124 lines
5.2 KiB
C++
124 lines
5.2 KiB
C++
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
#pragma once
|
|
|
|
/** \addtogroup vehicle2
|
|
@{
|
|
*/
|
|
|
|
#include "vehicle2/PxVehicleParams.h"
|
|
#include "vehicle2/PxVehicleComponent.h"
|
|
|
|
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
|
|
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
|
|
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
|
|
|
|
#include "PxVehiclePhysXConstraintFunctions.h"
|
|
#include "PxVehiclePhysXConstraintHelpers.h"
|
|
#include "PxVehiclePhysXConstraintStates.h"
|
|
#include "PxVehiclePhysXConstraintParams.h"
|
|
|
|
#include "common/PxProfileZone.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
namespace vehicle2
|
|
{
|
|
#endif
|
|
|
|
class PxVehiclePhysXConstraintComponent : public PxVehicleComponent
|
|
{
|
|
public:
|
|
PxVehiclePhysXConstraintComponent() : PxVehicleComponent() {}
|
|
virtual ~PxVehiclePhysXConstraintComponent() {}
|
|
|
|
virtual void getDataForPhysXConstraintComponent(
|
|
const PxVehicleAxleDescription*& axleDescription,
|
|
const PxVehicleRigidBodyState*& rigidBodyState,
|
|
PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
|
|
PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& suspensionLimitParams,
|
|
PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
|
|
PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
|
|
PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
|
|
PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
|
|
PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
|
|
PxVehiclePhysXConstraints*& constraints) = 0;
|
|
|
|
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
|
|
{
|
|
PX_UNUSED(dt);
|
|
PX_UNUSED(context);
|
|
|
|
PX_PROFILE_ZONE("PxVehiclePhysXConstraintComponent::update", 0);
|
|
|
|
const PxVehicleAxleDescription* axleDescription;
|
|
const PxVehicleRigidBodyState* rigidBodyState;
|
|
PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
|
|
PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams> suspensionLimitParams;
|
|
PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
|
|
PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
|
|
PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
|
|
PxVehicleArrayData<const PxVehicleTireDirectionState> tireDirectionStates;
|
|
PxVehicleArrayData<const PxVehicleTireStickyState> tireStickyStates;
|
|
PxVehiclePhysXConstraints* constraints;
|
|
|
|
getDataForPhysXConstraintComponent(axleDescription, rigidBodyState,
|
|
suspensionParams, suspensionLimitParams, suspensionStates, suspensionComplianceStates,
|
|
wheelRoadGeomStates, tireDirectionStates, tireStickyStates,
|
|
constraints);
|
|
|
|
PxVehicleConstraintsDirtyStateUpdate(*constraints);
|
|
|
|
for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
|
|
{
|
|
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
|
|
|
|
PxVehiclePhysXConstraintStatesUpdate(
|
|
suspensionParams[wheelId], suspensionLimitParams[wheelId],
|
|
suspensionStates[wheelId], suspensionComplianceStates[wheelId],
|
|
wheelRoadGeomStates[wheelId].plane.n,
|
|
context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLONGITUDINAL].damping,
|
|
context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLATERAL].damping,
|
|
tireDirectionStates[wheelId], tireStickyStates[wheelId],
|
|
*rigidBodyState,
|
|
constraints->constraintStates[wheelId]);
|
|
}
|
|
|
|
return true;
|
|
}
|
|
};
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace vehicle2
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|