PxVehicleWheelHelpers.h

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#pragma once
 
#include "vehicle2/PxVehicleFunctions.h"
 
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
 
#include "PxVehicleWheelParams.h"
#include "PxVehicleWheelStates.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
PX_FORCE_INLINE PxQuat PxVehicleComputeWheelLocalOrientation
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle,
 const PxReal rotationAngle)
{
    const PxQuat wheelLocalOrientation =
        (suspensionParams.suspensionAttachment.q * PxVehicleComputeRotation(frame, camberAngle, 0.0f, steerAngle + toeAngle))*
        (suspensionParams.wheelAttachment.q * PxVehicleComputeRotation(frame, 0.0f, rotationAngle, 0.0f));
    return wheelLocalOrientation;
}
 
PX_FORCE_INLINE PxQuat PxVehicleComputeWheelOrientation
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle,
 const PxQuat& rigidBodyOrientation, const PxReal rotationAngle)
{
    const PxQuat wheelOrientation = rigidBodyOrientation * PxVehicleComputeWheelLocalOrientation(frame, suspensionParams,
        camberAngle, toeAngle, steerAngle, rotationAngle);
    return wheelOrientation;
}
 
PX_FORCE_INLINE PxTransform PxVehicleComputeWheelLocalPose
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionState& suspensionState,
 const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle,
 const PxReal rotationAngle)
{
    //Full equation:
        //PxTransform(suspAttachment.p + suspParams.suspensionTravelDir*suspDist, suspAttachment.q) * 
        //PxTransform(PxVec3(0), PxQuat(camber,  0, steer+toe)) *
        //wheelAttachment *
        //PxTransform(PxVec3(0), PxQuat(0, rotation, 0))
    //Reduces to:
        //PxTransform(suspAttachment.p + suspParams.suspensionTravelDir*suspDist, suspAttachment.q * PxQuat(camber,  0, steer+toe)) *
        //PxTranfsorm(wheelAttachment.p, wheelAttachment.q * PxQuat(0, rotation, 0))
    const PxF32 suspDist = (suspensionState.jounce != PX_VEHICLE_UNSPECIFIED_JOUNCE) ? (suspensionParams.suspensionTravelDist - suspensionState.jounce) : 0.0f;
    const PxTransform wheelLocalPose =
        PxTransform(
            suspensionParams.suspensionAttachment.p + suspensionParams.suspensionTravelDir*suspDist,
            suspensionParams.suspensionAttachment.q*PxVehicleComputeRotation(frame, camberAngle, 0.0f, steerAngle + toeAngle))*
        PxTransform(
            suspensionParams.wheelAttachment.p,
            suspensionParams.wheelAttachment.q*PxVehicleComputeRotation(frame, 0.0f, rotationAngle, 0.0f));
    return wheelLocalPose;
}
 
 
PX_FORCE_INLINE PxTransform PxVehicleComputeWheelLocalPose
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionState& suspensionState, const PxVehicleSuspensionComplianceState& suspensionComplianceState,
 const PxReal steerAngle,
 const PxVehicleWheelRigidBody1dState& wheelState)
{
    return PxVehicleComputeWheelLocalPose(frame, suspensionParams, suspensionState,
        suspensionComplianceState.camber, suspensionComplianceState.toe, steerAngle,
        wheelState.rotationAngle);
}
 
PX_FORCE_INLINE PxTransform PxVehicleComputeWheelPose
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionState& suspensionState,
 const PxReal camberAngle, const PxReal toeAngle, const PxReal steerAngle,
 const PxTransform& rigidBodyPose, const PxReal rotationAngle)
{
    const PxTransform wheelPose = rigidBodyPose * PxVehicleComputeWheelLocalPose(frame, suspensionParams, suspensionState,
        camberAngle, toeAngle, steerAngle, rotationAngle);
    return wheelPose;
}
 
PX_FORCE_INLINE PxTransform PxVehicleComputeWheelPose
(const PxVehicleFrame& frame,
 const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionState& suspensionState, const PxVehicleSuspensionComplianceState& suspensionComplianceState, const PxReal steerAngle,
 const PxTransform& rigidBodyPose, const PxVehicleWheelRigidBody1dState& wheelState)
{
    return PxVehicleComputeWheelPose(frame, suspensionParams, suspensionState,
        suspensionComplianceState.camber, suspensionComplianceState.toe, steerAngle,
        rigidBodyPose, wheelState.rotationAngle);
}
 
PX_FORCE_INLINE bool PxVehicleIsWheelOnGround(const PxVehicleSuspensionState& suspState)
{
    return (suspState.separation <= 0.0f);
}
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif