void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle)
{
PX_CHECK_AND_RETURN(areEqual(PxQuat::createIdentity(), oldCMassLocalPose.q), "Only center of mass poses with identity rotation are supported");
PX_CHECK_AND_RETURN(areEqual(PxQuat::createIdentity(), newCMassLocalPose.q), "Only center of mass poses with identity rotation are supported");
PX_CHECK_AND_RETURN(0==gravityDirection || 1==gravityDirection || 2==gravityDirection, "gravityDirection must be 0 or 1 or 2.");
//Update the offsets from the rigid body center of mass.
PxVec3 wheelCenterCMOffsets[PX_MAX_NB_WHEELS];
const PxU32 nbWheels = vehicle->mWheelsSimData.getNbWheels();
for(PxU32 i = 0; i < nbWheels; i++)
{
wheelCenterCMOffsets[i] = vehicle->mWheelsSimData.getWheelCentreOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p;
vehicle->mWheelsSimData.setWheelCentreOffset(i, vehicle->mWheelsSimData.getWheelCentreOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
vehicle->mWheelsSimData.setSuspForceAppPointOffset(i, vehicle->mWheelsSimData.getSuspForceAppPointOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
vehicle->mWheelsSimData.setTireForceAppPointOffset(i, vehicle->mWheelsSimData.getTireForceAppPointOffset(i) + oldCMassLocalPose.p - newCMassLocalPose.p);
}
//Now update the sprung masses.
PxF32 sprungMasses[PX_MAX_NB_WHEELS];
PxVehicleComputeSprungMasses(nbWheels, wheelCenterCMOffsets, PxVec3(0,0,0), vehicle->getRigidDynamicActor()->getMass(), gravityDirection, sprungMasses);
for(PxU32 i = 0; i < nbWheels; i++)
{
PxVehicleSuspensionData suspData = vehicle->mWheelsSimData.getSuspensionData(i);
suspData.setMassAndPreserveNaturalFrequency(sprungMasses[i]);
vehicle->mWheelsSimData.setSuspensionData(i, suspData);
}
}
void Vehicle::setupWheelsSimulationData
(const PxF32 wheelMass, const PxF32 wheelMOI, const PxF32 wheelRadius, const PxF32 wheelWidth,
const PxU32 numWheels, const PxVec3* wheelCenterActorOffsets,
const PxVec3& chassisCMOffset, const PxF32 chassisMass,
PxVehicleWheelsSimData* wheelsSimData)
{
//Set up the wheels.
PxVehicleWheelData wheels[PX_MAX_NB_WHEELS];
{
//Set up the wheel data structures with mass, moi, radius, width.
for (PxU32 i = 0; i < numWheels; i++)
{
wheels[i].mMass = wheelMass;
wheels[i].mMOI = wheelMOI;
wheels[i].mRadius = wheelRadius;
wheels[i].mWidth = wheelWidth;
}
//Enable the handbrake for the rear wheels only.
wheels[PxVehicleDrive4WWheelOrder::eREAR_LEFT].mMaxHandBrakeTorque = 4000.0f;
wheels[PxVehicleDrive4WWheelOrder::eREAR_RIGHT].mMaxHandBrakeTorque = 4000.0f;
//Enable steering for the front wheels only.
wheels[PxVehicleDrive4WWheelOrder::eFRONT_LEFT].mMaxSteer = PxPi*0.25f;
wheels[PxVehicleDrive4WWheelOrder::eFRONT_RIGHT].mMaxSteer = PxPi*0.25f;
}
//Set up the tires.
PxVehicleTireData tires[PX_MAX_NB_WHEELS];
{
//Set up the tires.
for (PxU32 i = 0; i < numWheels; i++)
{
tires[i].mType = TIRE_TYPE_NORMAL;
}
}
//Set up the suspensions
PxVehicleSuspensionData suspensions[PX_MAX_NB_WHEELS];
{
//Compute the mass supported by each suspension spring.
PxF32 suspSprungMasses[PX_MAX_NB_WHEELS];
PxVehicleComputeSprungMasses
(numWheels, wheelCenterActorOffsets,
chassisCMOffset, chassisMass, 1, suspSprungMasses);
//Set the suspension data.
for (PxU32 i = 0; i < numWheels; i++)
{
suspensions[i].mMaxCompression = 0.3f;
suspensions[i].mMaxDroop = 0.1f;
suspensions[i].mSpringStrength = 35000.0f;
suspensions[i].mSpringDamperRate = 4500.0f;
suspensions[i].mSprungMass = suspSprungMasses[i];
}
//Set the camber angles.
const PxF32 camberAngleAtRest = 0.0;
const PxF32 camberAngleAtMaxDroop = 0.01f;
const PxF32 camberAngleAtMaxCompression = -0.01f;
for (PxU32 i = 0; i < numWheels; i += 2)
{
suspensions[i + 0].mCamberAtRest = camberAngleAtRest;
suspensions[i + 1].mCamberAtRest = -camberAngleAtRest;
suspensions[i + 0].mCamberAtMaxDroop = camberAngleAtMaxDroop;
suspensions[i + 1].mCamberAtMaxDroop = -camberAngleAtMaxDroop;
suspensions[i + 0].mCamberAtMaxCompression = camberAngleAtMaxCompression;
suspensions[i + 1].mCamberAtMaxCompression = -camberAngleAtMaxCompression;
}
}
//Set up the wheel geometry.
PxVec3 suspTravelDirections[PX_MAX_NB_WHEELS];
PxVec3 wheelCentreCMOffsets[PX_MAX_NB_WHEELS];
PxVec3 suspForceAppCMOffsets[PX_MAX_NB_WHEELS];
PxVec3 tireForceAppCMOffsets[PX_MAX_NB_WHEELS];
{
//Set the geometry data.
for (PxU32 i = 0; i < numWheels; i++)
{
//Vertical suspension travel.
suspTravelDirections[i] = PxVec3(0, -1, 0);
//Wheel center offset is offset from rigid body center of mass.
wheelCentreCMOffsets[i] =
wheelCenterActorOffsets[i] - chassisCMOffset;
//Suspension force application point 0.3 metres below
//rigid body center of mass.
suspForceAppCMOffsets[i] =
PxVec3(wheelCentreCMOffsets[i].x, -0.3f, wheelCentreCMOffsets[i].z);
//Tire force application point 0.3 metres below
//rigid body center of mass.
tireForceAppCMOffsets[i] =
PxVec3(wheelCentreCMOffsets[i].x, -0.3f, wheelCentreCMOffsets[i].z);
}
}
//Set up the filter data of the raycast that will be issued by each suspension.
PxFilterData qryFilterData;
setupNonDrivableSurface(qryFilterData);
//Set the wheel, tire and suspension data.
//Set the geometry data.
//Set the query filter data
for (PxU32 i = 0; i < numWheels; i++)
{
wheelsSimData->setWheelData(i, wheels[i]);
wheelsSimData->setTireData(i, tires[i]);
wheelsSimData->setSuspensionData(i, suspensions[i]);
wheelsSimData->setSuspTravelDirection(i, suspTravelDirections[i]);
wheelsSimData->setWheelCentreOffset(i, wheelCentreCMOffsets[i]);
wheelsSimData->setSuspForceAppPointOffset(i, suspForceAppCMOffsets[i]);
wheelsSimData->setTireForceAppPointOffset(i, tireForceAppCMOffsets[i]);
wheelsSimData->setSceneQueryFilterData(i, qryFilterData);
wheelsSimData->setWheelShapeMapping(i, i);
}
}
