Program Listing for include/vehicle2/tire/PxVehicleTireComponents.h
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
#include "vehicle2/commands/PxVehicleCommandHelpers.h"
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
#include "vehicle2/wheel/PxVehicleWheelStates.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
#include "PxVehicleTireFunctions.h"
#include "PxVehicleTireParams.h"
#include "common/PxProfileZone.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
class PxVehicleTireComponent : public PxVehicleComponent
{
public:
PxVehicleTireComponent() : PxVehicleComponent() {}
virtual ~PxVehicleTireComponent() {}
virtual void getDataForTireComponent(
const PxVehicleAxleDescription*& axleDescription,
PxVehicleArrayData<const PxReal>& steerResponseStates,
const PxVehicleRigidBodyState*& rigidBodyState,
PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1DStates,
PxVehicleArrayData<PxVehicleTireGripState>& tireGripStates,
PxVehicleArrayData<PxVehicleTireDirectionState>& tireDirectionStates,
PxVehicleArrayData<PxVehicleTireSpeedState>& tireSpeedStates,
PxVehicleArrayData<PxVehicleTireSlipState>& tireSlipStates,
PxVehicleArrayData<PxVehicleTireCamberAngleState>& tireCamberAngleStates,
PxVehicleArrayData<PxVehicleTireStickyState>& tireStickyStates,
PxVehicleArrayData<PxVehicleTireForce>& tireForces) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_PROFILE_ZONE("PxVehicleTireComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
PxVehicleArrayData<const PxReal> steerResponseStates;
const PxVehicleRigidBodyState* rigidBodyState;
PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
PxVehicleArrayData<const PxVehicleTireForceParams> tireForceParams;
PxVehicleArrayData<const PxVehicleRoadGeometryState> roadGeomStates;
PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1DStates;
PxVehicleArrayData<PxVehicleTireGripState> tireGripStates;
PxVehicleArrayData<PxVehicleTireDirectionState> tireDirectionStates;
PxVehicleArrayData<PxVehicleTireSpeedState> tireSpeedStates;
PxVehicleArrayData<PxVehicleTireSlipState> tireSlipStates;
PxVehicleArrayData<PxVehicleTireCamberAngleState> tireCamberAngleStates;
PxVehicleArrayData<PxVehicleTireStickyState> tireStickyStates;
PxVehicleArrayData<PxVehicleTireForce> tireForces;
getDataForTireComponent(axleDescription, steerResponseStates,
rigidBodyState, actuationStates, wheelParams, suspensionParams, tireForceParams,
roadGeomStates, suspensionStates, suspensionComplianceStates, suspensionForces,
wheelRigidBody1DStates, tireGripStates, tireDirectionStates, tireSpeedStates,
tireSlipStates, tireCamberAngleStates, tireStickyStates, tireForces);
for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
{
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
//Compute the tire slip directions
PxVehicleTireDirsUpdate(
suspensionParams[wheelId],
steerResponseStates[wheelId],
roadGeomStates[wheelId], suspensionComplianceStates[wheelId],
*rigidBodyState,
context.frame,
tireDirectionStates[wheelId]);
//Compute the rigid body speeds along the tire slip directions.
PxVehicleTireSlipSpeedsUpdate(
wheelParams[wheelId], suspensionParams[wheelId],
steerResponseStates[wheelId], suspensionStates[wheelId], tireDirectionStates[wheelId],
*rigidBodyState, roadGeomStates[i],
context.frame,
tireSpeedStates[wheelId]);
//Compute the tire slip angles.
PxVehicleTireSlipsUpdate(
wheelParams[wheelId], context.tireSlipParams,
actuationStates[wheelId], tireSpeedStates[wheelId],
wheelRigidBody1DStates[wheelId],
tireSlipStates[wheelId]);
//Update the camber angle
PxVehicleTireCamberAnglesUpdate(
suspensionParams[wheelId], steerResponseStates[wheelId], roadGeomStates[wheelId],
suspensionComplianceStates[wheelId], *rigidBodyState,
context.frame,
tireCamberAngleStates[wheelId]);
//Compute the friction
PxVehicleTireGripUpdate(
tireForceParams[wheelId], roadGeomStates[wheelId],
suspensionStates[wheelId], suspensionForces[wheelId],
tireSlipStates[wheelId], tireGripStates[wheelId]);
//Update the tire sticky state
//
//Note: this should be skipped if tires do not use the sticky feature
PxVehicleTireStickyStateUpdate(
*axleDescription,
wheelParams[wheelId],
context.tireStickyParams,
actuationStates, tireGripStates[wheelId],
tireSpeedStates[wheelId], wheelRigidBody1DStates[wheelId],
dt,
tireStickyStates[wheelId]);
//If sticky tire is active set the slip angle to zero.
//
//Note: this should be skipped if tires do not use the sticky feature
PxVehicleTireSlipsAccountingForStickyStatesUpdate(
tireStickyStates[wheelId],
tireSlipStates[wheelId]);
//Compute the tire forces
PxVehicleTireForcesUpdate(
wheelParams[wheelId], suspensionParams[wheelId],
tireForceParams[wheelId],
suspensionComplianceStates[wheelId],
tireGripStates[wheelId], tireDirectionStates[wheelId],
tireSlipStates[wheelId], tireCamberAngleStates[wheelId],
*rigidBodyState,
tireForces[wheelId]);
}
return true;
}
};
class PX_DEPRECATED PxVehicleLegacyTireComponent : public PxVehicleComponent
{
public:
PxVehicleLegacyTireComponent() : PxVehicleComponent() {}
virtual ~PxVehicleLegacyTireComponent() {}
virtual void getDataForLegacyTireComponent(
const PxVehicleAxleDescription*& axleDescription,
PxVehicleArrayData<const PxReal>& steerResponseStates,
const PxVehicleRigidBodyState*& rigidBodyState,
PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeomStates,
PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1DStates,
PxVehicleArrayData<PxVehicleTireGripState>& tireGripStates,
PxVehicleArrayData<PxVehicleTireDirectionState>& tireDirectionStates,
PxVehicleArrayData<PxVehicleTireSpeedState>& tireSpeedStates,
PxVehicleArrayData<PxVehicleTireSlipState>& tireSlipStates,
PxVehicleArrayData<PxVehicleTireCamberAngleState>& tireCamberAngleStates,
PxVehicleArrayData<PxVehicleTireStickyState>& tireStickyStates,
PxVehicleArrayData<PxVehicleTireForce>& tireForces) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_PROFILE_ZONE("PxVehicleLegacyTireComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
PxVehicleArrayData<const PxReal> steerResponseStates;
const PxVehicleRigidBodyState* rigidBodyState;
PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
PxVehicleArrayData<const PxVehicleTireForceParams> tireForceParams;
PxVehicleArrayData<const PxVehicleRoadGeometryState> roadGeomStates;
PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
PxVehicleArrayData<const PxVehicleWheelRigidBody1dState> wheelRigidBody1DStates;
PxVehicleArrayData<PxVehicleTireGripState> tireGripStates;
PxVehicleArrayData<PxVehicleTireDirectionState> tireDirectionStates;
PxVehicleArrayData<PxVehicleTireSpeedState> tireSpeedStates;
PxVehicleArrayData<PxVehicleTireSlipState> tireSlipStates;
PxVehicleArrayData<PxVehicleTireCamberAngleState> tireCamberAngleStates;
PxVehicleArrayData<PxVehicleTireStickyState> tireStickyStates;
PxVehicleArrayData<PxVehicleTireForce> tireForces;
getDataForLegacyTireComponent(axleDescription, steerResponseStates,
rigidBodyState, actuationStates,
wheelParams, suspensionParams, tireForceParams,
roadGeomStates, suspensionStates, suspensionComplianceStates,
suspensionForces, wheelRigidBody1DStates,
tireGripStates, tireDirectionStates, tireSpeedStates, tireSlipStates,
tireCamberAngleStates, tireStickyStates, tireForces);
for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
{
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
//Compute the tire slip directions
PxVehicleTireDirsLegacyUpdate(
suspensionParams[wheelId],
steerResponseStates[wheelId],
roadGeomStates[wheelId], *rigidBodyState,
context.frame,
tireDirectionStates[wheelId]);
//Compute the rigid body speeds along the tire slip directions.
PxVehicleTireSlipSpeedsUpdate(
wheelParams[wheelId], suspensionParams[wheelId],
steerResponseStates[wheelId], suspensionStates[wheelId], tireDirectionStates[wheelId],
*rigidBodyState, roadGeomStates[wheelId],
context.frame,
tireSpeedStates[wheelId]);
//Compute the tire slip angles.
PxVehicleTireSlipsLegacyUpdate(
wheelParams[wheelId], context.tireSlipParams,
actuationStates[wheelId], tireSpeedStates[wheelId],
wheelRigidBody1DStates[wheelId],
tireSlipStates[wheelId]);
//Update the camber angle
PxVehicleTireCamberAnglesUpdate(
suspensionParams[wheelId], steerResponseStates[wheelId], roadGeomStates[wheelId],
suspensionComplianceStates[wheelId], *rigidBodyState,
context.frame,
tireCamberAngleStates[wheelId]);
//Compute the friction
PxVehicleTireGripUpdate(
tireForceParams[wheelId], roadGeomStates[wheelId],
suspensionStates[wheelId], suspensionForces[wheelId],
tireSlipStates[wheelId], tireGripStates[wheelId]);
//Update the tire sticky state
//
//Note: this should be skipped if tires do not use the sticky feature
PxVehicleTireStickyStateUpdate(
*axleDescription,
wheelParams[wheelId],
context.tireStickyParams,
actuationStates, tireGripStates[wheelId],
tireSpeedStates[wheelId], wheelRigidBody1DStates[wheelId],
dt,
tireStickyStates[wheelId]);
//If sticky tire is active set the slip angle to zero.
//
//Note: this should be skipped if tires do not use the sticky feature
PxVehicleTireSlipsAccountingForStickyStatesUpdate(
tireStickyStates[wheelId],
tireSlipStates[wheelId]);
//Compute the tire forces
PxVehicleTireForcesUpdate(
wheelParams[wheelId], suspensionParams[wheelId],
tireForceParams[wheelId],
suspensionComplianceStates[wheelId],
tireGripStates[wheelId], tireDirectionStates[wheelId],
tireSlipStates[wheelId], tireCamberAngleStates[wheelId],
*rigidBodyState,
tireForces[wheelId]);
}
return true;
}
};
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif