329 lines
18 KiB
C
329 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 "vehicle2/PxVehicleParams.h"
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#include "vehicle2/PxVehicleComponent.h"
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#include "vehicle2/commands/PxVehicleCommandStates.h"
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#include "vehicle2/commands/PxVehicleCommandHelpers.h"
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#include "vehicle2/rigidBody/PxVehicleRigidBodyParams.h"
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#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
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#include "vehicle2/wheel/PxVehicleWheelParams.h"
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#include "PxVehicleSuspensionParams.h"
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#include "PxVehicleSuspensionStates.h"
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#include "PxVehicleSuspensionFunctions.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 PxVehicleSuspensionComponent : public PxVehicleComponent
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{
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public:
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PxVehicleSuspensionComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleSuspensionComponent() {}
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/**
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\brief Retrieve pointers to the parameter and state data required to compute the suspension state and the forces/torques that arise from the suspension state.
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\param[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles
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of the vehicle.
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\param[out] rigidBodyParams must be returned as a a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment
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of inertia of the vehicle's rigid body.
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\param[out] suspensionStateCalculationParams must be returned as a non-null pointer to a single PxVehicleSuspensionStateCalculationParams instance
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that describes the jounce computation type etc.
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\param[out] steerResponseStates must be returned as a non-null pointer to a single PxVehicleSteerCommandResponseStates instance that describes the steer
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state of the wheels.
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\param[out] rigidBodyState must be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that describes the pose and momentum of
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the vehicle's rigid body.
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\param[out] wheelParams must be set to a non-null pointer to an array of PxVehicleWheelParams containing per-wheel parameters for each wheel
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referenced by axleDescription.
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\param[out] suspensionParams must be set to a non-null pointer to an array of PxVehicleSuspensionParams containing per-wheel parameters for each
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wheel referenced by axleDescription.
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\param[out] suspensionComplianceParams must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceParams containing per-wheel
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parameters for each wheel referenced by axleDescription.
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\param[out] suspensionForceParams must be set to a non-null pointer to an array of PxVehicleSuspensionForceParams containing per-wheel parameters
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for each wheel referenced by axleDescription.
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\param[out] antiRollForceParams is optionally returned as a non-null pointer to an array of PxVehicleAntiRollForceParams with each element in the array
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describing a unique anti-roll bar connecting a pair of wheels.
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\param[out] wheelRoadGeomStates must be set to non-null pointer to an array of PxVehicleRoadGeometryState containing per-wheel road geometry for
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each wheel referenced by axleDescription.
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\param[out] suspensionStates must be set to a non-null pointer to an array of PxVehicleSuspensionState containing per-wheel suspension state for each
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wheel referenced by axleDescription.
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\param[out] suspensionComplianceStates must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceState containing per-wheel suspension
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compliance state for each wheel referenced by axleDescription.
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\param[out] suspensionForces must be set to a non-null pointer to an array of PxVehicleSuspensionForce containing per-wheel suspension forces for each
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wheel referenced by axleDescription.
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\param[out] antiRollTorque is optionally returned as a non-null pointer to a single PxVehicleAntiRollTorque instance that will store the accumulated anti-roll
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torque to be applied to the vheicle's rigid body.
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\note antiRollForceParams and antiRollTorque should be returned either both non-NULL or both NULL.
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*/
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virtual void getDataForSuspensionComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyParams*& rigidBodyParams,
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const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspensionComplianceParams,
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PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspensionForceParams,
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PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
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PxVehicleArrayData<PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleAntiRollTorque*& antiRollTorque) = 0;
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/**
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\brief Update the suspension state and suspension compliance state and use those updated states to compute suspension and anti-roll forces/torques
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to apply to the vehicle's rigid body.
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\param[in] dt is the simulation time that has passed since the last call to PxVehicleSuspensionComponent::update()
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\param[in] context describes a variety of global simulation constants such as frame and scale of the simulation and the gravitational acceleration
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of the simulated environment.
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\note The suspension and anti-roll forces/torques are computed in the world frame.
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*/
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_PROFILE_ZONE("PxVehicleSuspensionComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleRigidBodyParams* rigidBodyParams;
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const PxVehicleSuspensionStateCalculationParams* suspensionStateCalculationParams;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceParams> suspensionComplianceParams;
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PxVehicleArrayData<const PxVehicleSuspensionForceParams> suspensionForceParams;
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PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams> antiRollForceParams;
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PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
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PxVehicleArrayData<PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<PxVehicleSuspensionForce> suspensionForces;
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PxVehicleAntiRollTorque* antiRollTorque;
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getDataForSuspensionComponent(axleDescription, rigidBodyParams, suspensionStateCalculationParams,
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steerResponseStates, rigidBodyState,
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wheelParams, suspensionParams,
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suspensionComplianceParams, suspensionForceParams, antiRollForceParams,
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wheelRoadGeomStates, suspensionStates, suspensionComplianceStates,
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suspensionForces, antiRollTorque);
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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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//Update the suspension state (jounce, jounce speed)
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PxVehicleSuspensionStateUpdate(
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wheelParams[wheelId], suspensionParams[wheelId], *suspensionStateCalculationParams,
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suspensionForceParams[wheelId].stiffness, suspensionForceParams[wheelId].damping,
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steerResponseStates[wheelId], wheelRoadGeomStates[wheelId],
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*rigidBodyState,
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dt, context.frame, context.gravity,
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suspensionStates[wheelId]);
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//Update the compliance from the suspension state.
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PxVehicleSuspensionComplianceUpdate(
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suspensionParams[wheelId], suspensionComplianceParams[wheelId],
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suspensionStates[wheelId],
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suspensionComplianceStates[wheelId]);
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//Compute the suspension force from the suspension and compliance states.
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PxVehicleSuspensionForceUpdate(
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suspensionParams[wheelId], suspensionForceParams[wheelId],
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wheelRoadGeomStates[wheelId], suspensionStates[wheelId],
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suspensionComplianceStates[wheelId], *rigidBodyState,
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context.gravity, rigidBodyParams->mass,
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suspensionForces[wheelId]);
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}
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if (antiRollForceParams.size>0 && antiRollTorque)
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{
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PxVehicleAntiRollForceUpdate(
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suspensionParams, antiRollForceParams,
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suspensionStates.getConst(), suspensionComplianceStates.getConst(), *rigidBodyState,
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*antiRollTorque);
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}
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return true;
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}
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};
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/**
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* @deprecated
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*/
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class PX_DEPRECATED PxVehicleLegacySuspensionComponent : public PxVehicleComponent
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{
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public:
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PxVehicleLegacySuspensionComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleLegacySuspensionComponent() {}
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/**
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\brief Retrieve pointers to the parameter and state data required to compute the suspension state and the forces/torques that arise from the suspension state.
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\param[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles
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of the vehicle.
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\param[out] suspensionStateCalculationParams must be returned as a non-null pointer to a single PxVehicleSuspensionStateCalculationParams instance
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that describes the jounce computation type etc.
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\param[out] steerResponseStates must be returned as a non-null pointer to a single PxVehicleSteerCommandResponseStates instance that describes the steer
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state of the wheels.
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\param[out] rigidBodyState must be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that describes the pose and momentum of
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the vehicle's rigid body.
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\param[out] wheelParams must be set to a non-null pointer to an array of PxVehicleWheelParams containing per-wheel parameters for each wheel
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referenced by axleDescription.
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\param[out] suspensionParams must be set to a non-null pointer to an array of PxVehicleSuspensionParams containing per-wheel parameters for each
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wheel referenced by axleDescription.
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\param[out] suspensionComplianceParams must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceParams containing per-wheel
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parameters for each wheel referenced by axleDescription.
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\param[out] suspensionForceParams must be set to a non-null pointer to an array of PxVehicleSuspensionForceLegacyParams containing per-wheel parameters
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for each wheel referenced by axleDescription.
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\param[out] antiRollForceParams is optionally returned as a non-null pointer to an array of PxVehicleAntiRollForceParams with each element in the array
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describing a unique anti-roll bar connecting a pair of wheels.
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\param[out] wheelRoadGeomStates must be set to non-null pointer to an array of PxVehicleRoadGeometryState containing per-wheel road geometry for
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each wheel referenced by axleDescription.
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\param[out] suspensionStates must be set to a non-null pointer to an array of PxVehicleSuspensionState containing per-wheel suspension state for each
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wheel referenced by axleDescription.
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\param[out] suspensionComplianceStates must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceState containing per-wheel suspension
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compliance state for each wheel referenced by axleDescription.
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\param[out] suspensionForces must be set to a non-null pointer to an array of PxVehicleSuspensionForce containing per-wheel suspension forces for each
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wheel referenced by axleDescription.
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\param[out] antiRollTorque is optionally returned as a non-null pointer to a single PxVehicleAntiRollTorque instance that will store the accumulated anti-roll
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torque to be applied to the vheicle's rigid body.
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\note antiRollForceParams and antiRollTorque should be returned either both non-NULL or both NULL.
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*/
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virtual void getDataForLegacySuspensionComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspensionComplianceParams,
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PxVehicleArrayData<const PxVehicleSuspensionForceLegacyParams>& suspensionForceParams,
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PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
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PxVehicleArrayData<PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleAntiRollTorque*& antiRollTorque) = 0;
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/**
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\brief Update the suspension state and suspension compliance state and use those updated states to compute suspension and anti-roll forces/torques
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to apply to the vehicle's rigid body.
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\param[in] dt is the simulation time that has passed since the last call to PxVehicleSuspensionComponent::update()
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\param[in] context describes a variety of global simulation constants such as frame and scale of the simulation and the gravitational acceleration
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of the simulated environment.
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\note The suspension and anti-roll forces are computed in the world frame.
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\note PxVehicleLegacySuspensionComponent::update() implements legacy suspension behaviour.
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*/
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_PROFILE_ZONE("PxVehicleLegacySuspensionComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleSuspensionStateCalculationParams* suspensionStateCalculationParams;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceParams> suspensionComplianceParams;
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PxVehicleArrayData<const PxVehicleSuspensionForceLegacyParams> suspensionForceParams;
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PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams> antiRollForceParams;
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PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
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PxVehicleArrayData<PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<PxVehicleSuspensionForce> suspensionForces;
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PxVehicleAntiRollTorque* antiRollTorque;
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getDataForLegacySuspensionComponent(axleDescription, suspensionStateCalculationParams,
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steerResponseStates, rigidBodyState, wheelParams,
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suspensionParams, suspensionComplianceParams,
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suspensionForceParams, antiRollForceParams,
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wheelRoadGeomStates, suspensionStates, suspensionComplianceStates,
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suspensionForces, antiRollTorque);
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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];
|
||
|
|
|
||
|
|
//Update the suspension state (jounce, jounce speed)
|
||
|
|
PxVehicleSuspensionStateUpdate(
|
||
|
|
wheelParams[wheelId], suspensionParams[wheelId], *suspensionStateCalculationParams,
|
||
|
|
suspensionForceParams[wheelId].stiffness, suspensionForceParams[wheelId].damping,
|
||
|
|
steerResponseStates[wheelId], wheelRoadGeomStates[wheelId], *rigidBodyState,
|
||
|
|
dt, context.frame, context.gravity,
|
||
|
|
suspensionStates[wheelId]);
|
||
|
|
|
||
|
|
//Update the compliance from the suspension state.
|
||
|
|
PxVehicleSuspensionComplianceUpdate(
|
||
|
|
suspensionParams[wheelId], suspensionComplianceParams[wheelId],
|
||
|
|
suspensionStates[wheelId],
|
||
|
|
suspensionComplianceStates[wheelId]);
|
||
|
|
|
||
|
|
//Compute the suspension force from the suspension and compliance states.
|
||
|
|
PxVehicleSuspensionLegacyForceUpdate(
|
||
|
|
suspensionParams[wheelId], suspensionForceParams[wheelId],
|
||
|
|
wheelRoadGeomStates[wheelId], suspensionStates[wheelId],
|
||
|
|
suspensionComplianceStates[wheelId], *rigidBodyState,
|
||
|
|
context.gravity,
|
||
|
|
suspensionForces[wheelId]);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (antiRollForceParams.size>0 && antiRollTorque)
|
||
|
|
{
|
||
|
|
PxVehicleAntiRollForceUpdate(
|
||
|
|
suspensionParams, antiRollForceParams,
|
||
|
|
suspensionStates.getConst(), suspensionComplianceStates.getConst(), *rigidBodyState,
|
||
|
|
*antiRollTorque);
|
||
|
|
}
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace vehicle2
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|