170 lines
8.3 KiB
C++
170 lines
8.3 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 "EngineDrivetrain.h"
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#include "../base/Base.h"
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namespace snippetvehicle
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{
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EngineDrivetrainParams EngineDrivetrainParams::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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EngineDrivetrainParams r = *this;
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r.autoboxParams = autoboxParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.clutchCommandResponseParams = clutchCommandResponseParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.engineParams = engineParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.gearBoxParams = gearBoxParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.fourWheelDifferentialParams = fourWheelDifferentialParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.multiWheelDifferentialParams = multiWheelDifferentialParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.tankDifferentialParams = tankDifferentialParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.clutchParams = clutchParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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return r;
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}
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bool EngineDriveVehicle::initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial,
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Enum differentialTye, bool addPhysXBeginEndComponents)
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{
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mDifferentialType = differentialTye;
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mTransmissionCommandState.setToDefault();
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mTankDriveTransmissionCommandState.setToDefault();
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if (!PhysXActorVehicle::initialize(physics, params, defaultMaterial))
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return false;
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if (!mEngineDriveParams.isValid(mBaseParams.axleDescription))
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return false;
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//Set the drivetrain state to default.
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mEngineDriveState.setToDefault();
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//Add all the components in sequence that will simulate a vehicle with an engine drive drivetrain.
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initComponentSequence(addPhysXBeginEndComponents);
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return true;
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}
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void EngineDriveVehicle::destroy()
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{
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PhysXActorVehicle::destroy();
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}
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void EngineDriveVehicle::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, steer, clutch etc) and forward them to the drivetrain and steering mechanism.
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//When using automatic transmission, the autobox determines if it wants to begin a gear change. If it does, it will overwrite
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//the target gear command and set throttle to 0 internally.
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mComponentSequence.add(static_cast<PxVehicleEngineDriveCommandResponseComponent*>(this));
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//The differential determines the fraction of available drive torque that will be delivered to each wheel.
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switch (mDifferentialType)
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{
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case eDIFFTYPE_FOURWHEELDRIVE:
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mComponentSequence.add(static_cast<PxVehicleFourWheelDriveDifferentialStateComponent*>(this));
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break;
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case eDIFFTYPE_MULTIWHEELDRIVE:
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mComponentSequence.add(static_cast<PxVehicleMultiWheelDriveDifferentialStateComponent*>(this));
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break;
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case eDIFFTYPE_TANKDRIVE:
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mComponentSequence.add(static_cast<PxVehicleTankDriveDifferentialStateComponent*>(this));
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break;
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default:
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PX_ASSERT(false);
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break;
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}
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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<PxVehicleEngineDriveActuationStateComponent*>(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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//Record the handle returned by PxVehicleComponentSequence::beginSubstepGroup() because this
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//is used later to set the number of substeps for this substep group.
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//In this example, we allow the update of the suspensions, tires and wheels multiple times without recalculating
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//the plane underneath the wheel. This is useful for stability at low forward speeds and is much cheaper
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//than setting a smaller timestep for the whole vehicle.
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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 "sticky" 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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//Update the rotational speed of the engine and wheels by applying the available drive torque
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//to the wheels through the clutch, differential and gears and accounting for the longitudinal
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//tire force that is applied to the wheel's angular momentum.
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mComponentSequence.add(static_cast<PxVehicleEngineDrivetrainComponent*>(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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