111 lines
5.0 KiB
C++
111 lines
5.0 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/PxFoundation.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 PxVehicleFrame;
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struct PxVehicleScale;
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/**
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\brief A description of the PhysX models employed to resolve suspension limit constraints.
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@see PxVehiclePhysXConstraintState
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*/
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struct PxVehiclePhysXSuspensionLimitConstraintParams
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{
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/**
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\brief restitution is used by the restitution model used to generate a target velocity when resolving suspension limit
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constraints.
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\note A value of 0.0 means that the restitution model is not employed.
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\note Restitution has no effect if directionForSuspensionLimitConstraint has value Enum::eNONE.
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@see Px1DConstraintFlag::eRESTITUTION
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@see Px1DConstraint::RestitutionModifiers::restitution
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*/
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PxReal restitution;
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/**
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\brief Set the direction to apply a constraint impulse when the suspension cannot place the wheel on the ground
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and simultaneously respect the limits of suspension travel. The choices are to push along the ground normal to resolve the
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geometric error or to push along the suspension direction. The former choice can be thought of as mimicing a force applied
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by the tire's contact with the ground, while the latter can be thought of as mimicing a force arising from a suspension limit spring.
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When the ground normal and the suspension direction are approximately aligned, both do an equivalent job of maintaining the wheel above
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the ground. When the vehicle is on its side, eSUSPENSION does a better job of keeping the wheels above
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the ground but comes at the cost of an unnaturally strong torque that can lead to unwanted self-righting behaviour.
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eROAD_GEOMETRY_NORMAL is a good choice to avoid self-righting behaviour and still do a reasonable job at maintaining
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the wheel above the ground in the event that the vehicle is tending towards a roll onto its side.
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eNONE should be chosen if it is desired that no extra impulse is applied when the suspension alone cannot keep the wheels above
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the ground plane.
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*/
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enum DirectionSpecifier
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{
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eSUSPENSION,
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eROAD_GEOMETRY_NORMAL,
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eNONE
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};
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DirectionSpecifier directionForSuspensionLimitConstraint;
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PX_FORCE_INLINE PxVehiclePhysXSuspensionLimitConstraintParams transformAndScale(
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const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
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{
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PX_UNUSED(srcFrame);
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PX_UNUSED(trgFrame);
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PX_UNUSED(srcScale);
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PX_UNUSED(trgScale);
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return *this;
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}
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PX_FORCE_INLINE bool isValid() const
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{
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PX_CHECK_AND_RETURN_VAL(
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PxVehiclePhysXSuspensionLimitConstraintParams::eSUSPENSION == directionForSuspensionLimitConstraint ||
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PxVehiclePhysXSuspensionLimitConstraintParams::eROAD_GEOMETRY_NORMAL == directionForSuspensionLimitConstraint ||
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PxVehiclePhysXSuspensionLimitConstraintParams::eNONE == directionForSuspensionLimitConstraint, "PxVehiclePhysXSuspensionLimitConstraintParams.directionForSuspensionLimitConstraint must have legal value", false);
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PX_CHECK_AND_RETURN_VAL(restitution >= 0.0f && restitution <= 1.0f, "PxVehiclePhysXSuspensionLimitConstraintParams.restitution must be in range [0, 1]", false);
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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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