85 lines
3.7 KiB
C++
85 lines
3.7 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 "Base.h"
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namespace snippetvehicle
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{
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BaseVehicleParams BaseVehicleParams::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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BaseVehicleParams r = *this;
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r.axleDescription = axleDescription;
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r.frame = trgFrame;
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r.scale = trgScale;
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r.suspensionStateCalculationParams = suspensionStateCalculationParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.brakeResponseParams[0] = brakeResponseParams[0].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.brakeResponseParams[1] = brakeResponseParams[1].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.steerResponseParams = steerResponseParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.ackermannParams[0] = ackermannParams[0].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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for (PxU32 i = 0; i < r.axleDescription.nbWheels; i++)
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{
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const PxU32 wheelId = r.axleDescription.wheelIdsInAxleOrder[i];
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r.suspensionParams[wheelId] = suspensionParams[wheelId].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.suspensionComplianceParams[wheelId] = suspensionComplianceParams[wheelId].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.suspensionForceParams[wheelId] = suspensionForceParams[wheelId].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.tireForceParams[wheelId] = tireForceParams[wheelId].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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r.wheelParams[wheelId] = wheelParams[wheelId].transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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}
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r.rigidBodyParams = rigidBodyParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
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return r;
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}
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bool BaseVehicle::initialize()
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{
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if (!mBaseParams.isValid())
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return false;
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//Set the base state to default.
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mBaseState.setToDefault();
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return true;
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}
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void BaseVehicle::step(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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mComponentSequence.update(dt, context);
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}
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}//namespace snippetvehicle
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