PxVehicleWheelComponents.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/tire/PxVehicleTireStates.h"
 
#include "PxVehicleWheelFunctions.h"
#include "PxVehicleWheelHelpers.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
class PxVehicleWheelComponent : public PxVehicleComponent
{
public:
 
    PxVehicleWheelComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleWheelComponent() {}
 
    virtual void getDataForWheelComponent(
        const PxVehicleAxleDescription*& axleDescription,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
        PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
        PxVehicleArrayData<PxVehicleWheelLocalPose>& wheelLocalPoses) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleWheelComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        PxVehicleArrayData<const PxReal> steerResponseStates;
        PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
        PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<const PxVehicleTireSpeedState> tireSpeedStates;
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
        PxVehicleArrayData<PxVehicleWheelLocalPose> wheelLocalPoses;
 
        getDataForWheelComponent(axleDescription, steerResponseStates,
            wheelParams, suspensionParams, actuationStates, suspensionStates,
            suspensionComplianceStates, tireSpeedStates, wheelRigidBody1dStates,
            wheelLocalPoses);
 
        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
            PxVehicleWheelRotationAngleUpdate(
                wheelParams[wheelId], 
                actuationStates[wheelId], suspensionStates[wheelId], 
                tireSpeedStates[wheelId], 
                context.thresholdForwardSpeedForWheelAngleIntegration, dt, 
                wheelRigidBody1dStates[wheelId]);
 
            wheelLocalPoses[wheelId].localPose = PxVehicleComputeWheelLocalPose(context.frame, 
                suspensionParams[wheelId],
                suspensionStates[wheelId], 
                suspensionComplianceStates[wheelId],
                steerResponseStates[wheelId],
                wheelRigidBody1dStates[wheelId]);
        }
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif