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);
}
