121 lines
4.8 KiB
C++
121 lines
4.8 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/tire/PxVehicleTireStates.h"
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#include "PxVehicleWheelFunctions.h"
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#include "PxVehicleWheelHelpers.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 PxVehicleWheelComponent : public PxVehicleComponent
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{
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public:
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PxVehicleWheelComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleWheelComponent() {}
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virtual void getDataForWheelComponent(
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const PxVehicleAxleDescription*& axleDescription,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
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PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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PxVehicleArrayData<PxVehicleWheelLocalPose>& wheelLocalPoses) = 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("PxVehicleWheelComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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PxVehicleArrayData<const PxReal> steerResponseStates;
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PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
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PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
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PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
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PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
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PxVehicleArrayData<const PxVehicleTireSpeedState> tireSpeedStates;
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PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
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PxVehicleArrayData<PxVehicleWheelLocalPose> wheelLocalPoses;
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getDataForWheelComponent(axleDescription, steerResponseStates,
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wheelParams, suspensionParams, actuationStates, suspensionStates,
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suspensionComplianceStates, tireSpeedStates, wheelRigidBody1dStates,
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wheelLocalPoses);
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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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PxVehicleWheelRotationAngleUpdate(
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wheelParams[wheelId],
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actuationStates[wheelId], suspensionStates[wheelId],
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tireSpeedStates[wheelId],
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context.thresholdForwardSpeedForWheelAngleIntegration, dt,
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wheelRigidBody1dStates[wheelId]);
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wheelLocalPoses[wheelId].localPose = PxVehicleComputeWheelLocalPose(context.frame,
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suspensionParams[wheelId],
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suspensionStates[wheelId],
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suspensionComplianceStates[wheelId],
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steerResponseStates[wheelId],
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wheelRigidBody1dStates[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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