93 lines
4.1 KiB
C++
93 lines
4.1 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 "vehicle2/PxVehicleParams.h"
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#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
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#include "vehicle2/tire/PxVehicleTireStates.h"
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#include "vehicle2/wheel/PxVehicleWheelFunctions.h"
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#include "vehicle2/wheel/PxVehicleWheelStates.h"
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#include "vehicle2/wheel/PxVehicleWheelParams.h"
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namespace physx
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{
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namespace vehicle2
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{
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void PxVehicleWheelRotationAngleUpdate
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(const PxVehicleWheelParams& whlParams,
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const PxVehicleWheelActuationState& actState, const PxVehicleSuspensionState& suspState, const PxVehicleTireSpeedState& trSpeedState,
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const PxReal thresholdForwardSpeedForWheelAngleIntegration, const PxReal dt,
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PxVehicleWheelRigidBody1dState& whlRigidBody1dState)
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{
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//At low vehicle forward speeds we have some numerical difficulties getting the
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//wheel rotation speeds to be correct due to the tire model's difficulties at low vz.
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//The solution is to blend between the rolling speed at the wheel and the wheel's actual rotation speed.
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//If the wheel is
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//(i) in the air or,
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//(ii) under braking torque or,
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//(iii) driven by a drive torque
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//then always use the wheel's actual rotation speed.
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//Just to be clear, this means we will blend when the wheel
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//(i) is on the ground and
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//(ii) has no brake applied and
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//(iii) has no drive torque and
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//(iv) is at low forward speed
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const PxF32 jounce = suspState.jounce;
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const bool isBrakeApplied = actState.isBrakeApplied;
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const bool isDriveApplied = actState.isDriveApplied;
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const PxF32 lngSpeed = trSpeedState.speedStates[PxVehicleTireDirectionModes::eLONGITUDINAL];
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const PxF32 absLngSpeed = PxAbs(lngSpeed);
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PxF32 wheelOmega = whlRigidBody1dState.rotationSpeed;
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if (jounce > 0 && //(i) wheel touching ground
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!isBrakeApplied && //(ii) no brake applied
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!isDriveApplied && //(iii) no drive torque applied
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(absLngSpeed < thresholdForwardSpeedForWheelAngleIntegration)) //(iv) low speed
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{
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const PxF32 wheelRadius = whlParams.radius;
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const PxF32 alpha = absLngSpeed / thresholdForwardSpeedForWheelAngleIntegration;
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wheelOmega = (lngSpeed/wheelRadius)*(1.0f - alpha) + wheelOmega * alpha;
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}
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whlRigidBody1dState.correctedRotationSpeed = wheelOmega;
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//Integrate angle.
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PxF32 newRotAngle = whlRigidBody1dState.rotationAngle + wheelOmega * dt;
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//Clamp in range (-2*Pi,2*Pi)
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newRotAngle = newRotAngle - (PxI32(newRotAngle / PxTwoPi) * PxTwoPi);
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//Set the angle.
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whlRigidBody1dState.rotationAngle = newRotAngle;
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}
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} //namespace vehicle2
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} //namespace physx
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