82 lines
4.2 KiB
C
82 lines
4.2 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 "foundation/PxSimpleTypes.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 PxVehicleWheelParams;
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struct PxVehicleWheelActuationState;
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struct PxVehicleSuspensionState;
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struct PxVehicleTireSpeedState;
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struct PxVehicleScale;
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struct PxVehicleWheelRigidBody1dState;
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/**
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\brief Forward integrate the rotation angle of a wheel
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\note The rotation angle of the wheel plays no role in simulation but is important to compute the pose of the wheel for rendering.
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\param[in] wheelParams describes the radius and half-width of the wheel
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\param[in] actuationState describes whether the wheel has drive or brake torque applied to it.
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\param[in] suspensionState describes whether the wheel touches the ground.
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\param[in] tireSpeedState describes the components of rigid body velocity at the ground contact point along the tire's lateral and longitudinal directions.
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\param[in] thresholdForwardSpeedForWheelAngleIntegration Forward wheel speed below which the wheel rotation speed gets blended with the rolling
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speed (based on the forward wheel speed) which is then used to integrate the wheel rotation angle. At low forward wheel speed, the wheel
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rotation speed can get unstable (depending on the tire model used) and, for example, oscillate. If brake or throttle is applied, there
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will be no blending.
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\param[in] dt is the simulation time that has lapsed since the last call to PxVehicleWheelRotationAngleUpdate
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\param[in,out] wheelRigidBody1dState describes the current angular speed and angle of the wheel.
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\note At low speeds and large timesteps, wheel rotation speed can become noisy due to singularities in the tire slip computations.
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At low speeds, therefore, the wheel speed used for integrating the angle is a blend of current angular speed and rolling angular speed if the
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wheel experiences neither brake nor drive torque and can be placed on the ground. The blended rotation speed gets stored in
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PxVehicleWheelRigidBody1dState::correctedRotationSpeed.
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*/
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void PxVehicleWheelRotationAngleUpdate
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(const PxVehicleWheelParams& wheelParams,
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const PxVehicleWheelActuationState& actuationState, const PxVehicleSuspensionState& suspensionState, const PxVehicleTireSpeedState& tireSpeedState,
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const PxReal thresholdForwardSpeedForWheelAngleIntegration, const PxReal dt,
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PxVehicleWheelRigidBody1dState& wheelRigidBody1dState);
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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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