82 lines
4.2 KiB
C++
82 lines
4.2 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 "foundation/PxSimpleTypes.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
namespace vehicle2
|
|
{
|
|
#endif
|
|
|
|
struct PxVehicleWheelParams;
|
|
struct PxVehicleWheelActuationState;
|
|
struct PxVehicleSuspensionState;
|
|
struct PxVehicleTireSpeedState;
|
|
struct PxVehicleScale;
|
|
struct PxVehicleWheelRigidBody1dState;
|
|
|
|
/**
|
|
\brief Forward integrate the rotation angle of a wheel
|
|
\note The rotation angle of the wheel plays no role in simulation but is important to compute the pose of the wheel for rendering.
|
|
\param[in] wheelParams describes the radius and half-width of the wheel
|
|
\param[in] actuationState describes whether the wheel has drive or brake torque applied to it.
|
|
\param[in] suspensionState describes whether the wheel touches the ground.
|
|
\param[in] tireSpeedState describes the components of rigid body velocity at the ground contact point along the tire's lateral and longitudinal directions.
|
|
\param[in] thresholdForwardSpeedForWheelAngleIntegration Forward wheel speed below which the wheel rotation speed gets blended with the rolling
|
|
speed (based on the forward wheel speed) which is then used to integrate the wheel rotation angle. At low forward wheel speed, the wheel
|
|
rotation speed can get unstable (depending on the tire model used) and, for example, oscillate. If brake or throttle is applied, there
|
|
will be no blending.
|
|
\param[in] dt is the simulation time that has lapsed since the last call to PxVehicleWheelRotationAngleUpdate
|
|
\param[in,out] wheelRigidBody1dState describes the current angular speed and angle of the wheel.
|
|
\note At low speeds and large timesteps, wheel rotation speed can become noisy due to singularities in the tire slip computations.
|
|
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
|
|
wheel experiences neither brake nor drive torque and can be placed on the ground. The blended rotation speed gets stored in
|
|
PxVehicleWheelRigidBody1dState::correctedRotationSpeed.
|
|
*/
|
|
void PxVehicleWheelRotationAngleUpdate
|
|
(const PxVehicleWheelParams& wheelParams,
|
|
const PxVehicleWheelActuationState& actuationState, const PxVehicleSuspensionState& suspensionState, const PxVehicleTireSpeedState& tireSpeedState,
|
|
const PxReal thresholdForwardSpeedForWheelAngleIntegration, const PxReal dt,
|
|
PxVehicleWheelRigidBody1dState& wheelRigidBody1dState);
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace vehicle2
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|
|
|