586 lines
39 KiB
C++
586 lines
39 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/braking/PxVehicleBrakingParams.h"
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#include "vehicle2/commands/PxVehicleCommandStates.h"
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#include "vehicle2/drivetrain/PxVehicleDrivetrainParams.h"
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#include "vehicle2/drivetrain/PxVehicleDrivetrainStates.h"
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#include "vehicle2/physxActor/PxVehiclePhysXActorStates.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintParams.h"
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#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
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#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.h"
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#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
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#include "vehicle2/steering/PxVehicleSteeringParams.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/tire/PxVehicleTireParams.h"
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#include "vehicle2/tire/PxVehicleTireStates.h"
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#include "vehicle2/wheel/PxVehicleWheelParams.h"
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#include "vehicle2/wheel/PxVehicleWheelStates.h"
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class OmniPvdWriter;
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namespace physx
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{
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class PxAllocatorCallback;
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namespace vehicle2
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{
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struct PxVehiclePvdAttributeHandles;
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struct PxVehiclePvdObjectHandles;
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} // namespace vehicle2
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} // namespace physx
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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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/**
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\brief Create object instances in omnipvd that will be used to reflect the parameters and state of the rigid body of a vehicle instance.
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Handles to the created object instances will be stored in a PxVehiclePvdObjectHandles instance.
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\param[in] rbodyParams describes the parameters of the vehicle's rigid body.
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\param[in] rbodyState describes the state of the vehicle's rigid body.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If rbodyParams is NULL, omnipvd will not reflect rigid body parameters.
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\note If rbodyState is NULL, omnipvd will not reflect rigid body state.
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\note PxVehiclePvdRigidBodyRegister should be called once for each vehicle instance.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdRigidBodyWrite
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*/
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void PxVehiclePvdRigidBodyRegister
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(const PxVehicleRigidBodyParams* rbodyParams, const PxVehicleRigidBodyState* rbodyState,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Write the parameters and state of the rigid body of a vehicle instance to omnipvd.
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\param[in] rbodyParams describes the parameters of the vehicle's rigid body.
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\param[in] rbodyState describes the state of the vehicle's rigid body.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If rbodyParams is NULL but a non-NULL value was used in PxVehiclePvdRigidBodyRegister(), the rigid body parameters will not be updated in omnipvd.
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\note If rbodyState is NULL but a non-NULL value was used in PxVehiclePvdRigidBodyRegister(), the rigid body state will not be updated in omnipvd.
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\note omniWriter must be the same instance used in PxVehiclePvdRigidBodyRegister().
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdRigidBodyRegister
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*/
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void PxVehiclePvdRigidBodyWrite
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(const PxVehicleRigidBodyParams* rbodyParams, const PxVehicleRigidBodyState* rbodyState,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Register object instances in omnipvd that will be used to reflect the suspension state calculation parameters of a vehicle instance.
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\param[in] suspStateCalcParams describes parameters used to calculate suspension state.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If suspStateCalcParams is NULL, omnipvd will not reflect the suspension state calculation parameters.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdSuspensionStateCalculationParamsWrite
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*/
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void PxVehiclePvdSuspensionStateCalculationParamsRegister
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(const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Write the parameters and state of the rigid body of a vehicle instance to omnipvd.
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\param[in] suspStateCalcParams describes parameters used to calculate suspension state.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If suspStateCalcParams is NULL but a non-NULL value was used in void PxVehiclePvdSuspensionStateCalculationParamsRegister(),
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the suspension state calculation parameters will not be updated in omnipvd.
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\note omniWriter must be the same instance used in PxVehiclePvdSuspensionStateCalculationParamsRegister().
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdSuspensionStateCalculationParamsRegister
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*/
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void PxVehiclePvdSuspensionStateCalculationParamsWrite
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(const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Register object instances in omnipvd that will be used to reflect the brake and steer command response parameters of a vehicle instance.
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\param[in] brakeResponseParams is an array of brake command response parameters.
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\param[in] steerResponseParams describes the steer command response parameters.
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\param[in] brakeResponseStates is an array of brake responses torqyes,
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\param[in] steerResponseStates is an array of steer response angles.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If brakeResponseParams is empty, omnipvd will not reflect any brake command response parameters.
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\note If steerResponseParams is NULL, omnipvd will not reflect the steer command response parameters.
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\note If brakeResponseStates is empty, omnipvd will not reflect any brake command response state.
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\note If steerResponseStates is empty, omnipvd will not reflect any steer command response state.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdCommandResponseWrite
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*/
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void PxVehiclePvdCommandResponseRegister
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(const PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
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const PxVehicleSteerCommandResponseParams* steerResponseParams,
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const PxVehicleArrayData<PxReal>& brakeResponseStates,
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const PxVehicleArrayData<PxReal>& steerResponseStates,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Write brake and steer command response parameters to omnipvd.
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\param[in] axleDesc is a description of the wheels and axles of a vehicle.
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\param[in] brakeResponseParams is an array of brake command response parameters.
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\param[in] steerResponseParams describes the steer command response parameters.
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\param[in] brakeResponseStates is an array of brake response torques.
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\param[in] steerResponseStates is an array of steer response angles.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If brakeResponseParams is empty but a non-empty array was used in PxVehiclePvdCommandResponseRegister(),
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the brake command response parameters will not be updated in omnipvd.
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\note If steerResponseParams is non-NULL but a NULL value was used in PxVehiclePvdCommandResponseRegister(),
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the steer command parameters will not be updated in omnipvd.
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\note If brakeResponseStates is empty but a non-empty array was used in PxVehiclePvdCommandResponseRegister(),
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the brake response states will not be updated in omnipvd.
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\note If steerResponseStates is empty but a non-empty array was used in PxVehiclePvdCommandResponseRegister(),
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the steer response states will not be updated in omnipvd.
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\note omniWriter must be the same instance used in PxVehiclePvdCommandResponseRegister().
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdCommandResponseRegister
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*/
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void PxVehiclePvdCommandResponseWrite
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(const PxVehicleAxleDescription& axleDesc,
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const PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
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const PxVehicleSteerCommandResponseParams* steerResponseParams,
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const PxVehicleArrayData<PxReal>& brakeResponseStates,
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const PxVehicleArrayData<PxReal>& steerResponseStates,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Register object instances in omnipvd that will be used to reflect wheel attachment data such as tires, suspensions and wheels.
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\param[in] axleDesc is a description of the wheels and axles of a vehicle.
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\param[in] wheelParams is an array of wheel parameters.
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\param[in] wheelActuationStates is an array of wheel actuation states.
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\param[in] wheelRigidBody1dStates is an array of wheel rigid body states.
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\param[in] wheelLocalPoses is an array of wheel local poses.
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\param[in] roadGeometryStates is an array of road geometry states.
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\param[in] suspParams is an array of suspension parameters.
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\param[in] suspCompParams is an array of suspension compliance parameters.
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\param[in] suspForceParams is an array of suspension force parameters.
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\param[in] suspStates is an array of suspension states.
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\param[in] suspCompStates is an array of suspension compliance states.
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\param[in] suspForces is an array of suspension forces.
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\param[in] tireForceParams is an array of tire force parameters.
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\param[in] tireDirectionStates is an array of tire direction states.
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\param[in] tireSpeedStates is an array of tire speed states.
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\param[in] tireSlipStates is an array of tire slip states.
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\param[in] tireStickyStates is an array of tire sticky states.
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\param[in] tireGripStates is an array of tire grip states.
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\param[in] tireCamberStates is an array of tire camber states.
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\param[in] tireForces is an array of tire forces.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If any array is empty, the corresponding data will not be reflected in omnipvd.
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\note Each array must either be empty or contain an entry for each wheel present in axleDesc.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdWheelAttachmentsWrite
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*/
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void PxVehiclePvdWheelAttachmentsRegister
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(const PxVehicleAxleDescription& axleDesc,
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const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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const PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
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const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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const PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
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const PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeometryStates,
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const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
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const PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
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const PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
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const PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
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const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
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const PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
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const PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
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const PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
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const PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
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const PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
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const PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
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const PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
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const PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
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const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Write wheel attachment data such as tire, suspension and wheel data to omnipvd.
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\param[in] axleDesc is a description of the wheels and axles of a vehicle.
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\param[in] wheelParams is an array of wheel parameters.
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\param[in] wheelActuationStates is an array of wheel actuation states.
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\param[in] wheelRigidBody1dStates is an array of wheel rigid body states.
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\param[in] wheelLocalPoses is an array of wheel local poses.
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\param[in] roadGeometryStates is an array of road geometry states.
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\param[in] suspParams is an array of suspension parameters.
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\param[in] suspCompParams is an array of suspension compliance parameters.
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\param[in] suspForceParams is an array of suspension force parameters.
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\param[in] suspStates is an array of suspension states.
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\param[in] suspCompStates is an array of suspension compliance states.
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\param[in] suspForces is an array of suspension forces.
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\param[in] tireForceParams is an array of tire force parameters.
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\param[in] tireDirectionStates is an array of tire direction states.
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\param[in] tireSpeedStates is an array of tire speed states.
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\param[in] tireSlipStates is an array of tire slip states.
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\param[in] tireStickyStates is an array of tire sticky states.
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\param[in] tireGripStates is an array of tire grip states.
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\param[in] tireCamberStates is an array of tire camber states.
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\param[in] tireForces is an array of tire forces.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If any array is empty but the corresponding argument in PxVehiclePvdWheelAttachmentsRegister was not empty, the corresponding data will not be updated in omnipvd.
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\note Each array must either be empty or contain an entry for each wheel present in axleDesc.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdWheelAttachmentsRegister
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*/
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void PxVehiclePvdWheelAttachmentsWrite
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(const PxVehicleAxleDescription& axleDesc,
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const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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const PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
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const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
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const PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
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const PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeometryStates,
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const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
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const PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
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const PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
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const PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
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const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
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const PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
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const PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
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const PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
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const PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
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const PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
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const PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
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const PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
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const PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
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const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Register object instances in omnipvd that will be used to reflect the antiroll bars of a vehicle instance.
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\param[in] antiRollForceParams is an array of antiroll parameters.
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\param[in] antiRollTorque describes the instantaneous accumulated torque from all antiroll bas.
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\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
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\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
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\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
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\note If antiRollForceParams is empty, the corresponding data will not be reflected in omnipvd.
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\note If antiRollTorque is NULL, the corresponding data will not be reflected in omnipvd.
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@see PxVehiclePvdAttributesCreate
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@see PxVehiclePvdObjectCreate
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@see PxVehiclePvdAntiRollsWrite
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*/
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void PxVehiclePvdAntiRollsRegister
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(const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams, const PxVehicleAntiRollTorque* antiRollTorque,
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const PxVehiclePvdAttributeHandles& attributeHandles,
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PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
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/**
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\brief Write antiroll data to omnipvd.
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\param[in] antiRollForceParams is an array of antiroll parameters.
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\param[in] antiRollTorque describes the instantaneous accumulated torque from all antiroll bas.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If antiRollForceParams is empty but the corresponding argument was not empty, the corresponding data will not be updated in omnipvd.
|
|
\note If antiRollTorque is NULL but the corresponding argument was not NULL, the corresponding data will not be updated in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdAntiRollsRegister
|
|
*/
|
|
void PxVehiclePvdAntiRollsWrite
|
|
(const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams, const PxVehicleAntiRollTorque* antiRollTorque,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Register object instances in omnipvd that will be used to reflect the direct drivetrain of a vehicle instance.
|
|
\param[in] commandState describes the control values applied to the vehicle.
|
|
\param[in] transmissionCommandState describes the state of the direct drive transmission.
|
|
\param[in] directDriveThrottleResponseParams describes the vehicle's torque response to a throttle command.
|
|
\param[in] directDriveThrottleResponseState is the instantaneous torque response of each wheel to a throttle command.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If commandState is NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note If transmissionCommandState is NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note If directDriveThrottleResponseParams is NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note If directDriveThrottleResponseState is empty, the corresponding data will not be reflected in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdDirectDrivetrainWrite
|
|
*/
|
|
void PxVehiclePvdDirectDrivetrainRegister
|
|
(const PxVehicleCommandState* commandState, const PxVehicleDirectDriveTransmissionCommandState* transmissionCommandState,
|
|
const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams,
|
|
const PxVehicleArrayData<PxReal>& directDriveThrottleResponseState,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Write direct drivetrain data to omnipvd.
|
|
\param[in] axleDesc is a description of the wheels and axles of a vehicle.
|
|
\param[in] commandState describes the control values applied to the vehicle.
|
|
\param[in] transmissionCommandState describes the state of the direct drive transmission.
|
|
\param[in] directDriveThrottleResponseParams describes the vehicle's torque response to a throttle command.
|
|
\param[in] directDriveThrottleResponseState is the instantaneous torque response of each wheel to a throttle command.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If commandState is NULL but the corresponding entry in PxVehiclePvdDirectDrivetrainRegister() was not NULL, the corresponding data will not be updated in omnipvd.
|
|
\note If transmissionCommandState is NULL but the corresponding entry in PxVehiclePvdDirectDrivetrainRegister() was not NULL, the corresponding data will not be updated in omnipvd.
|
|
\note If directDriveThrottleResponseParams is NULL but the corresponding entry in PxVehiclePvdDirectDrivetrainRegister() was not NULL, the corresponding data will not be updated in omnipvd.
|
|
\note If directDriveThrottleResponseState is empty but the corresponding entry in PxVehiclePvdDirectDrivetrainRegister() was not empty, the corresponding data will not be updated in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdDirectDrivetrainRegister
|
|
*/
|
|
void PxVehiclePvdDirectDrivetrainWrite
|
|
(const PxVehicleAxleDescription& axleDesc,
|
|
const PxVehicleCommandState* commandState, const PxVehicleDirectDriveTransmissionCommandState* transmissionCommandState,
|
|
const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams,
|
|
const PxVehicleArrayData<PxReal>& directDriveThrottleResponseState,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Register object instances in omnipvd that will be used to reflect the engine drivetrain of a vehicle instance.
|
|
\param[in] commandState describes the control values applied to the vehicle.
|
|
\param[in] transmissionCommandState describes the state of the engine drive transmission.
|
|
\param[in] clutchResponseParams describes the vehicle's response to a clutch command.
|
|
\param[in] clutchParams describes the vehicle's clutch.
|
|
\param[in] engineParams describes the engine.
|
|
\param[in] gearboxParams describes the gearbox.
|
|
\param[in] autoboxParams describes the automatic gearbox.
|
|
\param[in] multiWheelDiffParams describes a multiwheel differential without limited slip compensation.
|
|
\param[in] fourWheelDiffPrams describes a differential that delivers torque to four drive wheels with limited slip compensation.
|
|
\param[in] clutchResponseState is the instantaneous reponse of the clutch to a clutch command.
|
|
\param[in] throttleResponseState is the instantaneous response to a throttle command.
|
|
\param[in] engineState is the instantaneous state of the engine.
|
|
\param[in] gearboxState is the instantaneous state of the gearbox.
|
|
\param[in] autoboxState is the instantaneous state of the automatic gearbox.
|
|
\param[in] diffState is the instantaneous state of the differential.
|
|
\param[in] clutchSlipState is the instantaneous slip recorded at the clutch.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If any pointer is NULL, the corresponding data will not be reflected in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdEngineDrivetrainWrite
|
|
*/
|
|
void PxVehiclePvdEngineDrivetrainRegister
|
|
(const PxVehicleCommandState* commandState, const PxVehicleEngineDriveTransmissionCommandState* transmissionCommandState,
|
|
const PxVehicleClutchCommandResponseParams* clutchResponseParams,
|
|
const PxVehicleClutchParams* clutchParams,
|
|
const PxVehicleEngineParams* engineParams,
|
|
const PxVehicleGearboxParams* gearboxParams,
|
|
const PxVehicleAutoboxParams* autoboxParams,
|
|
const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams,
|
|
const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffPrams,
|
|
const PxVehicleClutchCommandResponseState* clutchResponseState,
|
|
const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState,
|
|
const PxVehicleEngineState* engineState,
|
|
const PxVehicleGearboxState* gearboxState,
|
|
const PxVehicleAutoboxState* autoboxState,
|
|
const PxVehicleDifferentialState* diffState,
|
|
const PxVehicleClutchSlipState* clutchSlipState,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Write engine drivetrain data of a vehicle instance to omnipvd.
|
|
\param[in] commandState describes the control values applied to the vehicle.
|
|
\param[in] transmissionCommandState describes the state of the engine drive transmission.
|
|
\param[in] clutchResponseParams describes the vehicle's response to a clutch command.
|
|
\param[in] clutchParams describes the vehicle's clutch.
|
|
\param[in] engineParams describes the engine.
|
|
\param[in] gearboxParams describes the gearbox.
|
|
\param[in] autoboxParams describes the automatic gearbox.
|
|
\param[in] multiWheelDiffParams describes a multiwheel differential without limited slip compensation.
|
|
\param[in] fourWheelDiffPrams describes a differential that delivers torque to four drive wheels with limited slip compensation.
|
|
\param[in] clutchResponseState is the instantaneous reponse of the clutch to a clutch command.
|
|
\param[in] throttleResponseState is the instantaneous response to a throttle command.
|
|
\param[in] engineState is the instantaneous state of the engine.
|
|
\param[in] gearboxState is the instantaneous state of the gearbox.
|
|
\param[in] autoboxState is the instantaneous state of the automatic gearbox.
|
|
\param[in] diffState is the instantaneous state of the differential.
|
|
\param[in] clutchSlipState is the instantaneous slip recorded at the clutch.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If any pointer is NULL and the corresponding argument in PxVehiclePvdEngineDrivetrainRegister() was not NULL, the corresponding data will not be reflected in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdEngineDrivetrainRegister
|
|
*/
|
|
void PxVehiclePvdEngineDrivetrainWrite
|
|
(const PxVehicleCommandState* commandState, const PxVehicleEngineDriveTransmissionCommandState* transmissionCommandState,
|
|
const PxVehicleClutchCommandResponseParams* clutchResponseParams,
|
|
const PxVehicleClutchParams* clutchParams,
|
|
const PxVehicleEngineParams* engineParams,
|
|
const PxVehicleGearboxParams* gearboxParams,
|
|
const PxVehicleAutoboxParams* autoboxParams,
|
|
const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams,
|
|
const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffPrams,
|
|
const PxVehicleClutchCommandResponseState* clutchResponseState,
|
|
const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState,
|
|
const PxVehicleEngineState* engineState,
|
|
const PxVehicleGearboxState* gearboxState,
|
|
const PxVehicleAutoboxState* autoboxState,
|
|
const PxVehicleDifferentialState* diffState,
|
|
const PxVehicleClutchSlipState* clutchSlipState,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Register per wheel attachment data that involves the vehicle's integration with a PhysX scene.
|
|
\param[in] axleDesc is a description of the wheels and axles of a vehicle.
|
|
\param[in] physxSuspLimitConstraintParams describes the method used by PhysX to enforce suspension travel limits.
|
|
\param[in] physxMaterialFrictionParams describes the friction response of each wheel to a set of PxMaterial instances.
|
|
\param[in] physxActor describes the PxRigidActor and PxShape instances that are used to represent the vehicle's rigid body and wheel shapes in PhysX.
|
|
\param[in] physxRoadGeometryQueryParams describes the physx scene query method used to place each wheel on the ground.
|
|
\param[in] physxRoadGeomState is an array of per wheel physx scene query results.
|
|
\param[in] physxConstraintStates is an array of constraints states used by PhysX to enforce sticky tire and suspension travel limit constraints.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If any array is empty, the corresponding data will not be reflected in omnipvd.
|
|
\note If physxActor is NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note If physxRoadGeometryQueryParams is NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note Each array must either be empty or contain an entry for each wheel present in axleDesc.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdPhysXWheelAttachmentWrite
|
|
*/
|
|
void PxVehiclePvdPhysXWheelAttachmentRegister
|
|
(const PxVehicleAxleDescription& axleDesc,
|
|
const PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxSuspLimitConstraintParams,
|
|
const PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
|
|
const PxVehiclePhysXActor* physxActor, const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeometryQueryParams,
|
|
const PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeomState,
|
|
const PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Write to omnipvd the per wheel attachment data that involves the vehicle's integration with a PhysX scene.
|
|
\param[in] axleDesc is a description of the wheels and axles of a vehicle.
|
|
\param[in] physxSuspLimitConstraintParams describes the method used by PhysX to enforce suspension travel limits.
|
|
\param[in] physxMaterialFrictionParams describes the friction response of each wheel to a set of PxMaterial instances.
|
|
\param[in] physxActor describes the PxShape instances that are used to represent the vehicle's wheel shapes in PhysX.
|
|
\param[in] physxRoadGeometryQueryParams describes the physx scene query method used to place each wheel on the ground.
|
|
\param[in] physxRoadGeomState is an array of per wheel physx scene query results.
|
|
\param[in] physxConstraintStates is an array of constraints states used by PhysX to enforce sticky tire and suspension travel limit constraints.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If any array is empty but the corresponding array in PxVehiclePvdPhysXWheelAttachmentRegister() was not empty, the corresponding data will not be updated in omnipvd.
|
|
\note If physxActor is NULL but the corresponding argument in PxVehiclePvdPhysXWheelAttachmentRegister was not NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note If physxRoadGeometryQueryParams is NULL but the corresponding argument in PxVehiclePvdPhysXWheelAttachmentRegister was not NULL, the corresponding data will not be reflected in omnipvd.
|
|
\note Each array must either be empty or contain an entry for each wheel present in axleDesc.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdPhysXWheelAttachmentWrite
|
|
*/
|
|
void PxVehiclePvdPhysXWheelAttachmentWrite
|
|
(const PxVehicleAxleDescription& axleDesc,
|
|
const PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxSuspLimitConstraintParams,
|
|
const PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
|
|
const PxVehiclePhysXActor* physxActor, const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeometryQueryParams,
|
|
const PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeomState,
|
|
const PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Register the PxRigidActor instance that represents the vehicle's rigid body in a PhysX scene.
|
|
\param[in] physxActor describes the PxRigidActor instance that is used to represent the vehicle's rigid body in PhysX.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If physxActor is NULL, the corresponding data will not be reflected in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdPhysXRigidActorWrite
|
|
*/
|
|
void PxVehiclePvdPhysXRigidActorRegister
|
|
(const PxVehiclePhysXActor* physxActor,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
/**
|
|
\brief Write the PxRigidActor instance to omnipvd.
|
|
\param[in] physxActor describes the PxRigidActor instance that is used to represent the vehicle's rigid body in PhysX.
|
|
\param[in] attributeHandles contains a general description of vehicle parameters and states that will be reflected in omnipvd.
|
|
\param[in] objectHandles contains unique handles for the parameters and states of each vehicle instance.
|
|
\param[in] omniWriter is an OmniPvdWriter instance used to communicate state and parameter data to omnipvd.
|
|
\note If physxActor is NULL and the corresponding argument in PxVehiclePvdPhysXRigidActorRegister was not NULL, the corresponding data will not be updated in omnipvd.
|
|
@see PxVehiclePvdAttributesCreate
|
|
@see PxVehiclePvdObjectCreate
|
|
@see PxVehiclePvdPhysXRigidActorRegister
|
|
*/
|
|
void PxVehiclePvdPhysXRigidActorWrite
|
|
(const PxVehiclePhysXActor* physxActor,
|
|
const PxVehiclePvdAttributeHandles& attributeHandles,
|
|
const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter& omniWriter);
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace vehicle2
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|