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/** \addtogroup vehicle2
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@{
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*/
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#include "foundation/PxSimpleTypes.h"
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#include "vehicle2/PxVehicleParams.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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namespace vehicle2
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{
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#endif
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struct PxVehicleCommandState;
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struct PxVehicleDirectDriveTransmissionCommandState;
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struct PxVehicleEngineDriveTransmissionCommandState;
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struct PxVehicleDirectDriveThrottleCommandResponseParams;
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struct PxVehicleWheelActuationState;
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struct PxVehicleWheelParams;
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struct PxVehicleTireForce;
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struct PxVehicleWheelRigidBody1dState;
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struct PxVehicleEngineParams;
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struct PxVehicleGearboxParams;
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struct PxVehicleAutoboxParams;
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struct PxVehicleEngineState;
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struct PxVehicleGearboxState;
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struct PxVehicleAutoboxState;
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struct PxVehicleClutchCommandResponseParams;
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struct PxVehicleClutchCommandResponseState;
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struct PxVehicleEngineDriveThrottleCommandResponseState;
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struct PxVehicleDifferentialState;
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struct PxVehicleMultiWheelDriveDifferentialParams;
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struct PxVehicleFourWheelDriveDifferentialParams;
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struct PxVehicleTankDriveDifferentialParams;
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struct PxVehicleFourWheelDriveDifferentialLegacyParams;
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struct PxVehicleClutchParams;
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struct PxVehicleWheelConstraintGroupState;
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struct PxVehicleClutchSlipState;
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/**
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\brief Compute the drive torque response to a throttle command.
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\param[in] throttle is the throttle command.
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\param[in] transmissionCommands is the gearing command to apply to the direct drive tranmission.
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\param[in] longitudinalSpeed is the longitudinal speed of the vehicle's rigid body.
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\param[in] wheelId specifies the wheel that is to have its throttle response computed.
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\param[in] throttleResponseParams specifies the per wheel drive torque response to the throttle command as a nonlinear function of throttle command and longitudinal speed.
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\param[out] throttleResponseState is the drive torque response to the input throttle command.
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*/
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void PxVehicleDirectDriveThrottleCommandResponseUpdate
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(const PxReal throttle, const PxVehicleDirectDriveTransmissionCommandState& transmissionCommands, const PxReal longitudinalSpeed,
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const PxU32 wheelId, const PxVehicleDirectDriveThrottleCommandResponseParams& throttleResponseParams,
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PxReal& throttleResponseState);
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/**
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\brief Determine the actuation state of a wheel given the brake torque, handbrake torque and drive torque applied to it.
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\param[in] brakeTorque is the brake torque to be applied to the wheel.
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\param[in] driveTorque is the drive torque to be applied to the wheel.
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\param[out] actuationState contains a binary record of whether brake or drive torque is applied to the wheel.
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*/
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void PxVehicleDirectDriveActuationStateUpdate
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(const PxReal brakeTorque, const PxReal driveTorque,
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PxVehicleWheelActuationState& actuationState);
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/**
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\brief Forward integrate the angular speed of a wheel given the brake and drive torque applied to it
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\param[in] wheelParams specifies the moment of inertia of the wheel.
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\param[in] actuationState is a binary record of whether brake and drive torque are to be applied to the wheel.
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\param[in] brakeTorque is the brake torque to be applied to the wheel.
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\param[in] driveTorque is the drive torque to be applied to the wheel.
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\param[in] tireForce specifies the torque to apply to the wheel as a response to the longitudinal tire force.
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\param[in] dt is the timestep of the forward integration.
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\param[out] wheelRigidBody1dState describes the angular speed of the wheel.
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*/
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void PxVehicleDirectDriveUpdate
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(const PxVehicleWheelParams& wheelParams,
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const PxVehicleWheelActuationState& actuationState,
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const PxReal brakeTorque, const PxReal driveTorque, const PxVehicleTireForce& tireForce,
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const PxF32 dt,
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PxVehicleWheelRigidBody1dState& wheelRigidBody1dState);
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/**
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\param[in] engineParams specifies the engine configuration.
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\param[in] gearboxParams specifies the gear ratios and the time required to complete a gear change.
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\param[in] autoboxParams specifies the conditions for switching gear.
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\param[in] engineState contains the current angular speed of the engine.
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\param[in] gearboxState describes the current and target gear.
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\param[in] dt is the time that has lapsed since the last call to PxVehicleAutoBoxUpdate.
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\param[in,out] targetGearCommand specifies the desired target gear for the gearbox. If set to
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PxVehicleEngineDriveTransmissionCommandState::eAUTOMATIC_GEAR, the value will get overwritten
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with a target gear chosen by the autobox.
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\param[out] autoboxState specifies the time that has lapsed since the last automated gear change and contains a record of
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any ongoing automated gear change.
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\param[out] throttle A throttle command value in [0, 1] that will be set to 0 if a gear change is initiated or is ongoing.
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\note The autobox will not begin a gear change if a gear change is already ongoing.
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\note The autobox will not begin a gear change until a threshold time has lapsed since the last automated gear change.
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\note A gear change is considered as ongoing for as long as PxVehicleGearboxState::currentGear is different from
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PxVehicleGearboxState::targetGear.
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\note The autobox will not shift down from 1st gear or up from reverse gear.
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\note The autobox shifts in single gear increments or decrements.
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\note The autobox instantiates a gear change by setting PxVehicleCommandState::targetGear to be different from
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from PxVehicleGearboxState::currentGear
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*/
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void PxVehicleAutoBoxUpdate
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(const PxVehicleEngineParams& engineParams, const PxVehicleGearboxParams& gearboxParams, const PxVehicleAutoboxParams& autoboxParams,
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const PxVehicleEngineState& engineState, const PxVehicleGearboxState& gearboxState,
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const PxReal dt,
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PxU32& targetGearCommand, PxVehicleAutoboxState& autoboxState,
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PxReal& throttle);
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/**
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\brief Propagate input gear commands to the gearbox state.
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\param[in] targetGearCommand specifies the target gear for the gearbox.
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\param[in] gearboxParams specifies the number of gears and the index of neutral gear.
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\param[out] gearboxState contains a record of the current and target gear.
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\note Any ongoing gear change must complete before starting another.
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\note A gear change is considered as ongoing for as long as PxVehicleGearboxState::currentGear is different from
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PxVehicleGearboxState::targetGear.
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\note The gearbox remains in neutral for the duration of the gear change.
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\note A gear change begins if PxVehicleCommandState::targetGear is different from PxVehicleGearboxState::currentGear.
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*/
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void PxVehicleGearCommandResponseUpdate
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(const PxU32 targetGearCommand,
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const PxVehicleGearboxParams& gearboxParams,
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PxVehicleGearboxState& gearboxState);
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/**
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\brief Propagate the input clutch command to the clutch response state.
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\param[in] clutchCommand specifies the state of the clutch pedal.
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\param[in] clutchResponseParams specifies how the clutch responds to the input clutch command.
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\param[out] clutchResponse specifies the response of the clutch to the input clutch command.
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*/
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void PxVehicleClutchCommandResponseLinearUpdate
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(const PxReal clutchCommand,
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const PxVehicleClutchCommandResponseParams& clutchResponseParams,
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PxVehicleClutchCommandResponseState& clutchResponse);
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/**
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\brief Propagate the input throttle command to the throttle response state.
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\param[in] commands specifies the state of the throttle pedal.
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\param[out] throttleResponse specifies how the clutch responds to the input throttle command.
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*/
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void PxVehicleEngineDriveThrottleCommandResponseLinearUpdate
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(const PxVehicleCommandState& commands,
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PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse);
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/**
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\brief Determine the actuation state of all wheels on a vehicle.
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\param[in] axleDescription is a decription of the axles of the vehicle and the wheels on each axle.
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\param[in] gearboxParams specifies the index of the neutral gear of the gearbox.
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\param[in] brakeResponseStates specifies the response of each wheel to the input brake command.
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\param[in] throttleResponseState specifies the response of the engine to the input throttle command.
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\param[in] gearboxState specifies the current gear.
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\param[in] diffState specifies the fraction of available drive torque to be delivered to each wheel.
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\param[in] clutchResponseState specifies the response of the clutch to the input throttle command.
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\param[out] actuationStates is an array of binary records determining whether brake and drive torque are to be applied to each wheel.
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\note Drive torque is not applied to a wheel if
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a) the gearbox is in neutral
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b) the differential delivers no torque to the wheel
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c) no throttle is applied to the engine
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c) the clutch is fully disengaged.
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*/
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void PxVehicleEngineDriveActuationStateUpdate
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(const PxVehicleAxleDescription& axleDescription,
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const PxVehicleGearboxParams& gearboxParams,
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const PxVehicleArrayData<const PxReal>& brakeResponseStates,
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const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState,
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const PxVehicleGearboxState& gearboxState, const PxVehicleDifferentialState& diffState, const PxVehicleClutchCommandResponseState& clutchResponseState,
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PxVehicleArrayData<PxVehicleWheelActuationState>& actuationStates);
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/**
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@deprecated
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\brief Compute the fraction of available torque to be delivered to each wheel and gather a list of all
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wheels connected to the differential.
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\param[in] diffParams specifies the operation of a differential that can be connected to up to four wheels.
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\param[in] wheelStates describes the angular speed of each wheel
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\param[out] diffState contains the fraction of available drive torque to be delivered to each wheel.
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\note If the handbrake is on then torque is only delivered to the wheels specified as the front wheels of the differential.
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*/
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void PX_DEPRECATED PxVehicleDifferentialStateUpdate
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(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
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const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
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PxVehicleDifferentialState& diffState);
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/**
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\brief Compute the fraction of available torque to be delivered to each wheel and gather a list of all
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wheels connected to the differential. Additionally, add wheel constraints for wheel pairs whose
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rotational speed ratio exceeds the corresponding differential bias.
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\param[in] axleDescription is a decription of the axles of the vehicle and the wheels on each axle.
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\param[in] diffParams describe the division of available drive torque and the biases of the limited
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slip differential.
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\param[in] wheelStates describes the rotational speeds of each wheel.
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\param[in] dt is the simulation time that has passes since the last call to PxVehicleDifferentialStateUpdate()
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\param[out] diffState contains the fraction of available drive torque to be delivered to each wheel.
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\param[out] wheelConstraintGroupState describes the groups of wheels that have exceeded their corresponding
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differential biases.
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*/
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void PxVehicleDifferentialStateUpdate
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(const PxVehicleAxleDescription& axleDescription, const PxVehicleFourWheelDriveDifferentialParams& diffParams,
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const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
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const PxReal dt,
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PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);
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/**
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\brief Compute the fraction of available torque to be delivered to each wheel and gather a list of all
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wheels connected to the differential.
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\param[in] axleDescription is a decription of the axles of the vehicle and the wheels on each axle.
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\param[in] diffParams specifies the operation of a differential that can be connected to any combination of wheels.
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\param[out] diffState contains the fraction of available drive torque to be delivered to each wheel connected to the differential.
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*/
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void PxVehicleDifferentialStateUpdate
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(const PxVehicleAxleDescription& axleDescription, const PxVehicleMultiWheelDriveDifferentialParams& diffParams,
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PxVehicleDifferentialState& diffState);
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/**
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\brief Compute the fraction of available torque to be delivered to each wheel and gather a list of all
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wheels connected to the differential.
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\param[in] axleDescription is a decription of the axles of the vehicle and the wheels on each axle.
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\param[in] wheelParams is an array that describes the wheel radius of each wheel.
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\param[in] diffParams specifies the operation of a tank differential.
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\param[in] thrustCommand0 is the state of one of the two thrust controllers.
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\param[in] thrustCommand1 is the state of one of the two thrust controllers.
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\param[out] diffState contains the fraction of available drive torque to be delivered to each wheel connected to the differential.
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\param[out] wheelConstraintGroupState describes the groups of wheels connected by sharing a tank track.
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*/
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void PxVehicleDifferentialStateUpdate
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(const PxVehicleAxleDescription& axleDescription,
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const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams, const PxVehicleTankDriveDifferentialParams& diffParams,
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const PxReal thrustCommand0, PxReal thrustCommand1,
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PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);
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/**
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\brief Update the current gear of the gearbox. If a gear change is ongoing then complete the gear change if a threshold
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time has passed since the beginning of the gear change.
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\param[in] gearboxParams describes the time required to complete a gear change.
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\param[in] dt is the time that has lapsed since the last call to PxVehicleGearboxUpdate.
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\param[out] gearboxState is the gearbox state to be updated.
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\note A gear change is considered as ongoing for as long as PxVehicleGearboxState::currentGear is different from
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PxVehicleGearboxState::targetGear.
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*/
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void PxVehicleGearboxUpdate
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(const PxVehicleGearboxParams& gearboxParams,
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const PxF32 dt,
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PxVehicleGearboxState& gearboxState);
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/**
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\brief Forward integrate the angular speed of the vehicle's wheels and engine, given the state of clutch, differential and gearbox.
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\param[in] axleDescription is a decription of the axles of the vehicle and the wheels on each axle.
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\param[in] wheelParams specifies the moment of inertia of each wheel.
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\param[in] engineParams specifies the torque curve of the engine and its moment of inertia.
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\param[in] clutchParams specifies the maximum clutch strength that happens when the clutch is fully engaged.
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\param[in] gearboxParams specifies the gearing ratios of the gearbox.
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\param[in] brakeResponseStates describes the per wheel response to the input brake command.
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\param[in] actuationStates is a binary record of whether brake or drive torque is applied to each wheel.
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\param[in] tireForces describes the torque to apply to each wheel as a response to the longitudinal tire force.
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\param[in] gearboxState describes the current gear.
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\param[in] throttleResponse describes the engine response to the input throttle pedal.
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\param[in] clutchResponse describes the clutch response to the input clutch pedal.
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\param[in] diffState describes the fraction of available drive torque to be delivered to each wheel.
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\param[in] constraintGroupState describes groups of wheels with rotational speed constrained to the same value.
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\param[in] dt is the time that has lapsed since the last call to PxVehicleEngineDrivetrainUpdate
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\param[out] wheelRigidbody1dStates describes the angular speed of each wheel.
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\param[out] engineState describes the angular speed of the engine.
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\param[out] clutchState describes the clutch slip.
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\note If constraintGroupState is NULL then it is assumed that there are no wheels subject to rotational speed constraints.
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*/
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void PxVehicleEngineDrivetrainUpdate
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(const PxVehicleAxleDescription& axleDescription,
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const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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const PxVehicleEngineParams& engineParams, const PxVehicleClutchParams& clutchParams, const PxVehicleGearboxParams& gearboxParams,
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const PxVehicleArrayData<const PxReal>& brakeResponseStates,
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const PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
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const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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const PxVehicleGearboxState& gearboxState, const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse, const PxVehicleClutchCommandResponseState& clutchResponse,
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const PxVehicleDifferentialState& diffState, const PxVehicleWheelConstraintGroupState* constraintGroupState,
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const PxReal dt,
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PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidbody1dStates,
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PxVehicleEngineState& engineState, PxVehicleClutchSlipState& clutchState);
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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/** @} */
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