PxVehicleSuspensionParams.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 "foundation/PxTransform.h"
#include "foundation/PxFoundation.h"
 
#include "common/PxCoreUtilityTypes.h"
 
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleFunctions.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
struct PxVehicleSuspensionParams
{
    PxTransform suspensionAttachment;   
 
    PxVec3 suspensionTravelDir;         
 
    PxReal suspensionTravelDist;
 
    PxTransform wheelAttachment;        
 
 
    PX_FORCE_INLINE PxVehicleSuspensionParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PxVehicleSuspensionParams r = *this;
        r.suspensionAttachment= PxVehicleTransformFrameToFrame(srcFrame, trgFrame, srcScale, trgScale, suspensionAttachment);
        r.suspensionTravelDir = PxVehicleTransformFrameToFrame(srcFrame, trgFrame, suspensionTravelDir);
        r.suspensionTravelDist *= (trgScale.scale/srcScale.scale);
        r.wheelAttachment = PxVehicleTransformFrameToFrame(srcFrame, trgFrame, srcScale, trgScale, wheelAttachment);
        return r;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(suspensionAttachment.isValid(), "PxVehicleSuspensionParams.suspensionAttachment must be a valid transform", false);
        PX_CHECK_AND_RETURN_VAL(suspensionTravelDir.isFinite(), "PxVehicleSuspensionParams.suspensionTravelDir must be a valid vector", false);
        PX_CHECK_AND_RETURN_VAL(suspensionTravelDir.isNormalized(), "PxVehicleSuspensionParams.suspensionTravelDir must be a unit vector", false);
        PX_CHECK_AND_RETURN_VAL(suspensionTravelDist > 0.0f, "PxVehicleSuspensionParams.suspensionTravelDist must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(wheelAttachment.isValid(), "PxVehicleSuspensionParams.wheelAttachment must be a valid transform", false);
        return true;
    }
};
 
struct PxVehicleSuspensionJounceCalculationType
{
    enum Enum
    {
        eRAYCAST,   
        eSWEEP,     
        eMAX_NB
    };
};
 
struct PxVehicleSuspensionStateCalculationParams
{
    PxVehicleSuspensionJounceCalculationType::Enum suspensionJounceCalculationType;
 
    bool limitSuspensionExpansionVelocity;
 
    PX_FORCE_INLINE PxVehicleSuspensionStateCalculationParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PX_UNUSED(srcScale);
        PX_UNUSED(trgScale);
        return *this;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        return true;
    }
};
 
struct PxVehicleSuspensionComplianceParams
{
    PxVehicleFixedSizeLookupTable<PxReal, 3> wheelToeAngle;
 
    PxVehicleFixedSizeLookupTable<PxReal, 3> wheelCamberAngle;
 
    PxVehicleFixedSizeLookupTable<PxVec3, 3> suspForceAppPoint;
 
    PxVehicleFixedSizeLookupTable<PxVec3, 3> tireForceAppPoint;
 
    PX_FORCE_INLINE PxVehicleSuspensionComplianceParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PxVehicleSuspensionComplianceParams r = *this;
 
        const  PxReal scale = trgScale.scale / srcScale.scale;
        for (PxU32 i = 0; i < r.suspForceAppPoint.nbDataPairs; i++)
        {
            r.suspForceAppPoint.yVals[i] = PxVehicleTransformFrameToFrame(srcFrame, trgFrame, suspForceAppPoint.yVals[i]);
            r.suspForceAppPoint.yVals[i] *= scale;
        }
        for (PxU32 i = 0; i < r.tireForceAppPoint.nbDataPairs; i++)
        {
            r.tireForceAppPoint.yVals[i] = PxVehicleTransformFrameToFrame(srcFrame, trgFrame, tireForceAppPoint.yVals[i]);
            r.tireForceAppPoint.yVals[i] *= scale;
        }
        return r;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(wheelToeAngle.isValid(), "PxVehicleSuspensionComplianceParams.wheelToeAngle is invalid", false);
        PX_CHECK_AND_RETURN_VAL(wheelCamberAngle.isValid(), "PxVehicleSuspensionComplianceParams.wheelCamberAngle is invalid", false);
        PX_CHECK_AND_RETURN_VAL(suspForceAppPoint.isValid(), "PxVehicleSuspensionComplianceParams.wheelToeAngle is invalid", false);
        PX_CHECK_AND_RETURN_VAL(tireForceAppPoint.isValid(), "PxVehicleSuspensionComplianceParams.wheelCamberAngle is invalid", false);
 
        for (PxU32 i = 0; i < wheelToeAngle.nbDataPairs; i++)
        {
            PX_CHECK_AND_RETURN_VAL(wheelToeAngle.xVals[i] >= 0.0f && wheelToeAngle.xVals[i] <= 1.0f, "PxVehicleSuspensionComplianceParams.wheelToeAngle must be an array of points (x,y) with x in range [0, 1]", false);
            PX_CHECK_AND_RETURN_VAL(wheelToeAngle.yVals[i] >= -PxPi && wheelToeAngle.yVals[i] <=  PxPi, "PxVehicleSuspensionComplianceParams.wheelToeAngle must be an array of points (x,y) with y in range [-Pi, Pi]", false);
        }
        for (PxU32 i = 0; i < wheelCamberAngle.nbDataPairs; i++)
        {
            PX_CHECK_AND_RETURN_VAL(wheelCamberAngle.xVals[i] >= 0.0f && wheelCamberAngle.xVals[i] <= 1.0f, "PxVehicleSuspensionComplianceParams.wheelCamberAngle must be an array of points (x,y) with x in range [0, 1]", false);
            PX_CHECK_AND_RETURN_VAL(wheelCamberAngle.yVals[i] >= -PxPi && wheelCamberAngle.yVals[i] <= PxPi, "PxVehicleSuspensionComplianceParams.wheelCamberAngle must be an array of points (x,y) with y in range [-Pi, Pi]", false);
        }
 
        for (PxU32 i = 0; i < suspForceAppPoint.nbDataPairs; i++)
        {
            PX_CHECK_AND_RETURN_VAL(suspForceAppPoint.xVals[i] >= 0.0f && suspForceAppPoint.xVals[i] <= 1.0f, "PxVehicleSuspensionComplianceParams.suspForceAppPoint[0] must be an array of points (x,y) with x in range [0, 1]", false);
        }
        for (PxU32 i = 0; i < tireForceAppPoint.nbDataPairs; i++)
        {
            PX_CHECK_AND_RETURN_VAL(tireForceAppPoint.xVals[i] >= 0.0f && tireForceAppPoint.xVals[i] <= 1.0f, "PxVehicleSuspensionComplianceParams.tireForceAppPoint[0] must be an array of points (x,y) with x in range [0, 1]", false);
        }
        return true;
    }
};
 
struct PxVehicleSuspensionForceParams
{
    PxReal stiffness;
 
    PxReal damping;
 
    PxReal sprungMass;
 
    PX_FORCE_INLINE PxVehicleSuspensionForceParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PX_UNUSED(srcScale);
        PX_UNUSED(trgScale);
        return *this;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(stiffness > 0.0f, "PxVehicleSuspensionForceParams.stiffness must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(damping >= 0.0f, "PxVehicleSuspensionForceParams.damping must be greater than or equal to zero", false);
        PX_CHECK_AND_RETURN_VAL(sprungMass > 0.0f, "PxVehicleSuspensionForceParams.sprungMass must be greater than zero", false);
        return true;
    }
};
 
struct PX_DEPRECATED PxVehicleSuspensionForceLegacyParams
{
    PxReal stiffness;
 
    PxReal damping;
 
    PxReal restDistance;
 
    PxReal sprungMass;
 
    PX_FORCE_INLINE PxVehicleSuspensionForceLegacyParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PxVehicleSuspensionForceLegacyParams r = *this;
        r.restDistance *= (trgScale.scale / srcScale.scale);
        return *this;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(stiffness > 0.0f, "PxVehicleSuspensionForceLegacyParams.stiffness must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(damping >= 0.0f, "PxVehicleSuspensionForceLegacyParams.damping must be greater than or equal to zero", false);
        PX_CHECK_AND_RETURN_VAL(restDistance > 0.0f, "PxVehicleSuspensionForceLegacyParams.restDistance must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(sprungMass > 0.0f, "PxVehicleSuspensionForceLegacyParams.sprungMass must be greater than zero", false);
        return true;
    }
 
};
 
struct PxVehicleAntiRollForceParams
{
    /*
    \brief The anti-roll bar connects two wheels with indices wheel0 and wheel1
    \note wheel0 and wheel1 may be chosen to have the effect of an anti-dive bar or to have the effect of an anti-roll bar. 
    */
    PxU32 wheel0;
 
    /*
    \brief The anti-roll bar connects two wheels with indices wheel0 and wheel1
    \note wheel0 and wheel1 may be chosen to have the effect of an anti-dive bar or to have the effect of an anti-roll bar.
    */
    PxU32 wheel1;
 
    /*
    \brief The linear stiffness of the anti-roll bar.
    \note A positive stiffness will work to reduce the discrepancy in jounce between wheel0 and wheel1.
    \note A negative stiffness will work to increase the discrepancy in jounce between wheel0 and wheel1.
 
    <b>Unit:</b> mass / (time^2)
    */
    PxReal stiffness;
 
    PX_FORCE_INLINE PxVehicleAntiRollForceParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PX_UNUSED(srcScale);
        PX_UNUSED(trgScale);
        return *this;
    }
 
    PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
    {
        if (!PxIsFinite(stiffness))
            return false;
        if (wheel0 == wheel1)
            return false;
 
        //Check that each wheel id is a valid wheel.
        const PxU32 wheelIds[2] = { wheel0,  wheel1 };
        for (PxU32 k = 0; k < 2; k++)
        {
            const PxU32 wheelToFind = wheelIds[k];
            bool foundWheelInAxleDescription = false;
            for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
            {
                const PxU32 wheel = axleDesc.wheelIdsInAxleOrder[i];
                if (wheel == wheelToFind)
                {
                    foundWheelInAxleDescription = true;
                }
            }
            if (!foundWheelInAxleDescription)
                return false;
        }
 
        return true;
    }
};
 
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif