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snippetvehicle2::BaseVehicle Class Referenceabstract
Inheritance diagram for snippetvehicle2::BaseVehicle:
Collaboration diagram for snippetvehicle2::BaseVehicle:
Public Member Functions | |
| bool | initialize () |
| virtual void | destroy () |
| virtual void | initComponentSequence (bool addPhysXBeginEndComponents)=0 |
| void | step (const PxReal dt, const PxVehicleSimulationContext &context) |
| virtual void | getDataForRigidBodyComponent (const PxVehicleAxleDescription *&axleDescription, const PxVehicleRigidBodyParams *&rigidBodyParams, PxVehicleArrayData< const PxVehicleSuspensionForce > &suspensionForces, PxVehicleArrayData< const PxVehicleTireForce > &tireForces, const PxVehicleAntiRollTorque *&antiRollTorque, PxVehicleRigidBodyState *&rigidBodyState) |
| Retrieve pointers to the parameter and state data required to update the dynamic state of a rigid body. | |
| virtual void | getDataForSuspensionComponent (const PxVehicleAxleDescription *&axleDescription, const PxVehicleRigidBodyParams *&rigidBodyParams, const PxVehicleSuspensionStateCalculationParams *&suspensionStateCalculationParams, PxVehicleArrayData< const PxReal > &steerResponseStates, const PxVehicleRigidBodyState *&rigidBodyState, PxVehicleArrayData< const PxVehicleWheelParams > &wheelParams, PxVehicleArrayData< const PxVehicleSuspensionParams > &suspensionParams, PxVehicleArrayData< const PxVehicleSuspensionComplianceParams > &suspensionComplianceParams, PxVehicleArrayData< const PxVehicleSuspensionForceParams > &suspensionForceParams, PxVehicleSizedArrayData< const PxVehicleAntiRollForceParams > &antiRollForceParams, PxVehicleArrayData< const PxVehicleRoadGeometryState > &wheelRoadGeomStates, PxVehicleArrayData< PxVehicleSuspensionState > &suspensionStates, PxVehicleArrayData< PxVehicleSuspensionComplianceState > &suspensionComplianceStates, PxVehicleArrayData< PxVehicleSuspensionForce > &suspensionForces, PxVehicleAntiRollTorque *&antiRollTorque) |
| Retrieve pointers to the parameter and state data required to compute the suspension state and the forces/torques that arise from the suspension state. | |
| 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) |
| 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) |
 Public Member Functions inherited from physx::vehicle2::PxVehicleRigidBodyComponent | |
| virtual bool | update (const PxReal dt, const PxVehicleSimulationContext &context) |
| Update function for a vehicle component. | |
| Public Member Functions inherited from physx::vehicle2::PxVehicleSuspensionComponent | |
| virtual bool | update (const PxReal dt, const PxVehicleSimulationContext &context) |
| Update the suspension state and suspension compliance state and use those updated states to compute suspension and anti-roll forces/torques to apply to the vehicle's rigid body. | |
| Public Member Functions inherited from physx::vehicle2::PxVehicleTireComponent | |
| virtual bool | update (const PxReal dt, const PxVehicleSimulationContext &context) |
| Update function for a vehicle component. | |
| Public Member Functions inherited from physx::vehicle2::PxVehicleWheelComponent | |
| virtual bool | update (const PxReal dt, const PxVehicleSimulationContext &context) |
| Update function for a vehicle component. | |
Public Attributes | |
| BaseVehicleParams | mBaseParams |
| BaseVehicleState | mBaseState |
| PxVehicleComponentSequence | mComponentSequence |
| PxU8 | mComponentSequenceSubstepGroupHandle |
Member Function Documentation
◆ getDataForRigidBodyComponent()
|
inlinevirtual |
Retrieve pointers to the parameter and state data required to update the dynamic state of a rigid body.
- Parameters
-
[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles of the vehicle. [out] rigidBodyParams must be returned as a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment of inertia of the rigid body. [out] suspensionForces must be returned as a non-null pointer to an array of suspension forces and torques in the world frame. The suspension forces and torques will be applied to the rigid body to update rigidBodyState. [out] tireForces must be returned as a non-null pointer to an array of tire forces and torques in the world frame. The tire forces and torques will be applied to the rigid body to update rigidBodyState. [out] antiRollTorque may be returned an optionally non-null pointer to a single PxVehicleAntiRollTorque instance that contains the accumulated anti-roll torque to apply to the rigid body. [out] rigidBodyState imust be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that is to be forward integrated.
- Note
- The suspensionForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
- The tireForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
- If antiRollTorque is returned as a null pointer then zero anti-roll torque will be applied to the rigid body.
Implements physx::vehicle2::PxVehicleRigidBodyComponent.
◆ getDataForSuspensionComponent()
Retrieve pointers to the parameter and state data required to compute the suspension state and the forces/torques that arise from the suspension state.
- Parameters
-
[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles of the vehicle. [out] rigidBodyParams must be returned as a a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment of inertia of the vehicle's rigid body. [out] suspensionStateCalculationParams must be returned as a non-null pointer to a single PxVehicleSuspensionStateCalculationParams instance that describes the jounce computation type etc. [out] steerResponseStates must be returned as a non-null pointer to a single PxVehicleSteerCommandResponseStates instance that describes the steer state of the wheels. [out] rigidBodyState must be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that describes the pose and momentum of the vehicle's rigid body. [out] wheelParams must be set to a non-null pointer to an array of PxVehicleWheelParams containing per-wheel parameters for each wheel referenced by axleDescription. [out] suspensionParams must be set to a non-null pointer to an array of PxVehicleSuspensionParams containing per-wheel parameters for each wheel referenced by axleDescription. [out] suspensionComplianceParams must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceParams containing per-wheel parameters for each wheel referenced by axleDescription. [out] suspensionForceParams must be set to a non-null pointer to an array of PxVehicleSuspensionForceParams containing per-wheel parameters for each wheel referenced by axleDescription. [out] antiRollForceParams is optionally returned as a non-null pointer to an array of PxVehicleAntiRollForceParams with each element in the array describing a unique anti-roll bar connecting a pair of wheels.
[out] wheelRoadGeomStates must be set to non-null pointer to an array of PxVehicleRoadGeometryState containing per-wheel road geometry for each wheel referenced by axleDescription. [out] suspensionStates must be set to a non-null pointer to an array of PxVehicleSuspensionState containing per-wheel suspension state for each wheel referenced by axleDescription. [out] suspensionComplianceStates must be set to a non-null pointer to an array of PxVehicleSuspensionComplianceState containing per-wheel suspension compliance state for each wheel referenced by axleDescription. [out] suspensionForces must be set to a non-null pointer to an array of PxVehicleSuspensionForce containing per-wheel suspension forces for each wheel referenced by axleDescription. [out] antiRollTorque is optionally returned as a non-null pointer to a single PxVehicleAntiRollTorque instance that will store the accumulated anti-roll torque to be applied to the vheicle's rigid body.
- Note
- antiRollForceParams and antiRollTorque should be returned either both non-NULL or both NULL.
Implements physx::vehicle2::PxVehicleSuspensionComponent.
◆ getDataForTireComponent()
|
inlinevirtual |
Implements physx::vehicle2::PxVehicleTireComponent.
◆ getDataForWheelComponent()
|
inlinevirtual |
Implements physx::vehicle2::PxVehicleWheelComponent.
The documentation for this class was generated from the following files:
- RavEngine/deps/physx/physx/snippets/snippetvehicle2common/base/Base.h
- RavEngine/deps/physx/physx/snippets/snippetvehicle2common/base/Base.cpp
