136 lines
6.4 KiB
C++
136 lines
6.4 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) 2008-2025 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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#include "DirectDrivetrain.h"
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#include "../base/Base.h"
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namespace snippetvehicle
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{
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DirectDrivetrainParams DirectDrivetrainParams::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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DirectDrivetrainParams r = *this;
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r.directDriveThrottleResponseParams = directDriveThrottleResponseParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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return r;
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}
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bool DirectDriveVehicle::initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial, bool addPhysXBeginEndComponents)
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{
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mTransmissionCommandState.setToDefault();
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if (!PhysXActorVehicle::initialize(physics, params, defaultMaterial))
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return false;
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if (!mDirectDriveParams.isValid(mBaseParams.axleDescription))
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return false;
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//Set the drivetrain state to default.
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mDirectDriveState.setToDefault();
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//Add all the components in sequence that will simulate a vehicle with a direct drive drivetrain.
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initComponentSequence(addPhysXBeginEndComponents);
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return true;
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}
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void DirectDriveVehicle::destroy()
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{
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PhysXActorVehicle::destroy();
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}
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void DirectDriveVehicle::initComponentSequence(bool addPhysXBeginEndComponents)
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{
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//Wake up the associated PxRigidBody if it is asleep and the vehicle commands signal an
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//intent to change state.
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//Read from the physx actor and write the state (position, velocity etc) to the vehicle.
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if(addPhysXBeginEndComponents)
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mComponentSequence.add(static_cast<PxVehiclePhysXActorBeginComponent*>(this));
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//Read the input commands (throttle, brake etc) and forward them as torques and angles to the wheels on each axle.
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mComponentSequence.add(static_cast<PxVehicleDirectDriveCommandResponseComponent*>(this));
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//Work out which wheels have a non-zero drive torque and non-zero brake torque.
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//This is used to determine if any tire is to enter the "sticky" regime that will bring the
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//vehicle to rest.
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mComponentSequence.add(static_cast<PxVehicleDirectDriveActuationStateComponent*>(this));
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//Perform a scene query against the physx scene to determine the plane and friction under each wheel.
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mComponentSequence.add(static_cast<PxVehiclePhysXRoadGeometrySceneQueryComponent*>(this));
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//Start a substep group that can be ticked multiple times per update.
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//In this example, we update the suspensions, tires and wheels 3 times without recalculating
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//the plane underneath the wheel. This is useful for stability at low forward speeds and is
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//computationally cheaper than simulating the whole pipeline at a smaller timestep.
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mComponentSequenceSubstepGroupHandle = mComponentSequence.beginSubstepGroup(3);
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//Update the suspension compression given the plane under each wheel.
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//Update the kinematic compliance from the compression state of each suspension.
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//Convert suspension state to suspension force and torque.
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mComponentSequence.add(static_cast<PxVehicleSuspensionComponent*>(this));
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//Compute the load on the tire, the friction experienced by the tire
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//and the lateral/longitudinal slip angles.
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//Convert load/friction/slip to tire force and torque.
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//If the vehicle is to come rest then compute the "sticky" velocity constraints to apply to the
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//vehicle.
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mComponentSequence.add(static_cast<PxVehicleTireComponent*>(this));
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//Apply any velocity constraints to a data buffer that will be consumed by the physx scene
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//during the next physx scene update.
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mComponentSequence.add(static_cast<PxVehiclePhysXConstraintComponent*>(this));
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//Apply the tire force, brake force and drive force to each wheel and
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//forward integrate the rotation speed of each wheel.
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mComponentSequence.add(static_cast<PxVehicleDirectDrivetrainComponent*>(this));
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//Apply the suspension and tire forces to the vehicle's rigid body and forward
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//integrate the state of the rigid body.
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mComponentSequence.add(static_cast<PxVehicleRigidBodyComponent*>(this));
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//Mark the end of the substep group.
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mComponentSequence.endSubstepGroup();
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//Update the rotation angle of the wheel by forwarding integrating the rotational
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//speed of each wheel.
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//Compute the local pose of the wheel in the rigid body frame after accounting
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//suspension compression and compliance.
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mComponentSequence.add(static_cast<PxVehicleWheelComponent*>(this));
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//Write the local poses of each wheel to the corresponding shapes on the physx actor.
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//Write the momentum change applied to the vehicle's rigid body to the physx actor.
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//The physx scene can now try to apply that change to the physx actor.
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//The physx scene will account for collisions and constraints to be applied to the vehicle
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//that occur by applying the change.
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if (addPhysXBeginEndComponents)
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mComponentSequence.add(static_cast<PxVehiclePhysXActorEndComponent*>(this));
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}
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}//namespace snippetvehicle
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