PxVehicleSuspensionComponents.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/commands/PxVehicleCommandStates.h"
#include "vehicle2/commands/PxVehicleCommandHelpers.h"
#include "vehicle2/rigidBody/PxVehicleRigidBodyParams.h"
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
 
#include "PxVehicleSuspensionParams.h"
#include "PxVehicleSuspensionStates.h"
#include "PxVehicleSuspensionFunctions.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
 
class PxVehicleSuspensionComponent : public PxVehicleComponent
{
public:
 
    PxVehicleSuspensionComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleSuspensionComponent() {}
 
    virtual void getDataForSuspensionComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyParams*& rigidBodyParams,
        const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspensionComplianceParams,
        PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspensionForceParams,
        PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams,
        PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
        PxVehicleArrayData<PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<PxVehicleSuspensionForce>& suspensionForces,
        PxVehicleAntiRollTorque*& antiRollTorque) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleSuspensionComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleRigidBodyParams* rigidBodyParams;
        const PxVehicleSuspensionStateCalculationParams* suspensionStateCalculationParams;
        PxVehicleArrayData<const PxReal> steerResponseStates;
        const PxVehicleRigidBodyState* rigidBodyState;
        PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceParams> suspensionComplianceParams;
        PxVehicleArrayData<const PxVehicleSuspensionForceParams> suspensionForceParams;
        PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams> antiRollForceParams;
        PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
        PxVehicleArrayData<PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<PxVehicleSuspensionForce> suspensionForces;
        PxVehicleAntiRollTorque* antiRollTorque;
 
        getDataForSuspensionComponent(axleDescription, rigidBodyParams, suspensionStateCalculationParams,
            steerResponseStates, rigidBodyState, 
            wheelParams, suspensionParams,
            suspensionComplianceParams, suspensionForceParams, antiRollForceParams, 
            wheelRoadGeomStates, suspensionStates, suspensionComplianceStates, 
            suspensionForces, antiRollTorque);
 
        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
            //Update the suspension state (jounce, jounce speed)
            PxVehicleSuspensionStateUpdate(
                wheelParams[wheelId], suspensionParams[wheelId], *suspensionStateCalculationParams,
                suspensionForceParams[wheelId].stiffness, suspensionForceParams[wheelId].damping,
                steerResponseStates[wheelId], wheelRoadGeomStates[wheelId], 
                *rigidBodyState,
                dt, context.frame, context.gravity,
                suspensionStates[wheelId]);
 
            //Update the compliance from the suspension state.
            PxVehicleSuspensionComplianceUpdate(
                suspensionParams[wheelId], suspensionComplianceParams[wheelId],
                suspensionStates[wheelId],
                suspensionComplianceStates[wheelId]);
 
            //Compute the suspension force from the suspension and compliance states.
            PxVehicleSuspensionForceUpdate(
                suspensionParams[wheelId], suspensionForceParams[wheelId],
                wheelRoadGeomStates[wheelId], suspensionStates[wheelId], 
                suspensionComplianceStates[wheelId], *rigidBodyState,
                context.gravity, rigidBodyParams->mass,
                suspensionForces[wheelId]);
        }
 
        if (antiRollForceParams.size>0 && antiRollTorque)
        {
            PxVehicleAntiRollForceUpdate(
                suspensionParams, antiRollForceParams, 
                suspensionStates.getConst(), suspensionComplianceStates.getConst(), *rigidBodyState, 
                *antiRollTorque);
        }
 
        return true;
    }
};
 
class PX_DEPRECATED PxVehicleLegacySuspensionComponent : public PxVehicleComponent
{
public:
 
    PxVehicleLegacySuspensionComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleLegacySuspensionComponent() {}
 
    virtual void getDataForLegacySuspensionComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleSuspensionStateCalculationParams*& suspensionStateCalculationParams,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspensionComplianceParams,
        PxVehicleArrayData<const PxVehicleSuspensionForceLegacyParams>& suspensionForceParams,
        PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams, 
        PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
        PxVehicleArrayData<PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<PxVehicleSuspensionForce>& suspensionForces,
        PxVehicleAntiRollTorque*& antiRollTorque) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleLegacySuspensionComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleSuspensionStateCalculationParams* suspensionStateCalculationParams;
        PxVehicleArrayData<const PxReal> steerResponseStates;
        const PxVehicleRigidBodyState* rigidBodyState;
        PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceParams> suspensionComplianceParams;
        PxVehicleArrayData<const PxVehicleSuspensionForceLegacyParams> suspensionForceParams;
        PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams> antiRollForceParams;
        PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
        PxVehicleArrayData<PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<PxVehicleSuspensionForce> suspensionForces;
        PxVehicleAntiRollTorque* antiRollTorque;
 
        getDataForLegacySuspensionComponent(axleDescription, suspensionStateCalculationParams,
            steerResponseStates, rigidBodyState, wheelParams, 
            suspensionParams, suspensionComplianceParams, 
            suspensionForceParams, antiRollForceParams,
            wheelRoadGeomStates, suspensionStates, suspensionComplianceStates, 
            suspensionForces, antiRollTorque);
 
        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
            //Update the suspension state (jounce, jounce speed)
            PxVehicleSuspensionStateUpdate(
                wheelParams[wheelId], suspensionParams[wheelId], *suspensionStateCalculationParams,
                suspensionForceParams[wheelId].stiffness, suspensionForceParams[wheelId].damping,
                steerResponseStates[wheelId], wheelRoadGeomStates[wheelId], *rigidBodyState,
                dt, context.frame, context.gravity,
                suspensionStates[wheelId]);
 
            //Update the compliance from the suspension state.
            PxVehicleSuspensionComplianceUpdate(
                suspensionParams[wheelId], suspensionComplianceParams[wheelId],
                suspensionStates[wheelId],
                suspensionComplianceStates[wheelId]);
 
            //Compute the suspension force from the suspension and compliance states.
            PxVehicleSuspensionLegacyForceUpdate(
                suspensionParams[wheelId], suspensionForceParams[wheelId],
                wheelRoadGeomStates[wheelId], suspensionStates[wheelId], 
                suspensionComplianceStates[wheelId], *rigidBodyState,
                context.gravity,
                suspensionForces[wheelId]);
        }
 
        if (antiRollForceParams.size>0 && antiRollTorque)
        {
            PxVehicleAntiRollForceUpdate(
                suspensionParams, antiRollForceParams,
                suspensionStates.getConst(), suspensionComplianceStates.getConst(), *rigidBodyState,
                *antiRollTorque);
        }
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif