209 lines
8.6 KiB
C++
209 lines
8.6 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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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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struct CustomSuspensionParams
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{
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PxReal phase;
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PxReal frequency;
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PxReal amplitude;
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};
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struct CustomSuspensionState
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{
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PxReal theta;
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(CustomSuspensionState));
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}
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};
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void addCustomSuspensionForce
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(const PxReal dt,
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const PxVehicleSuspensionParams& suspParams,
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const CustomSuspensionParams& customParams,
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const PxVec3& groundNormal, bool isWheelOnGround,
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const PxVehicleSuspensionComplianceState& suspComplianceState, const PxVehicleRigidBodyState& rigidBodyState,
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PxVehicleSuspensionForce& suspForce, CustomSuspensionState& customState);
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class CustomSuspensionComponent : public PxVehicleComponent
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{
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public:
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CustomSuspensionComponent() : PxVehicleComponent() {}
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virtual void getDataForCustomSuspensionComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyParams*& rigidBodyParams,
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const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
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const PxReal*& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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const PxVehicleWheelParams*& wheelParams,
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const PxVehicleSuspensionParams*& suspensionParams,
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const CustomSuspensionParams*& customSuspensionParams,
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const PxVehicleSuspensionComplianceParams*& suspensionComplianceParams,
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const PxVehicleSuspensionForceParams*& suspensionForceParams,
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const PxVehicleRoadGeometryState*& wheelRoadGeomStates,
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PxVehicleSuspensionState*& suspensionStates,
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CustomSuspensionState*& customSuspensionStates,
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PxVehicleSuspensionComplianceState*& suspensionComplianceStates,
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PxVehicleSuspensionForce*& suspensionForces) = 0;
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virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
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{
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const PxVehicleAxleDescription* axleDescription;
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const PxVehicleRigidBodyParams* rigidBodyParams;
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const PxVehicleSuspensionStateCalculationParams* suspensionStateCalculationParams;
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const PxReal* steerResponseStates;
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const PxVehicleRigidBodyState* rigidBodyState;
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const PxVehicleWheelParams* wheelParams;
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const PxVehicleSuspensionParams* suspensionParams;
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const CustomSuspensionParams* customSuspensionParams;
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const PxVehicleSuspensionComplianceParams* suspensionComplianceParams;
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const PxVehicleSuspensionForceParams* suspensionForceParams;
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const PxVehicleRoadGeometryState* wheelRoadGeomStates;
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PxVehicleSuspensionState* suspensionStates;
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CustomSuspensionState* customSuspensionStates;
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PxVehicleSuspensionComplianceState* suspensionComplianceStates;
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PxVehicleSuspensionForce* suspensionForces;
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getDataForCustomSuspensionComponent(axleDescription, rigidBodyParams, suspensionStateCalculationParams,
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steerResponseStates, rigidBodyState, wheelParams, suspensionParams, customSuspensionParams,
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suspensionComplianceParams, suspensionForceParams, wheelRoadGeomStates,
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suspensionStates, customSuspensionStates, suspensionComplianceStates, suspensionForces);
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for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
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{
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const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
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//Update the suspension state (jounce, jounce speed)
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PxVehicleSuspensionStateUpdate(
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wheelParams[wheelId], suspensionParams[wheelId], *suspensionStateCalculationParams,
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suspensionForceParams[wheelId].stiffness, suspensionForceParams[wheelId].damping,
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steerResponseStates[wheelId], wheelRoadGeomStates[wheelId],
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*rigidBodyState,
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dt, context.frame, context.gravity,
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suspensionStates[wheelId]);
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//Update the compliance from the suspension state.
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PxVehicleSuspensionComplianceUpdate(
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suspensionParams[wheelId], suspensionComplianceParams[wheelId],
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suspensionStates[wheelId],
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suspensionComplianceStates[wheelId]);
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//Compute the suspension force from the suspension and compliance states.
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PxVehicleSuspensionForceUpdate(
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suspensionParams[wheelId], suspensionForceParams[wheelId],
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wheelRoadGeomStates[wheelId], suspensionStates[wheelId],
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suspensionComplianceStates[wheelId], *rigidBodyState,
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context.gravity, rigidBodyParams->mass,
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suspensionForces[wheelId]);
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addCustomSuspensionForce(dt,
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suspensionParams[wheelId],
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customSuspensionParams[wheelId],
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wheelRoadGeomStates[wheelId].plane.n, PxVehicleIsWheelOnGround(suspensionStates[wheelId]),
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suspensionComplianceStates[wheelId], *rigidBodyState,
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suspensionForces[wheelId], customSuspensionStates[wheelId]);
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}
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return true;
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}
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};
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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 suspension logic.
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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 CustomSuspensionVehicle
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: public DirectDriveVehicle
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, public CustomSuspensionComponent
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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 getDataForCustomSuspensionComponent(
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const PxVehicleAxleDescription*& axleDescription,
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const PxVehicleRigidBodyParams*& rigidBodyParams,
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const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
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const PxReal*& steerResponseStates,
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const PxVehicleRigidBodyState*& rigidBodyState,
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const PxVehicleWheelParams*& wheelParams,
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const PxVehicleSuspensionParams*& suspensionParams,
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const CustomSuspensionParams*& customSuspensionParams,
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const PxVehicleSuspensionComplianceParams*& suspensionComplianceParams,
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const PxVehicleSuspensionForceParams*& suspensionForceParams,
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const PxVehicleRoadGeometryState*& wheelRoadGeomStates,
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PxVehicleSuspensionState*& suspensionStates,
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CustomSuspensionState*& customSuspensionStates,
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PxVehicleSuspensionComplianceState*& suspensionComplianceStates,
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PxVehicleSuspensionForce*& suspensionForces)
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{
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axleDescription = &mBaseParams.axleDescription;
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rigidBodyParams = &mBaseParams.rigidBodyParams;
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suspensionStateCalculationParams = &mBaseParams.suspensionStateCalculationParams;
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steerResponseStates = mBaseState.steerCommandResponseStates;
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rigidBodyState = &mBaseState.rigidBodyState;
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wheelParams = mBaseParams.wheelParams;
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suspensionParams = mBaseParams.suspensionParams;
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customSuspensionParams = mCustomSuspensionParams;
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suspensionComplianceParams = mBaseParams.suspensionComplianceParams;
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suspensionForceParams = mBaseParams.suspensionForceParams;
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wheelRoadGeomStates = mBaseState.roadGeomStates;
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suspensionStates = mBaseState.suspensionStates;
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customSuspensionStates = mCustomSuspensionStates;
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suspensionComplianceStates = mBaseState.suspensionComplianceStates;
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suspensionForces = mBaseState.suspensionForces;
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}
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//Parameters and states of the vehicle's custom suspension.
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CustomSuspensionParams mCustomSuspensionParams[4];
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CustomSuspensionState mCustomSuspensionStates[4];
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};
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}//namespace snippetvehicle
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