PxVehicleSuspensionHelpers.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#pragma once
 
#include "foundation/PxTransform.h"
 
#include "vehicle2/wheel/PxVehicleWheelParams.h"
#include "vehicle2/wheel/PxVehicleWheelHelpers.h"
 
#include "PxVehicleSuspensionParams.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
PX_FORCE_INLINE PxVec3 PxVehicleComputeSuspensionDirection(const PxVehicleSuspensionParams& suspensionParams, const PxTransform& rigidBodyPose)
{
    const PxVec3 suspDir = rigidBodyPose.rotate(suspensionParams.suspensionTravelDir);
    return suspDir;
}
 
PX_FORCE_INLINE PxTransform PxVehicleComputeWheelPoseForSuspensionQuery(const PxVehicleFrame& frame, const PxVehicleSuspensionParams& suspensionParams,
    const PxReal steerAngle, const PxTransform& rigidBodyPose)
{
    //Compute the wheel pose with zero travel from attachment point, zero compliance, 
    //zero wheel pitch (ignore due to radial symmetry).
    //Zero travel from attachment point (we want the wheel pose at the top of the suspension, i.e., at max compression)
    PxVehicleSuspensionState suspState;
    suspState.setToDefault();
    //Compute the wheel pose.
    const PxTransform wheelPose = PxVehicleComputeWheelPose(frame, suspensionParams, suspState, 0.0f, 0.0f, steerAngle, rigidBodyPose,
        0.0f);
 
    return wheelPose;
}
 
PX_FORCE_INLINE void PxVehicleComputeSuspensionRaycast
(const PxVehicleFrame& frame, const PxVehicleWheelParams& wheelParams, const PxVehicleSuspensionParams& suspensionParams,
    const PxF32 steerAngle, const PxTransform& rigidBodyPose,
    PxVec3& start, PxVec3& dir, PxReal& dist)
{
    const PxTransform wheelPose = PxVehicleComputeWheelPoseForSuspensionQuery(frame, suspensionParams, steerAngle, rigidBodyPose);
 
    //Raycast from top of wheel at max compression to bottom of wheel at max droop.
    dir = PxVehicleComputeSuspensionDirection(suspensionParams, rigidBodyPose);
    start = wheelPose.p - dir * wheelParams.radius;
    dist = suspensionParams.suspensionTravelDist + 2.0f*wheelParams.radius;
}
 
PX_FORCE_INLINE void PxVehicleComputeSuspensionSweep
(const PxVehicleFrame& frame, const PxVehicleSuspensionParams& suspensionParams,
    const PxReal steerAngle, const PxTransform& rigidBodyPose,
    PxTransform& start, PxVec3& dir, PxReal& dist)
{
    start = PxVehicleComputeWheelPoseForSuspensionQuery(frame, suspensionParams, steerAngle, rigidBodyPose);
    dir = PxVehicleComputeSuspensionDirection(suspensionParams, rigidBodyPose);
    dist = suspensionParams.suspensionTravelDist;
}
 
 
bool PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxReal totalMass, const PxVehicleAxes::Enum gravityDirection, PxReal* sprungMasses);
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif