93 lines
4.5 KiB
C
93 lines
4.5 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/PxVec3.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 PxVehicleSuspensionParams;
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struct PxVehiclePhysXSuspensionLimitConstraintParams;
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struct PxVehicleSuspensionState;
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struct PxVehicleSuspensionComplianceState;
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struct PxVehicleTireDirectionState;
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struct PxVehicleTireStickyState;
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struct PxVehicleRigidBodyState;
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struct PxVehiclePhysXConstraintState;
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/**
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\brief Read constraint data from the vehicle's internal state for a single wheel and write it to a
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structure that will be read by the associated PxScene and used to impose the constraints during the next
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PxScene::simulate() step.
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\param[in] suspensionParams describes the suspension frame.
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\param[in] suspensionLimitParams describes the restitution value applied to any constraint triggered by
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the suspension travel limit.
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\param[in] suspensionState describes the excess suspension compression beyond the suspension travel limit that will be
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resolved with a constraint.
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\param[in] suspensionComplianceState describes the effect of suspension compliance on the effective application point
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of the suspension force.
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\param[in] groundPlaneNormal The normal direction of the ground plane the wheel is driving on. A normalized vector is
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expected.
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\param[in] tireStickyDampingLong The damping coefficient to use in the constraint to approach a zero target velocity
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along the longitudinal tire axis.
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\param[in] tireStickyDampingLat Same concept as tireStickyDampingLong but for the lateral tire axis.
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\param[in] tireDirectionState describes the longitudinal and lateral directions of the tire in the world frame.
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\param[in] tireStickyState describes the low speed state of the tire in the longitudinal and lateral directions.
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\param[in] rigidBodyState describes the pose of the rigid body.
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\param[out] constraintState is the data structure that will be read by the associated PxScene in the next call to
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PxScene::simulate().
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\note Constraints include suspension constraints to account for suspension travel limit and sticky
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tire constraints that bring the vehicle to rest at low longitudinal and lateral speed.
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*/
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void PxVehiclePhysXConstraintStatesUpdate
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(const PxVehicleSuspensionParams& suspensionParams,
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const PxVehiclePhysXSuspensionLimitConstraintParams& suspensionLimitParams,
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const PxVehicleSuspensionState& suspensionState, const PxVehicleSuspensionComplianceState& suspensionComplianceState,
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const PxVec3& groundPlaneNormal,
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const PxReal tireStickyDampingLong, const PxReal tireStickyDampingLat,
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const PxVehicleTireDirectionState& tireDirectionState, const PxVehicleTireStickyState& tireStickyState,
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const PxVehicleRigidBodyState& rigidBodyState,
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PxVehiclePhysXConstraintState& constraintState);
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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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