81 lines
3.7 KiB
C
81 lines
3.7 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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#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 PxVehicleRigidBodyParams;
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struct PxVehicleSuspensionForce;
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struct PxVehicleTireForce;
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struct PxVehicleAntiRollTorque;
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struct PxVehicleRigidBodyState;
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/**
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\brief Forward integrate rigid body state.
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\param[in] axleDescription is a description of the axles of the vehicle and the wheels on each axle.
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\param[in] rigidBodyParams is a description of rigid body mass and moment of inertia.
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\param[in] suspensionForces is an array of suspension forces and torques in the world frame to be applied to the rigid body.
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\param[in] tireForces is an array of tire forces and torques in the world frame to be applied to the rigid body.
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\param[in] antiRollTorque is an optional pointer to a single PxVehicleAntiRollTorque instance that contains the accumulated anti-roll
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torque to apply to the rigid body.
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\param[in] dt is the timestep of the forward integration.
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\param[in] gravity is gravitational acceleration.
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\param[in,out] rigidBodyState is the rigid body state that is to be updated.
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\note The suspensionForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
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\note The tireForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
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\note If antiRollTorque is a null pointer then zero anti-roll torque will be applied to the rigid body.
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*/
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void PxVehicleRigidBodyUpdate
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(const PxVehicleAxleDescription& axleDescription, const PxVehicleRigidBodyParams& rigidBodyParams,
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const PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
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const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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const PxVehicleAntiRollTorque* antiRollTorque,
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const PxReal dt, const PxVec3& gravity,
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PxVehicleRigidBodyState& rigidBodyState);
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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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