PxVehiclePhysXConstraintComponents.h

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// Copyright (c) 2008-2022 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/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
 
#include "PxVehiclePhysXConstraintFunctions.h"
#include "PxVehiclePhysXConstraintHelpers.h"
#include "PxVehiclePhysXConstraintStates.h"
#include "PxVehiclePhysXConstraintParams.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
class PxVehiclePhysXConstraintComponent : public PxVehicleComponent
{
public:
    PxVehiclePhysXConstraintComponent() : PxVehicleComponent() {}
    virtual ~PxVehiclePhysXConstraintComponent() {}
 
    virtual void getDataForPhysXConstraintComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& suspensionLimitParams,
        PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
        PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
        PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
        PxVehiclePhysXConstraints*& constraints) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_UNUSED(dt);
        PX_UNUSED(context);
 
        PX_PROFILE_ZONE("PxVehiclePhysXConstraintComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleRigidBodyState* rigidBodyState;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams> suspensionLimitParams;
        PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
        PxVehicleArrayData<const PxVehicleTireDirectionState> tireDirectionStates;
        PxVehicleArrayData<const PxVehicleTireStickyState> tireStickyStates;
        PxVehiclePhysXConstraints* constraints;
 
        getDataForPhysXConstraintComponent(axleDescription, rigidBodyState, 
            suspensionParams, suspensionLimitParams, suspensionStates, suspensionComplianceStates,
            wheelRoadGeomStates, tireDirectionStates, tireStickyStates,
            constraints);
 
        PxVehicleConstraintsDirtyStateUpdate(*constraints);
 
        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
            PxVehiclePhysXConstraintStatesUpdate(
                suspensionParams[wheelId], suspensionLimitParams[wheelId],
                suspensionStates[wheelId], suspensionComplianceStates[wheelId], 
                wheelRoadGeomStates[wheelId].plane.n,
                context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLONGITUDINAL].damping,
                context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLATERAL].damping,
                tireDirectionStates[wheelId], tireStickyStates[wheelId], 
                *rigidBodyState,
                constraints->constraintStates[wheelId]);
        }
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif