Data structure describing configuration data of a vehicle with up to 20 wheels. More...

#include <PxVehicleWheels.h>

Public Member Functions
void	setChassisMass (const PxF32 chassisMass)
	Setup with mass information that can be applied to the default values of the suspensions, wheels, and tires set in their respective constructors.

void	free ()
	Free a PxVehicleWheelsSimData instance.

PxVehicleWheelsSimData &	operator= (const PxVehicleWheelsSimData &src)
	Copy wheel simulation data.

void	copy (const PxVehicleWheelsSimData &src, const PxU32 srcWheel, const PxU32 trgWheel)
	Copy the data of a single wheel unit (wheel, suspension, tire) from srcWheel of src to trgWheel.

PxU32	getNbWheels () const
	Return the number of wheels.

const PxVehicleSuspensionData &	getSuspensionData (const PxU32 id) const
	Return the suspension data of the idth wheel.

const PxVehicleWheelData &	getWheelData (const PxU32 id) const
	Return the wheel data of the idth wheel.

const PxVehicleTireData &	getTireData (const PxU32 id) const
	Return the tire data of the idth wheel.

const PxVec3 &	getSuspTravelDirection (const PxU32 id) const
	Return the direction of travel of the suspension of the idth wheel.

const PxVec3 &	getSuspForceAppPointOffset (const PxU32 id) const
	Return the application point of the suspension force of the suspension of the idth wheel as an offset from the rigid body center of mass.

const PxVec3 &	getTireForceAppPointOffset (const PxU32 id) const
	Return the application point of the tire force of the tire of the idth wheel as an offset from the rigid body center of mass.

const PxVec3 &	getWheelCentreOffset (const PxU32 id) const
	Return the offset from the rigid body centre of mass to the centre of the idth wheel.

PxI32	getWheelShapeMapping (const PxU32 wheelId) const
	Return the wheel mapping for the ith wheel.

const PxFilterData &	getSceneQueryFilterData (const PxU32 suspId) const
	Return the scene query filter data used by the specified suspension line.

PxU32	getNbAntiRollBars () const
	Return the number of unique anti-roll bars that have been added with addAntiRollBarData.

const PxVehicleAntiRollBarData &	getAntiRollBarData (const PxU32 antiRollId) const
	Return a specific anti-roll bar.

PX_FORCE_INLINE const PxVehicleTireLoadFilterData &	getTireLoadFilterData () const
	Return the data that describes the filtering of the tire load to produce smoother handling at large time-steps.

void	setSuspensionData (const PxU32 id, const PxVehicleSuspensionData &susp)
	Set the suspension data of the idth wheel.

void	setWheelData (const PxU32 id, const PxVehicleWheelData &wheel)
	Set the wheel data of the idth wheel.

void	setTireData (const PxU32 id, const PxVehicleTireData &tire)
	Set the tire data of the idth wheel.

void	setSuspTravelDirection (const PxU32 id, const PxVec3 &dir)
	Set the direction of travel of the suspension of the idth wheel.

void	setSuspForceAppPointOffset (const PxU32 id, const PxVec3 &offset)
	Set the application point of the suspension force of the suspension of the idth wheel.

void	setTireForceAppPointOffset (const PxU32 id, const PxVec3 &offset)
	Set the application point of the tire force of the tire of the idth wheel.

void	setWheelCentreOffset (const PxU32 id, const PxVec3 &offset)
	Set the offset from the rigid body centre of mass to the centre of the idth wheel.

void	setWheelShapeMapping (const PxU32 wheelId, const PxI32 shapeId)
	Set mapping between wheel id and position of corresponding wheel shape in the list of actor shapes.

void	setSceneQueryFilterData (const PxU32 suspId, const PxFilterData &sqFilterData)
	Set the scene query filter data that will be used for raycasts along the travel direction of the specified suspension. The default value is PxFilterData(0,0,0,0)

void	setTireLoadFilterData (const PxVehicleTireLoadFilterData &tireLoadFilter)
	Set the data that describes the filtering of the tire load to produce smoother handling at large timesteps.

PxU32	addAntiRollBarData (const PxVehicleAntiRollBarData &antiRoll)
	Set the anti-roll suspension for a pair of wheels.

void	disableWheel (const PxU32 wheel)
	Disable a wheel so that zero suspension forces and zero tire forces are applied to the rigid body from this wheel.

void	enableWheel (const PxU32 wheel)
	Enable a wheel so that suspension forces and tire forces are applied to the rigid body. All wheels are enabled by default and remain enabled until they are disabled.

bool	getIsWheelDisabled (const PxU32 wheel) const
	Test if a wheel has been disabled.

void	setSubStepCount (const PxReal thresholdLongitudinalSpeed, const PxU32 lowForwardSpeedSubStepCount, const PxU32 highForwardSpeedSubStepCount)
	Set the number of vehicle sub-steps that will be performed when the vehicle's longitudinal speed is below and above a threshold longitudinal speed.

void	setMinLongSlipDenominator (const PxReal minLongSlipDenominator)
	Set the minimum denominator used in the longitudinal slip calculation.

void	setFlags (PxVehicleWheelsSimFlags flags)
	Set the vehicle wheel simulation flags.

PxVehicleWheelsSimFlags	getFlags () const
	Return the vehicle wheel simulation flags.

	PxVehicleWheelsSimData (const PxEMPTY)

PxU32	getNbWheels4 () const

PxU32	getNbSuspensionData () const

PxU32	getNbWheelData () const

PxU32	getNbSuspTravelDirection () const

PxU32	getNbTireData () const

PxU32	getNbSuspForceAppPointOffset () const

PxU32	getNbTireForceAppPointOffset () const

PxU32	getNbWheelCentreOffset () const

PxU32	getNbWheelShapeMapping () const

PxU32	getNbSceneQueryFilterData () const

PxF32	getMinLongSlipDenominator () const

void	setThresholdLongSpeed (const PxF32 f)

PxF32	getThresholdLongSpeed () const

void	setLowForwardSpeedSubStepCount (const PxU32 f)

PxU32	getLowForwardSpeedSubStepCount () const

void	setHighForwardSpeedSubStepCount (const PxU32 f)

PxU32	getHighForwardSpeedSubStepCount () const

void	setWheelEnabledState (const PxU32 wheel, const bool state)

bool	getWheelEnabledState (const PxU32 wheel) const

PxU32	getNbWheelEnabledState () const

PxU32	getNbAntiRollBars4 () const

PxU32	getNbAntiRollBarData () const

void	setAntiRollBarData (const PxU32 id, const PxVehicleAntiRollBarData &antiRoll)

Static Public Member Functions
static PxVehicleWheelsSimData *	allocate (const PxU32 nbWheels)
	Allocate a PxVehicleWheelsSimData instance for with nbWheels.

static void	getBinaryMetaData (PxOutputStream &stream)

Friends
class	PxVehicleWheels

class	PxVehicleNoDrive

class	PxVehicleDrive4W

class	PxVehicleDriveTank

class	PxVehicleUpdate

Detailed Description

Data structure describing configuration data of a vehicle with up to 20 wheels.

Member Function Documentation

◆ addAntiRollBarData()

PxU32 physx::PxVehicleWheelsSimData::addAntiRollBarData ( const PxVehicleAntiRollBarData & antiRoll )

Set the anti-roll suspension for a pair of wheels.

Parameters

antiRoll is the anti-roll suspension.

Note: If an anti-roll bar has already been set for the same logical wheel pair (independent of wheel index order specified by PxVehicleAntiRollBar.mWheel0 and PxVehicleAntiRollBar.mWheel0) then the existing anti-roll bar is updated with a new stiffness parameter antiRoll.mStiffness.; If the wheel pair specified by antiRoll does not yet have an anti-roll bar then antiRoll is added to a list of anti-roll bars for the vehicle.

Returns: If antiRoll represents a new wheel pair then a unique id is assigned to the anti-roll bar and returned. If antiRoll represents an existing wheel pair then the unique id of the existing anti-roll bar is returned. The return value is always in range (0, getNbAntiRollBars()).

Note: The return value can be used to query the anti-roll bar with getAntiRollBarData(id).; The number of possible anti-roll bars is limited to half the wheel count.; An existing anti-roll bar can be disabled by calling antiRoll.mStiffness to zero.

See also: PxVehicleWheelsSimData::getAntiRollBarData, PxVehicleAntiRollBarData

◆ allocate()

PxVehicleWheelsSimData * physx::PxVehicleWheelsSimData::allocate ( const PxU32 nbWheels )

static

Allocate a PxVehicleWheelsSimData instance for with nbWheels.

See also: free

◆ copy()

void physx::PxVehicleWheelsSimData::copy	(	const PxVehicleWheelsSimData &	src,
		const PxU32	srcWheel,
		const PxU32	trgWheel
	)

Copy the data of a single wheel unit (wheel, suspension, tire) from srcWheel of src to trgWheel.

Parameters

[in]	src	is the data to be copied.
[in]	srcWheel	is the wheel whose data will be copied from src.
[in]	trgWheel	is the wheel that will be assigned the copied data.

◆ disableWheel()

void physx::PxVehicleWheelsSimData::disableWheel ( const PxU32 wheel )

Disable a wheel so that zero suspension forces and zero tire forces are applied to the rigid body from this wheel.

Note: If the vehicle has a differential (PxVehicleNW/PxVehicle4W) then the differential (PxVehicleDifferentialNWData/PxVehicleDifferential4WData) needs to be configured so that no drive torque is delivered to the disabled wheel.; If the vehicle is of type PxVehicleNoDrive then zero drive torque must be applied to the disabled wheel.; For tanks (PxVehicleDriveTank) any drive torque that could be delivered to the wheel through the tank differential will be re-directed to the remaining enabled wheels.

See also: enableWheel; PxVehicleDifferentialNWData::setDrivenWheel; PxVehicleDifferential4WData::mFrontLeftRightSplit, PxVehicleDifferential4WData::mRearLeftRightSplit, PxVehicleDifferential4WData::mType; PxVehicleNoDrive::setDriveTorque; PxVehicle4WEnable3WTadpoleMode, PxVehicle4WEnable3WDeltaMode

Note: If a PxShape is associated with the disabled wheel then the association must be broken by calling setWheelShapeMapping(wheelId, -1).

See also: setWheelShapeMapping

Note: A wheel that is disabled must also simultaneously be given zero wheel rotation speed.

See also: PxVehicleWheelsDynData::setWheelRotationSpeed

Note: Care must be taken with the sprung mass supported by the remaining enabled wheels. Depending on the desired effect, the mass of the rigid body might need to be distributed among the remaining enabled wheels and suspensions.

Parameters

[in] wheel is the wheel index.

◆ enableWheel()

void physx::PxVehicleWheelsSimData::enableWheel ( const PxU32 wheel )

Enable a wheel so that suspension forces and tire forces are applied to the rigid body. All wheels are enabled by default and remain enabled until they are disabled.

Parameters

[in] wheel is the wheel index.

See also: disableWheel

◆ free()

void physx::PxVehicleWheelsSimData::free ( )

Free a PxVehicleWheelsSimData instance.

See also: allocate

◆ getAntiRollBarData()

const PxVehicleAntiRollBarData & physx::PxVehicleWheelsSimData::getAntiRollBarData ( const PxU32 antiRollId ) const

Return a specific anti-roll bar.

Parameters

antiRollId is the unique id of the anti-roll bar

Note: The return value of addAntiRollBarData is a unique id for that specific anti-roll bar and can be used as input parameter for getAntiRollBarData in order to query the same anti-roll bar.
Alternatively, it is possible to iterate over all anti-roll bars by choosing antiRollId in range (0, getNbAntiRollBars()).

◆ getFlags()

PxVehicleWheelsSimFlags physx::PxVehicleWheelsSimData::getFlags ( ) const

Return the vehicle wheel simulation flags.

Returns: The values of the flags.

See also: PxVehicleWheelsSimFlag

◆ getIsWheelDisabled()

bool physx::PxVehicleWheelsSimData::getIsWheelDisabled ( const PxU32 wheel ) const

Test if a wheel has been disabled.

Parameters

[in] wheel is the wheel index.

◆ getNbAntiRollBars()

PxU32 physx::PxVehicleWheelsSimData::getNbAntiRollBars ( ) const

inline

Return the number of unique anti-roll bars that have been added with addAntiRollBarData.

See also: PxVehicleWheelsSimData::addAntiRollBarData

◆ getNbWheels()

PxU32 physx::PxVehicleWheelsSimData::getNbWheels ( ) const

inline

Return the number of wheels.

See also: allocate

◆ getSuspForceAppPointOffset()

const PxVec3 & physx::PxVehicleWheelsSimData::getSuspForceAppPointOffset ( const PxU32 id ) const

Return the application point of the suspension force of the suspension of the idth wheel as an offset from the rigid body center of mass.

Note: Specified relative to the center of mass of the rigid body

◆ getTireForceAppPointOffset()

const PxVec3 & physx::PxVehicleWheelsSimData::getTireForceAppPointOffset ( const PxU32 id ) const

Return the application point of the tire force of the tire of the idth wheel as an offset from the rigid body center of mass.

Note: Specified relative to the centre of mass of the rigid body

◆ getWheelShapeMapping()

PxI32 physx::PxVehicleWheelsSimData::getWheelShapeMapping ( const PxU32 wheelId ) const

Return the wheel mapping for the ith wheel.

Note: The return value is the element in the array of shapes of the vehicle's PxRigidDynamic that corresponds to the ith wheel. A return value of -1 means that the wheel is not mapped to a PxShape.

See also: PxRigidActor.getShapes

◆ operator=()

PxVehicleWheelsSimData & physx::PxVehicleWheelsSimData::operator= ( const PxVehicleWheelsSimData & src )

Copy wheel simulation data.

Note: The number of wheels on both instances of PxVehicleWheelsSimData must match.

◆ setChassisMass()

void physx::PxVehicleWheelsSimData::setChassisMass ( const PxF32 chassisMass )

Setup with mass information that can be applied to the default values of the suspensions, wheels, and tires set in their respective constructors.

Parameters

chassisMass is the mass of the chassis.

Note: This function assumes that the suspensions equally share the load of the chassis mass. It also assumes that the suspension will have a particular natural frequency and damping ratio that is typical of a standard car. If either of these assumptions is broken then each suspension will need to be individually configured with custom strength, damping rate, and sprung mass.

See also: allocate

◆ setFlags()

void physx::PxVehicleWheelsSimData::setFlags ( PxVehicleWheelsSimFlags flags )

Set the vehicle wheel simulation flags.

Parameters

[in] flags The flags to set (see PxVehicleWheelsSimFlags).

Default: no flag set

See also: PxVehicleWheelsSimFlag

◆ setMinLongSlipDenominator()

void physx::PxVehicleWheelsSimData::setMinLongSlipDenominator ( const PxReal minLongSlipDenominator )

Set the minimum denominator used in the longitudinal slip calculation.

Note: The longitudinal slip has a theoretical value of (w*r - vz)/|vz|, where w is the angular speed of the wheel; r is the radius of the wheel; and vz is the component of rigid body velocity (computed at the wheel base) that lies along the longitudinal wheel direction. The term |vz| normalizes the slip, while preserving the sign of the longitudinal tire slip. The difficulty here is that when |vz| approaches zero the longitudinal slip approaches infinity. A solution to this problem is to replace the denominator (|vz|) with a value that never falls below a chosen threshold. The longitudinal slip is then calculated with (w*r - vz)/PxMax(|vz|, minLongSlipDenominator).; The default value is the equivalent of 4 metres per second after accounting for the length scale set in PxTolerancesScale.; Adjust this value upwards if a vehicle has difficulty coming to rest.; Decreasing the timestep (or increasing the number of sub-steps at low longitudinal speed with setSubStepCount) should allow stable stable behavior with smaller values of minLongSlipDenominator.

◆ setSceneQueryFilterData()

void physx::PxVehicleWheelsSimData::setSceneQueryFilterData	(	const PxU32	suspId,
		const PxFilterData &	sqFilterData
	)

Set the scene query filter data that will be used for raycasts along the travel direction of the specified suspension. The default value is PxFilterData(0,0,0,0)

Parameters

suspId	is the wheel index
sqFilterData	is the raycast filter data for the suspension raycast.

See also: setWheelShapeMapping

◆ setSubStepCount()

void physx::PxVehicleWheelsSimData::setSubStepCount	(	const PxReal	thresholdLongitudinalSpeed,
		const PxU32	lowForwardSpeedSubStepCount,
		const PxU32	highForwardSpeedSubStepCount
	)

Set the number of vehicle sub-steps that will be performed when the vehicle's longitudinal speed is below and above a threshold longitudinal speed.

Note: More sub-steps provides better stability but with greater computational cost.; Typically, vehicles require more sub-steps at very low forward speeds.; The threshold longitudinal speed has a default value that is the equivalent of 5 metres per second after accounting for the length scale set in PxTolerancesScale.; The sub-step count below the threshold longitudinal speed has a default of 3.; The sub-step count above the threshold longitudinal speed has a default of 1.; Each sub-step has time advancement equal to the time-step passed to PxVehicleUpdates divided by the number of required sub-steps.; The contact planes of the most recent suspension line raycast are reused across all sub-steps.; Each sub-step computes tire and suspension forces and then advances a velocity, angular velocity and transform.; At the end of all sub-steps the vehicle actor is given the velocity and angular velocity that would move the actor from its start transform prior to the first sub-step to the transform computed at the end of the last substep, assuming it doesn't collide with anything along the way in the next PhysX SDK update.; The global pose of the actor is left unchanged throughout the sub-steps.

Parameters

[in]	thresholdLongitudinalSpeed	is a threshold speed that is used to categorize vehicle speed as low speed or high speed.
[in]	lowForwardSpeedSubStepCount	is the number of sub-steps performed in PxVehicleUpates for vehicles that have longitudinal speed lower than thresholdLongitudinalSpeed.
[in]	highForwardSpeedSubStepCount	is the number of sub-steps performed in PxVehicleUpdates for vehicles that have longitudinal speed graeter than thresholdLongitudinalSpeed.

◆ setSuspensionData()

void physx::PxVehicleWheelsSimData::setSuspensionData	(	const PxU32	id,
		const PxVehicleSuspensionData &	susp
	)

Set the suspension data of the idth wheel.

Parameters

[in]	id	is the wheel index.
[in]	susp	is the suspension data to be applied.

◆ setSuspForceAppPointOffset()

void physx::PxVehicleWheelsSimData::setSuspForceAppPointOffset	(	const PxU32	id,
		const PxVec3 &	offset
	)

Set the application point of the suspension force of the suspension of the idth wheel.

Parameters

[in]	id	is the wheel index
[in]	offset	is the offset from the rigid body center of mass to the application point of the suspension force.

Note: Specified relative to the centre of mass of the rigid body

◆ setSuspTravelDirection()

void physx::PxVehicleWheelsSimData::setSuspTravelDirection	(	const PxU32	id,
		const PxVec3 &	dir
	)

Set the direction of travel of the suspension of the idth wheel.

Parameters

[in]	id	is the wheel index
[in]	dir	is the suspension travel direction to be applied.

◆ setTireData()

void physx::PxVehicleWheelsSimData::setTireData	(	const PxU32	id,
		const PxVehicleTireData &	tire
	)

Set the tire data of the idth wheel.

Parameters

[in]	id	is the wheel index.
[in]	tire	is the tire data to be applied.

◆ setTireForceAppPointOffset()

void physx::PxVehicleWheelsSimData::setTireForceAppPointOffset	(	const PxU32	id,
		const PxVec3 &	offset
	)

Set the application point of the tire force of the tire of the idth wheel.

Parameters

[in]	id	is the wheel index
[in]	offset	is the offset from the rigid body center of mass to the application point of the tire force.

Note: Specified relative to the centre of mass of the rigid body

◆ setTireLoadFilterData()

void physx::PxVehicleWheelsSimData::setTireLoadFilterData ( const PxVehicleTireLoadFilterData & tireLoadFilter )

Set the data that describes the filtering of the tire load to produce smoother handling at large timesteps.

Parameters

tireLoadFilter is the smoothing function data.

◆ setWheelCentreOffset()

void physx::PxVehicleWheelsSimData::setWheelCentreOffset	(	const PxU32	id,
		const PxVec3 &	offset
	)

Set the offset from the rigid body centre of mass to the centre of the idth wheel.

Parameters

[in]	id	is the wheel index
[in]	offset	is the offset from the rigid body center of mass to the center of the wheel at rest.

Note: Specified relative to the centre of mass of the rigid body

◆ setWheelData()

void physx::PxVehicleWheelsSimData::setWheelData	(	const PxU32	id,
		const PxVehicleWheelData &	wheel
	)

Set the wheel data of the idth wheel.

Parameters

[in]	id	is the wheel index.
[in]	wheel	is the wheel data to be applied.

◆ setWheelShapeMapping()

void physx::PxVehicleWheelsSimData::setWheelShapeMapping	(	const PxU32	wheelId,
		const PxI32	shapeId
	)

Set mapping between wheel id and position of corresponding wheel shape in the list of actor shapes.

Note: This mapping is used to pose the correct wheel shapes with the latest wheel rotation angle, steer angle, and suspension travel while allowing arbitrary ordering of the wheel shapes in the actor's list of shapes.; Use setWheelShapeMapping(i,-1) to register that there is no wheel shape corresponding to the ith wheel; Set setWheelShapeMapping(i,k) to register that the ith wheel corresponds to the kth shape in the actor's list of shapes.; The default values correspond to setWheelShapeMapping(i,i) for all wheels.; Calling this function will also pose the relevant PxShape at the rest position of the wheel.

Parameters

wheelId	is the wheel index
shapeId	is the shape index.

See also: PxVehicleUpdates, PxVehicleDrive4W::setup, PxVehicleDriveTank::setup, PxVehicleNoDrive::setup, setSceneQueryFilterData, PxRigidActor::getShapes

The documentation for this class was generated from the following files:

RavEngine/deps/physx/physx/include/vehicle/PxVehicleWheels.h
RavEngine/deps/physx/physx/source/physxvehicle/src/PxVehicleMetaData.cpp
RavEngine/deps/physx/physx/source/physxvehicle/src/PxVehicleWheels.cpp

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Function Documentation

◆ addAntiRollBarData()

◆ allocate()

◆ copy()

◆ disableWheel()

◆ enableWheel()

◆ free()

◆ getAntiRollBarData()

◆ getFlags()

◆ getIsWheelDisabled()

◆ getNbAntiRollBars()

◆ getNbWheels()

◆ getSuspForceAppPointOffset()

◆ getTireForceAppPointOffset()

◆ getWheelShapeMapping()

◆ operator=()

◆ setChassisMass()

◆ setFlags()

◆ setMinLongSlipDenominator()

◆ setSceneQueryFilterData()

◆ setSubStepCount()

◆ setSuspensionData()

◆ setSuspForceAppPointOffset()

◆ setSuspTravelDirection()

◆ setTireData()

◆ setTireForceAppPointOffset()

◆ setTireLoadFilterData()

◆ setWheelCentreOffset()

◆ setWheelData()

◆ setWheelShapeMapping()