124 lines
5.2 KiB
C
124 lines
5.2 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 "vehicle2/PxVehicleParams.h"
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#include "vehicle2/PxVehicleComponent.h"
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#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
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#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
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#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
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#include "PxVehiclePhysXConstraintFunctions.h"
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#include "PxVehiclePhysXConstraintHelpers.h"
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#include "PxVehiclePhysXConstraintStates.h"
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#include "PxVehiclePhysXConstraintParams.h"
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#include "common/PxProfileZone.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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class PxVehiclePhysXConstraintComponent : public PxVehicleComponent
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{
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public:
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PxVehiclePhysXConstraintComponent() : PxVehicleComponent() {}
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virtual ~PxVehiclePhysXConstraintComponent() {}
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virtual void getDataForPhysXConstraintComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& suspensionLimitParams,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
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PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
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PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
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PxVehiclePhysXConstraints*& constraints) = 0;
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_UNUSED(dt);
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PX_UNUSED(context);
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PX_PROFILE_ZONE("PxVehiclePhysXConstraintComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams> suspensionLimitParams;
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PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
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PxVehicleArrayData<const PxVehicleTireDirectionState> tireDirectionStates;
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PxVehicleArrayData<const PxVehicleTireStickyState> tireStickyStates;
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PxVehiclePhysXConstraints* constraints;
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getDataForPhysXConstraintComponent(axleDescription, rigidBodyState,
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suspensionParams, suspensionLimitParams, suspensionStates, suspensionComplianceStates,
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wheelRoadGeomStates, tireDirectionStates, tireStickyStates,
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constraints);
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PxVehicleConstraintsDirtyStateUpdate(*constraints);
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for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
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{
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const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
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PxVehiclePhysXConstraintStatesUpdate(
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suspensionParams[wheelId], suspensionLimitParams[wheelId],
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suspensionStates[wheelId], suspensionComplianceStates[wheelId],
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wheelRoadGeomStates[wheelId].plane.n,
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context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLONGITUDINAL].damping,
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context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLATERAL].damping,
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tireDirectionStates[wheelId], tireStickyStates[wheelId],
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*rigidBodyState,
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constraints->constraintStates[wheelId]);
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}
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return true;
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}
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};
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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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