1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
|
#ifndef WHEELCOLLIDER_H
#define WHEELCOLLIDER_H
#include "Collider.h"
#include "Runtime/Math/Vector3.h"
#include "JointDescriptions.h"
class NxMaterial;
// ----------------------------------------------------------------------
struct WheelFrictionCurve
{
float extremumSlip; ///<Extremum Slip. range { 0.001, infinity }
float extremumValue; ///<Extremum Value. range { 0.001, infinity }
float asymptoteSlip; ///<Asymptote Slip. range { 0.001, infinity }
float asymptoteValue; ///<Asymptote Value. range { 0.001, infinity }
float stiffnessFactor; ///<Stiffness Factor. range { 0, infinity }
bool operator != (const WheelFrictionCurve& c)const
{
return extremumSlip != c.extremumSlip
|| extremumValue != c.extremumValue
|| asymptoteSlip != c.asymptoteSlip
|| asymptoteValue != c.asymptoteValue
|| stiffnessFactor != c.stiffnessFactor
;
}
DECLARE_SERIALIZE_OPTIMIZE_TRANSFER (WheelFrictionCurve)
};
template<class TransferFunction>
void WheelFrictionCurve::Transfer (TransferFunction& transfer)
{
TRANSFER_SIMPLE( extremumSlip );
TRANSFER_SIMPLE( extremumValue );
TRANSFER_SIMPLE( asymptoteSlip );
TRANSFER_SIMPLE( asymptoteValue );
TRANSFER_SIMPLE( stiffnessFactor );
}
// ----------------------------------------------------------------------
struct WheelHit
{
Vector3f point;
Vector3f normal;
Vector3f forwardDir;
Vector3f sidewaysDir;
float force;
float forwardSlip;
float sidewaysSlip;
Collider* collider;
};
// ----------------------------------------------------------------------
class WheelCollider : public Collider
{
public:
REGISTER_DERIVED_CLASS (WheelCollider, Collider)
DECLARE_OBJECT_SERIALIZE (WheelCollider)
WheelCollider(MemLabelId label, ObjectCreationMode mode);
virtual void Reset();
virtual void SmartReset();
virtual void AwakeFromLoad(AwakeFromLoadMode mode);
Vector3f GetCenter() const { return m_Center; }
void SetCenter( const Vector3f& center );
float GetRadius() const { return m_Radius; }
void SetRadius( float f );
float GetSuspensionDistance() const { return m_SuspensionDistance; }
void SetSuspensionDistance( float f );
void SetSuspensionSpring( const JointSpring& spring );
const JointSpring& GetSuspensionSpring() const { return m_SuspensionSpring; }
void SetForwardFriction( const WheelFrictionCurve& curve );
const WheelFrictionCurve& GetForwardFriction() const { return m_ForwardFriction; }
void SetSidewaysFriction( const WheelFrictionCurve& curve );
const WheelFrictionCurve& GetSidewaysFriction() const { return m_SidewaysFriction; }
float GetMass() const { return m_Mass; }
void SetMass( float f );
float GetMotorTorque() const;
void SetMotorTorque( float f );
float GetBrakeTorque() const;
void SetBrakeTorque( float f );
float GetSteerAngle() const;
void SetSteerAngle( float f );
bool IsGrounded() const;
bool GetGroundHit( WheelHit& hit ) const;
float GetRpm() const;
void TransformChanged( int changeMask );
static void InitializeClass();
static void CleanupClass() { }
Vector3f GetGlobalCenter() const;
float GetGlobalRadius() const;
float GetGlobalSuspensionDistance() const;
Matrix4x4f CalculateTransform() const;
virtual bool SupportsMaterial () const { return false; }
protected:
virtual void FetchPoseFromTransform();
virtual bool GetRelativeToParentPositionAndRotation( Transform& transform, Transform& anyParent, Matrix4x4f& matrix );
virtual void Create(const Rigidbody* ignoreRigidbody);
virtual void ScaleChanged();
virtual void Cleanup();
private:
Vector3f m_Center;
JointSpring m_SuspensionSpring;
WheelFrictionCurve m_ForwardFriction;
WheelFrictionCurve m_SidewaysFriction;
float m_Radius; ///< range { 0, infinity }
float m_SuspensionDistance; ///< range { 0, infinity }
float m_Mass; ///< range { 0.0001, infinity }
// the wheel material is shared by all instances
static NxMaterial* m_WheelMaterial;
};
#endif
|
