115 lines
5.2 KiB
C++
115 lines
5.2 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 "PxVehicleRigidBodyFunctions.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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/**
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\brief Forward integrate the momentum and pose of the vehicle's rigid body after applying forces and torques
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from the suspension, tires and anti-roll bars.
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*/
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class PxVehicleRigidBodyComponent : public PxVehicleComponent
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{
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public:
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PxVehicleRigidBodyComponent() : PxVehicleComponent() {}
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virtual ~PxVehicleRigidBodyComponent() {}
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/**
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\brief Retrieve pointers to the parameter and state data required to update the dynamic state of a rigid body.
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\param[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles
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of the vehicle.
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\param[out] rigidBodyParams must be returned as a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment of
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inertia of the rigid body.
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\param[out] suspensionForces must be returned as a non-null pointer to an array of suspension forces and torques in the world frame.
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The suspension forces and torques will be applied to the rigid body to update *rigidBodyState*.
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\param[out] tireForces must be returned as a non-null pointer to an array of tire forces and torques in the world frame.
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The tire forces and torques will be applied to the rigid body to update *rigidBodyState*.
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\param[out] antiRollTorque may be returned an optionally non-null pointer to a single PxVehicleAntiRollTorque instance that contains the accumulated anti-roll
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torque to apply to the rigid body.
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\param[out] rigidBodyState imust be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that is to be forward integrated.
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\note The suspensionForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
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\note The tireForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
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\note If antiRollTorque is returned as a null pointer then zero anti-roll torque will be applied to the rigid body.
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*/
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virtual void getDataForRigidBodyComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyParams*& rigidBodyParams,
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PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
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const PxVehicleAntiRollTorque*& antiRollTorque,
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PxVehicleRigidBodyState*& rigidBodyState) = 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("PxVehicleRigidBodyComponent::update", 0);
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleRigidBodyParams* rigidBodyParams;
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PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
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PxVehicleArrayData<const PxVehicleTireForce> tireForces;
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const PxVehicleAntiRollTorque* antiRollTorque;
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PxVehicleRigidBodyState* rigidBodyState;
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getDataForRigidBodyComponent(axleDescription, rigidBodyParams,
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suspensionForces, tireForces, antiRollTorque,
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rigidBodyState);
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PxVehicleRigidBodyUpdate(
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*axleDescription, *rigidBodyParams,
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suspensionForces, tireForces, antiRollTorque,
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dt, context.gravity,
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*rigidBodyState);
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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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