110 lines
5.0 KiB
C++
110 lines
5.0 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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#pragma once
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#include "PxPhysicsAPI.h"
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#include "../snippetvehiclecommon/directdrivetrain/DirectDrivetrain.h"
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#include "CustomTire.h"
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namespace snippetvehicle
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{
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using namespace physx;
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using namespace physx::vehicle2;
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//
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//This class holds the parameters, state and logic needed to implement a vehicle that
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//is using a custom component for the tire model.
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//
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//See BaseVehicle for more details on the snippet code design.
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//
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class CustomTireVehicle
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: public DirectDriveVehicle
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, public CustomTireComponent
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{
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public:
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bool initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial, bool addPhysXBeginEndComponents = true);
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virtual void destroy();
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virtual void initComponentSequence(bool addPhysXBeginEndComponents);
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virtual void getDataForCustomTireComponent(
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const PxVehicleAxleDescription*& axleDescription,
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PxVehicleArrayData<const PxReal>& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
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PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
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PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
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PxVehicleArrayData<const CustomTireParams>& tireParams,
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PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
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PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
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PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
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PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
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PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1DStates,
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PxVehicleArrayData<PxVehicleTireGripState>& tireGripStates,
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PxVehicleArrayData<PxVehicleTireDirectionState>& tireDirectionStates,
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PxVehicleArrayData<PxVehicleTireSpeedState>& tireSpeedStates,
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PxVehicleArrayData<PxVehicleTireSlipState>& tireSlipStates,
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PxVehicleArrayData<PxVehicleTireCamberAngleState>& tireCamberAngleStates,
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PxVehicleArrayData<PxVehicleTireStickyState>& tireStickyStates,
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PxVehicleArrayData<PxVehicleTireForce>& tireForces)
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{
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axleDescription = &mBaseParams.axleDescription;
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steerResponseStates.setData(mBaseState.steerCommandResponseStates);
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rigidBodyState = &mBaseState.rigidBodyState;
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actuationStates.setData(mBaseState.actuationStates);
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wheelParams.setData(mBaseParams.wheelParams);
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suspensionParams.setData(mBaseParams.suspensionParams);
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tireParams.setData(mTireParamsList);
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roadGeomStates.setData(mBaseState.roadGeomStates);
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suspensionStates.setData(mBaseState.suspensionStates);
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suspensionComplianceStates.setData(mBaseState.suspensionComplianceStates);
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suspensionForces.setData(mBaseState.suspensionForces);
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wheelRigidBody1DStates.setData(mBaseState.wheelRigidBody1dStates);
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tireGripStates.setData(mBaseState.tireGripStates);
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tireDirectionStates.setData(mBaseState.tireDirectionStates);
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tireSpeedStates.setData(mBaseState.tireSpeedStates);
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tireSlipStates.setData(mBaseState.tireSlipStates);
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tireCamberAngleStates.setData(mBaseState.tireCamberAngleStates);
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tireStickyStates.setData(mBaseState.tireStickyStates);
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tireForces.setData(mBaseState.tireForces);
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}
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//Parameters and states of the vehicle's custom tire.
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CustomTireParams mCustomTireParams[2]; //One shared parameter set for front and one for rear wheels.
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CustomTireParams* mTireParamsList[4];
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};
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}//namespace snippetvehicle
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