167 lines
9.0 KiB
C++
167 lines
9.0 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 "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 PxVehicleWheelParams;
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struct PxVehicleSuspensionParams;
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struct PxVehicleSuspensionStateCalculationParams;
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struct PxVehicleRoadGeometryState;
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struct PxVehicleRigidBodyState;
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struct PxVehicleSuspensionState;
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struct PxVehicleSuspensionComplianceParams;
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struct PxVehicleSuspensionComplianceState;
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struct PxVehicleSuspensionForceParams;
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struct PxVehicleSuspensionForce;
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struct PxVehicleSuspensionForceLegacyParams;
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struct PxVehicleAntiRollForceParams;
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struct PxVehicleAntiRollTorque;
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/**
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\brief Compute the suspension compression and compression speed for a single suspension.
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\param[in] wheelParams is a description of the radius and half-width of the wheel on the suspension.
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\param[in] suspensionParams is a description of the suspension and wheel frames.
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\param[in] suspensionStateCalcParams specifies whether to compute the suspension compression by either
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raycasting or sweeping against the plane of the road geometry under the wheel.
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\param[in] suspensionStiffness is the stiffness of the suspension
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\param[in] suspensionDamping is the damping rate of the suspension.
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or whether to apply a limit to the expansion speed so that the wheel may not reach the ground.
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\param[in] steerAngle is the yaw angle (in radians) of the wheel.
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\param[in] roadGeometryState describes the plane under the wheel.
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\param[in] rigidBodyState describes the pose of the rigid body.
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\param[in] dt is the simulation time that has lapsed since the last call to PxVehicleSuspensionStateUpdate
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\param[in] frame describes the longitudinal, lateral and vertical axes of the vehicle.
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\param[in] gravity is the gravitational acceleration that acts on the suspension sprung mass.
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\param[in,out] suspState is the compression (jounce) and compression speed of the suspension.
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*/
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void PxVehicleSuspensionStateUpdate
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(const PxVehicleWheelParams& wheelParams, const PxVehicleSuspensionParams& suspensionParams, const PxVehicleSuspensionStateCalculationParams& suspensionStateCalcParams,
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const PxReal suspensionStiffness, const PxReal suspensionDamping,
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const PxReal steerAngle, const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxReal dt, const PxVehicleFrame& frame, const PxVec3& gravity,
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PxVehicleSuspensionState& suspState);
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/**
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\brief Compute the toe, camber and force application points that are affected by suspension compression.
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\param[in] suspensionParams is a description of the suspension and wheel frames.
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\param[in] complianceParams describes how toe, camber and force application points are affected by suspension compression.
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\param[in] suspensionState describes the current suspension compression.
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\param[in] complianceState is the computed toe, camber and force application points.
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*/
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void PxVehicleSuspensionComplianceUpdate
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(const PxVehicleSuspensionParams& suspensionParams,
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const PxVehicleSuspensionComplianceParams& complianceParams,
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const PxVehicleSuspensionState& suspensionState,
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PxVehicleSuspensionComplianceState& complianceState);
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/**
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\brief Compute the suspension force and torque arising from suspension compression and speed.
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\param[in] suspensionParams is a description of the suspension and wheel frames.
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\param[in] suspensionForceParams describes the conversion of suspension state to suspension force.
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\param[in] roadGeometryState describes the plane under the wheel of the suspension.
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\param[in] suspensionState is the current compression state of the suspension.
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\param[in] complianceState is the current compliance state of the suspension.
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\param[in] rigidBodyState describes the current pose of the rigid body.
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\param[in] gravity is the gravitational acceleration.
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\param[in] vehicleMass is the rigid body mass.
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\param[out] suspensionForce is the force and torque to apply to the rigid body arising from the suspension state.
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*/
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void PxVehicleSuspensionForceUpdate
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(const PxVehicleSuspensionParams& suspensionParams,
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const PxVehicleSuspensionForceParams& suspensionForceParams,
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const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleSuspensionState& suspensionState,
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const PxVehicleSuspensionComplianceState& complianceState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxVec3& gravity, const PxReal vehicleMass,
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PxVehicleSuspensionForce& suspensionForce);
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/**
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\brief Compute the suspension force and torque arising from suspension compression and speed.
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\param[in] suspensionParams is a description of the suspension and wheel frames.
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\param[in] suspensionForceParams describes the conversion of suspension state to suspension force.
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\param[in] roadGeometryState describes the plane under the wheel of the suspension.
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\param[in] suspensionState is the current compression state of the suspension.
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\param[in] complianceState is the current compliance state of the suspension.
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\param[in] rigidBodyState describes the current pose of the rigid body.
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\param[in] gravity is the gravitational acceleration.
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\param[out] suspensionForce is the force and torque to apply to the rigid body arising from the suspension state.
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\note PxVehicleSuspensionLegacyForceUpdate implements the legacy force computation of PhysX 5.0 and earlier.
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@deprecated
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*/
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PX_DEPRECATED void PxVehicleSuspensionLegacyForceUpdate
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(const PxVehicleSuspensionParams& suspensionParams,
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const PxVehicleSuspensionForceLegacyParams& suspensionForceParams,
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const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleSuspensionState& suspensionState,
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const PxVehicleSuspensionComplianceState& complianceState, const PxVehicleRigidBodyState& rigidBodyState,
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const PxVec3& gravity,
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PxVehicleSuspensionForce& suspensionForce);
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/**
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\brief Compute the accumulated anti-roll torque to apply to the vehicle's rigid body.
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\param[in] suspensionParams The suspension parameters for each wheel.
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\param[in] antiRollParams describes the wheel pairs connected by anti-roll bars and the strength of each anti-roll bar.
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\param[in] suspensionStates The suspension states for each wheel.
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\param[in] complianceStates The suspension compliance states for each wheel.
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\param[in] rigidBodyState describes the pose and momentum of the vehicle's rigid body in the world frame.
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\param[in] antiRollTorque is the accumulated anti-roll torque that is computed by iterating over all anti-roll bars
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describes in *antiRollParams*.
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\note suspensionParams must contain an entry for each wheel index referenced by *antiRollParams*.
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\note suspensionStates must contain an entry for each wheel index referenced by *antiRollParams*.
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\note complianceStates must contain an entry for each wheel index referenced by *antiRollParams*.
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\note antiRollTorque is expressed in the world frame.
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*/
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void PxVehicleAntiRollForceUpdate
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(const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollParams,
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const PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& complianceStates,
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const PxVehicleRigidBodyState& rigidBodyState,
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PxVehicleAntiRollTorque& antiRollTorque);
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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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