334 lines
14 KiB
C++
334 lines
14 KiB
C++
// 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/PxVehicleCommandHelpers.h"
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#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
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#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
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#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
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#include "vehicle2/wheel/PxVehicleWheelStates.h"
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#include "vehicle2/wheel/PxVehicleWheelParams.h"
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#include "PxVehicleTireFunctions.h"
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#include "PxVehicleTireParams.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 PxVehicleTireComponent : public PxVehicleComponent
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{
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public:
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PxVehicleTireComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleTireComponent() {}
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virtual void getDataForTireComponent(
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const PxVehicleAxleDescription*& axleDescription,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1DStates,
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PxVehicleArrayData<PxVehicleTireGripState>& tireGripStates,
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PxVehicleArrayData<PxVehicleTireDirectionState>& tireDirectionStates,
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PxVehicleArrayData<PxVehicleTireSpeedState>& tireSpeedStates,
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PxVehicleArrayData<PxVehicleTireSlipState>& tireSlipStates,
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PxVehicleArrayData<PxVehicleTireCamberAngleState>& tireCamberAngleStates,
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PxVehicleArrayData<PxVehicleTireStickyState>& tireStickyStates,
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PxVehicleArrayData<PxVehicleTireForce>& tireForces) = 0;
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_PROFILE_ZONE("PxVehicleTireComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehicleTireForceParams> tireForceParams;
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PxVehicleArrayData<const PxVehicleRoadGeometryState> roadGeomStates;
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PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1DStates;
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PxVehicleArrayData<PxVehicleTireGripState> tireGripStates;
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PxVehicleArrayData<PxVehicleTireDirectionState> tireDirectionStates;
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PxVehicleArrayData<PxVehicleTireSpeedState> tireSpeedStates;
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PxVehicleArrayData<PxVehicleTireSlipState> tireSlipStates;
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PxVehicleArrayData<PxVehicleTireCamberAngleState> tireCamberAngleStates;
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PxVehicleArrayData<PxVehicleTireStickyState> tireStickyStates;
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PxVehicleArrayData<PxVehicleTireForce> tireForces;
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getDataForTireComponent(axleDescription, steerResponseStates,
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rigidBodyState, actuationStates, wheelParams, suspensionParams, tireForceParams,
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roadGeomStates, suspensionStates, suspensionComplianceStates, suspensionForces,
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wheelRigidBody1DStates, tireGripStates, tireDirectionStates, tireSpeedStates,
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tireSlipStates, tireCamberAngleStates, tireStickyStates, tireForces);
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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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//Compute the tire slip directions
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PxVehicleTireDirsUpdate(
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suspensionParams[wheelId],
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steerResponseStates[wheelId],
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roadGeomStates[wheelId], suspensionComplianceStates[wheelId],
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*rigidBodyState,
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context.frame,
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tireDirectionStates[wheelId]);
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//Compute the rigid body speeds along the tire slip directions.
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PxVehicleTireSlipSpeedsUpdate(
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wheelParams[wheelId], suspensionParams[wheelId],
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steerResponseStates[wheelId], suspensionStates[wheelId], tireDirectionStates[wheelId],
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*rigidBodyState, roadGeomStates[i],
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context.frame,
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tireSpeedStates[wheelId]);
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//Compute the tire slip angles.
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PxVehicleTireSlipsUpdate(
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wheelParams[wheelId], context.tireSlipParams,
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actuationStates[wheelId], tireSpeedStates[wheelId],
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wheelRigidBody1DStates[wheelId],
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tireSlipStates[wheelId]);
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//Update the camber angle
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PxVehicleTireCamberAnglesUpdate(
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suspensionParams[wheelId], steerResponseStates[wheelId], roadGeomStates[wheelId],
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suspensionComplianceStates[wheelId], *rigidBodyState,
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context.frame,
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tireCamberAngleStates[wheelId]);
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//Compute the friction
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PxVehicleTireGripUpdate(
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tireForceParams[wheelId], roadGeomStates[wheelId],
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suspensionStates[wheelId], suspensionForces[wheelId],
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tireSlipStates[wheelId], tireGripStates[wheelId]);
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//Update the tire sticky state
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//
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//Note: this should be skipped if tires do not use the sticky feature
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PxVehicleTireStickyStateUpdate(
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*axleDescription,
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wheelParams[wheelId],
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context.tireStickyParams,
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actuationStates, tireGripStates[wheelId],
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tireSpeedStates[wheelId], wheelRigidBody1DStates[wheelId],
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dt,
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tireStickyStates[wheelId]);
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//If sticky tire is active set the slip angle to zero.
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//
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//Note: this should be skipped if tires do not use the sticky feature
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PxVehicleTireSlipsAccountingForStickyStatesUpdate(
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tireStickyStates[wheelId],
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tireSlipStates[wheelId]);
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//Compute the tire forces
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PxVehicleTireForcesUpdate(
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wheelParams[wheelId], suspensionParams[wheelId],
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tireForceParams[wheelId],
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suspensionComplianceStates[wheelId],
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tireGripStates[wheelId], tireDirectionStates[wheelId],
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tireSlipStates[wheelId], tireCamberAngleStates[wheelId],
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*rigidBodyState,
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tireForces[wheelId]);
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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 PxVehicleLegacyTireComponent : public PxVehicleComponent
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{
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public:
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PxVehicleLegacyTireComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleLegacyTireComponent() {}
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virtual void getDataForLegacyTireComponent(
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const PxVehicleAxleDescription*& axleDescription,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1DStates,
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PxVehicleArrayData<PxVehicleTireGripState>& tireGripStates,
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PxVehicleArrayData<PxVehicleTireDirectionState>& tireDirectionStates,
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PxVehicleArrayData<PxVehicleTireSpeedState>& tireSpeedStates,
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PxVehicleArrayData<PxVehicleTireSlipState>& tireSlipStates,
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PxVehicleArrayData<PxVehicleTireCamberAngleState>& tireCamberAngleStates,
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PxVehicleArrayData<PxVehicleTireStickyState>& tireStickyStates,
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PxVehicleArrayData<PxVehicleTireForce>& tireForces) = 0;
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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PX_PROFILE_ZONE("PxVehicleLegacyTireComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehicleTireForceParams> tireForceParams;
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PxVehicleArrayData<const PxVehicleRoadGeometryState> roadGeomStates;
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PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1DStates;
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PxVehicleArrayData<PxVehicleTireGripState> tireGripStates;
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PxVehicleArrayData<PxVehicleTireDirectionState> tireDirectionStates;
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PxVehicleArrayData<PxVehicleTireSpeedState> tireSpeedStates;
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PxVehicleArrayData<PxVehicleTireSlipState> tireSlipStates;
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PxVehicleArrayData<PxVehicleTireCamberAngleState> tireCamberAngleStates;
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PxVehicleArrayData<PxVehicleTireStickyState> tireStickyStates;
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PxVehicleArrayData<PxVehicleTireForce> tireForces;
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getDataForLegacyTireComponent(axleDescription, steerResponseStates,
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rigidBodyState, actuationStates,
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wheelParams, suspensionParams, tireForceParams,
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roadGeomStates, suspensionStates, suspensionComplianceStates,
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suspensionForces, wheelRigidBody1DStates,
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tireGripStates, tireDirectionStates, tireSpeedStates, tireSlipStates,
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tireCamberAngleStates, tireStickyStates, tireForces);
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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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//Compute the tire slip directions
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PxVehicleTireDirsLegacyUpdate(
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suspensionParams[wheelId],
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steerResponseStates[wheelId],
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roadGeomStates[wheelId], *rigidBodyState,
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context.frame,
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tireDirectionStates[wheelId]);
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//Compute the rigid body speeds along the tire slip directions.
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PxVehicleTireSlipSpeedsUpdate(
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wheelParams[wheelId], suspensionParams[wheelId],
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steerResponseStates[wheelId], suspensionStates[wheelId], tireDirectionStates[wheelId],
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*rigidBodyState, roadGeomStates[wheelId],
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context.frame,
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tireSpeedStates[wheelId]);
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//Compute the tire slip angles.
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PxVehicleTireSlipsLegacyUpdate(
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wheelParams[wheelId], context.tireSlipParams,
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actuationStates[wheelId], tireSpeedStates[wheelId],
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wheelRigidBody1DStates[wheelId],
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tireSlipStates[wheelId]);
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//Update the camber angle
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PxVehicleTireCamberAnglesUpdate(
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suspensionParams[wheelId], steerResponseStates[wheelId], roadGeomStates[wheelId],
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suspensionComplianceStates[wheelId], *rigidBodyState,
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context.frame,
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tireCamberAngleStates[wheelId]);
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//Compute the friction
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PxVehicleTireGripUpdate(
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tireForceParams[wheelId], roadGeomStates[wheelId],
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suspensionStates[wheelId], suspensionForces[wheelId],
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tireSlipStates[wheelId], tireGripStates[wheelId]);
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//Update the tire sticky state
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//
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//Note: this should be skipped if tires do not use the sticky feature
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PxVehicleTireStickyStateUpdate(
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*axleDescription,
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wheelParams[wheelId],
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context.tireStickyParams,
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actuationStates, tireGripStates[wheelId],
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tireSpeedStates[wheelId], wheelRigidBody1DStates[wheelId],
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dt,
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tireStickyStates[wheelId]);
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//If sticky tire is active set the slip angle to zero.
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//
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//Note: this should be skipped if tires do not use the sticky feature
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PxVehicleTireSlipsAccountingForStickyStatesUpdate(
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tireStickyStates[wheelId],
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tireSlipStates[wheelId]);
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//Compute the tire forces
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PxVehicleTireForcesUpdate(
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wheelParams[wheelId], suspensionParams[wheelId],
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tireForceParams[wheelId],
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suspensionComplianceStates[wheelId],
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tireGripStates[wheelId], tireDirectionStates[wheelId],
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tireSlipStates[wheelId], tireCamberAngleStates[wheelId],
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*rigidBodyState,
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tireForces[wheelId]);
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}
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return true;
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}
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};
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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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