void PxVehicleNoDrive::setSteerAngle(const PxU32 id, const PxReal steerAngle) { PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setSteerAngle - Illegal wheel"); mSteerAngles[id] = steerAngle; }
void PxVehicleNoDrive::setBrakeTorque(const PxU32 id, const PxReal brakeTorque) { PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setBrakeTorque - Illegal wheel"); PX_CHECK_AND_RETURN(brakeTorque>=0, "PxVehicleNoDrive::setBrakeTorque - negative brake torques are illegal"); mBrakeTorques[id] = brakeTorque; }
void PxVehicleNoDrive::setDriveTorque(const PxU32 id, const PxReal driveTorque) { PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setDriveTorque - Illegal wheel"); mDriveTorques[id] = driveTorque; }
void PxVehicleDriveSimData::setClutchData(const PxVehicleClutchData& clutch) { PX_CHECK_AND_RETURN(clutch.mStrength>0, "Clutch strength must be greater than zero"); mClutch=clutch; }
void PxVehicleDriveSimData::setAutoBoxData(const PxVehicleAutoBoxData& autobox) { PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eREVERSE]>=0, "Autobox gearup ratio in reverse must be greater than or equal to zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eNEUTRAL]>=0, "Autobox gearup ratio in neutral must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eFIRST]>=0, "Autobox gearup ratio in first must be greater than or equal to zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eSECOND]>=0, "Autobox gearup ratio in second must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eTHIRD]>=0, "Autobox gearup ratio in third must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eFOURTH]>=0, "Autobox gearup ratio in fourth must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mUpRatios[PxVehicleGearsData::eFIFTH]>=0, "Autobox gearup ratio in fifth must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eREVERSE]>=0, "Autobox geardown ratio in reverse must be greater than or equal to zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eNEUTRAL]>=0, "Autobox geardown ratio in neutral must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eFIRST]>=0, "Autobox geardown ratio in first must be greater than or equal to zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eSECOND]>=0, "Autobox geardown ratio in second must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eTHIRD]>=0, "Autobox geardown ratio in third must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eFOURTH]>=0, "Autobox geardown ratio in fourth must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eFIFTH]>=0, "Autobox geardown ratio in fifth must be greater than zero"); PX_CHECK_AND_RETURN(autobox.mDownRatios[PxVehicleGearsData::eSIXTH]>=0, "Autobox geardown ratio in fifth must be greater than zero"); mAutoBox=autobox; }
void PxVehicleDriveDynData::setAnalogInput(const PxReal analogVal, const PxU32 type) { PX_CHECK_AND_RETURN(analogVal>=-1.01f && analogVal<=1.01f, "PxVehicleDriveDynData::setAnalogInput - analogVal must be in range (-1,1)"); PX_CHECK_AND_RETURN(type<eMAX_NUM_ANALOG_INPUTS, "PxVehicleDriveDynData::setAnalogInput - illegal type"); mControlAnalogVals[type]=analogVal; }
void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg) { PX_CHECK_AND_RETURN(trg, "PxVehicleCopyDynamicsData requires that trg is a valid vehicle pointer"); PX_CHECK_AND_RETURN(src.getVehicleType() == trg->getVehicleType(), "PxVehicleCopyDynamicsData requires that both src and trg are the same type of vehicle"); #ifdef PX_CHECKED { const PxU32 numWheelsSrc = src.mWheelsSimData.getNbWheels(); const PxU32 numWheelsTrg = trg->mWheelsSimData.getNbWheels(); PxU8 copiedWheelsSrc[PX_MAX_NB_WHEELS]; PxMemZero(copiedWheelsSrc, sizeof(PxU8) * PX_MAX_NB_WHEELS); PxU8 setWheelsTrg[PX_MAX_NB_WHEELS]; PxMemZero(setWheelsTrg, sizeof(PxU8) * PX_MAX_NB_WHEELS); for(PxU32 i = 0; i < PxMin(numWheelsSrc, numWheelsTrg); i++) { const PxU32 srcWheelId = wheelMap.sourceWheelIds[i]; PX_CHECK_AND_RETURN(srcWheelId < numWheelsSrc, "PxVehicleCopyDynamicsData - wheelMap contains illegal source wheel id"); PX_CHECK_AND_RETURN(0 == copiedWheelsSrc[srcWheelId], "PxVehicleCopyDynamicsData - wheelMap contains illegal source wheel id"); copiedWheelsSrc[srcWheelId] = 1; const PxU32 trgWheelId = wheelMap.targetWheelIds[i]; PX_CHECK_AND_RETURN(trgWheelId < numWheelsTrg, "PxVehicleCopyDynamicsData - wheelMap contains illegal target wheel id"); PX_CHECK_AND_RETURN(0 == setWheelsTrg[trgWheelId], "PxVehicleCopyDynamicsData - wheelMap contains illegal target wheel id"); setWheelsTrg[trgWheelId]=1; } } #endif const PxU32 numWheelsSrc = src.mWheelsSimData.getNbWheels(); const PxU32 numWheelsTrg = trg->mWheelsSimData.getNbWheels(); //Set all dynamics data on the target to zero. //Be aware that setToRestState sets the rigid body to //rest so set the momentum back after calling setToRestState. PxRigidDynamic* actorTrg = trg->getRigidDynamicActor(); PxVec3 linVel = actorTrg->getLinearVelocity(); PxVec3 angVel = actorTrg->getAngularVelocity(); switch(src.getVehicleType()) { case PxVehicleTypes::eDRIVE4W: ((PxVehicleDrive4W*)trg)->setToRestState(); break; case PxVehicleTypes::eDRIVENW: ((PxVehicleDriveNW*)trg)->setToRestState(); break; case PxVehicleTypes::eDRIVETANK: ((PxVehicleDriveTank*)trg)->setToRestState(); break; case PxVehicleTypes::eNODRIVE: ((PxVehicleNoDrive*)trg)->setToRestState(); break; default: break; } actorTrg->setLinearVelocity(linVel); actorTrg->setAngularVelocity(angVel); //Keep a track of the wheels on trg that have their dynamics data set as a copy from src. PxU8 setWheelsTrg[PX_MAX_NB_WHEELS]; PxMemZero(setWheelsTrg, sizeof(PxU8) * PX_MAX_NB_WHEELS); //Keep a track of the average wheel rotation speed of all enabled wheels on src. PxU32 numEnabledWheelsSrc = 0; PxF32 accumulatedWheelRotationSpeedSrc = 0.0f; //Copy wheel dynamics data from src wheels to trg wheels. //Track the target wheels that have been given dynamics data from src wheels. //Compute the accumulated wheel rotation speed of all enabled src wheels. const PxU32 numMappedWheels = PxMin(numWheelsSrc, numWheelsTrg); for(PxU32 i = 0; i < numMappedWheels; i++) { const PxU32 srcWheelId = wheelMap.sourceWheelIds[i]; const PxU32 trgWheelId = wheelMap.targetWheelIds[i]; trg->mWheelsDynData.copy(src.mWheelsDynData, srcWheelId, trgWheelId); setWheelsTrg[trgWheelId] = 1; if(!src.mWheelsSimData.getIsWheelDisabled(srcWheelId)) { numEnabledWheelsSrc++; accumulatedWheelRotationSpeedSrc += src.mWheelsDynData.getWheelRotationSpeed(srcWheelId); } } //Compute the average wheel rotation speed of src. PxF32 averageWheelRotationSpeedSrc = 0; if(numEnabledWheelsSrc > 0) { averageWheelRotationSpeedSrc = (accumulatedWheelRotationSpeedSrc/ (1.0f * numEnabledWheelsSrc)); } //For wheels on trg that have not had their dynamics data copied from src just set //their wheel rotation speed to the average wheel rotation speed. for(PxU32 i = 0; i < numWheelsTrg; i++) { if(0 == setWheelsTrg[i] && !trg->mWheelsSimData.getIsWheelDisabled(i)) { trg->mWheelsDynData.setWheelRotationSpeed(i, averageWheelRotationSpeedSrc); } } //Copy the engine rotation speed/gear states/autobox states/etc. switch(src.getVehicleType()) { case PxVehicleTypes::eDRIVE4W: case PxVehicleTypes::eDRIVENW: case PxVehicleTypes::eDRIVETANK: { const PxVehicleDriveDynData& driveDynDataSrc = ((const PxVehicleDrive&)src).mDriveDynData; PxVehicleDriveDynData* driveDynDataTrg = &((PxVehicleDrive*)trg)->mDriveDynData; *driveDynDataTrg = driveDynDataSrc; } break; default: break; } }
void PxVehicleWheels4SimData::setTireData(const PxU32 id, const PxVehicleTireData& tire) { PX_CHECK_AND_RETURN(id<4, "Illegal tire id"); PX_CHECK_AND_RETURN(tire.mLatStiffX>0, "Tire mLatStiffX must greater than zero"); PX_CHECK_AND_RETURN(tire.mLatStiffY>0, "Tire mLatStiffY must greater than zero"); PX_CHECK_AND_RETURN(tire.mLongitudinalStiffnessPerUnitGravity>0, "Tire longitudinal stiffness must greater than zero"); PX_CHECK_AND_RETURN(tire.mCamberStiffnessPerUnitGravity>=0, "Tire camber stiffness must greater than or equal to zero"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[0][0]==0, "mFrictionVsSlipGraph[0][0] must be zero"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[0][1]>0, "mFrictionVsSlipGraph[0][0] must be greater than zero"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[1][0]>0, "mFrictionVsSlipGraph[1][0] must be greater than zero"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[1][1]>=tire.mFrictionVsSlipGraph[0][1], "mFrictionVsSlipGraph[1][1] must be greater than mFrictionVsSlipGraph[0][1]"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[2][0]> tire.mFrictionVsSlipGraph[1][0], "mFrictionVsSlipGraph[2][0] must be greater than mFrictionVsSlipGraph[1][0]"); PX_CHECK_AND_RETURN(tire.mFrictionVsSlipGraph[2][1]<=tire.mFrictionVsSlipGraph[1][1], "mFrictionVsSlipGraph[2][1] must be less than or equal to mFrictionVsSlipGraph[1][1]"); mTires[id]=tire; mTires[id].mRecipLongitudinalStiffnessPerUnitGravity=1.0f/mTires[id].mLongitudinalStiffnessPerUnitGravity; mTires[id].mFrictionVsSlipGraphRecipx1Minusx0=1.0f/(mTires[id].mFrictionVsSlipGraph[1][0]-mTires[id].mFrictionVsSlipGraph[0][0]); mTires[id].mFrictionVsSlipGraphRecipx2Minusx1=1.0f/(mTires[id].mFrictionVsSlipGraph[2][0]-mTires[id].mFrictionVsSlipGraph[1][0]); }
void PxVehicleWheels4SimData::setSceneQueryFilterData(const PxU32 id, const PxFilterData& sqFilterData) { PX_CHECK_AND_RETURN(id<4, "Illegal wheel id"); mSqFilterData[id]=sqFilterData; }
void PxVehicleWheels4SimData::setWheelShapeMapping(const PxU32 id, const PxI32 shapeId) { PX_CHECK_AND_RETURN(id<4, "Illegal wheel id"); PX_CHECK_AND_RETURN((-1==shapeId) || ((PxU32)shapeId < PX_MAX_U8), "Illegal shapeId: must be -1 or less than PX_MAX_U8"); mWheelShapeMap[id] = Ps::to8(-1!=shapeId ? shapeId : PX_MAX_U8); }