PxVehicleTireComponents.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 "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