void InitWheelData(IntPtr data, InitDataClass.WheelItem source)
{
PhysXNativeVehicleInitData.SetParameter(data, "mass", source.Mass);
PhysXNativeVehicleInitData.SetParameter(data, "wheelDampingRate", source.WheelDampingRate);
PhysXNativeVehicleInitData.SetParameter(data, "wheelMaxBrakeTorque", source.WheelMaxBrakeTorque);
PhysXNativeVehicleInitData.SetParameter(data, "wheelMaxHandBrakeTorque", source.WheelMaxHandBrakeTorque);
PhysXNativeVehicleInitData.SetParameter(data, "wheelMaxSteer", source.WheelMaxSteer);
PhysXNativeVehicleInitData.SetParameter(data, "wheelToeAngle", source.WheelToeAngle);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionSpringStrength", source.SuspensionSpringStrength);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionSpringDamperRate", source.SuspensionSpringDamperRate);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionMaxCompression", source.SuspensionMaxCompression);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionMaxDroop", source.SuspensionMaxDroop);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionSprungMassCoefficient", source.SuspensionSprungMassCoefficient);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionForceApplicationPointOffset.X", source.SuspensionForceApplicationPointOffset.X);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionForceApplicationPointOffset.Y", source.SuspensionForceApplicationPointOffset.Y);
PhysXNativeVehicleInitData.SetParameter(data, "suspensionForceApplicationPointOffset.Z", source.SuspensionForceApplicationPointOffset.Z);
PhysXNativeVehicleInitData.SetParameter(data, "tireForceApplicationPointOffset.X", source.TireForceApplicationPointOffset.X);
PhysXNativeVehicleInitData.SetParameter(data, "tireForceApplicationPointOffset.Y", source.TireForceApplicationPointOffset.Y);
PhysXNativeVehicleInitData.SetParameter(data, "tireForceApplicationPointOffset.Z", source.TireForceApplicationPointOffset.Z);
PhysXNativeVehicleInitData.SetParameter(data, "tireLatStiffX", source.TireLatStiffX);
PhysXNativeVehicleInitData.SetParameter(data, "tireLatStiffY", source.TireLatStiffY);
PhysXNativeVehicleInitData.SetParameter(data, "tireLongitudinalStiffnessPerUnitGravity", source.TireLongitudinalStiffnessPerUnitGravity);
PhysXNativeVehicleInitData.SetParameter(data, "tireCamberStiffness", source.TireCamberStiffness);
PhysXNativeVehicleInitData.SetParameter(data, "frictionVsSlipGraphZeroLongitudinalSlip", source.FrictionVsSlipGraphZeroLongitudinalSlip);
PhysXNativeVehicleInitData.SetParameter(data, "frictionVsSlipGraphLongitudinalSlipWithMaximumFriction", source.FrictionVsSlipGraphLongitudinalSlipWithMaximumFriction);
PhysXNativeVehicleInitData.SetParameter(data, "frictionVsSlipGraphMaximumFriction", source.FrictionVsSlipGraphMaximumFriction);
PhysXNativeVehicleInitData.SetParameter(data, "frictionVsSlipGraphEndPointOfGraph", source.FrictionVsSlipGraphEndPointOfGraph);
PhysXNativeVehicleInitData.SetParameter(data, "frictionVsSlipGraphValueOfFrictionForSlipsGreaterThanEndPointOfGraph", source.FrictionVsSlipGraphValueOfFrictionForSlipsGreaterThanEndPointOfGraph);
}
void PushToWorld()
{
PhysXPhysicsScene scene = (PhysXPhysicsScene)Scene;
PhysXBody baseBody = (PhysXBody)BaseBody;
IntPtr generalData = PhysXNativeVehicleInitData.Create();
IntPtr wheelFrontLeftData = PhysXNativeVehicleInitData.Create();
IntPtr wheelFrontRightData = PhysXNativeVehicleInitData.Create();
IntPtr wheelRearLeftData = PhysXNativeVehicleInitData.Create();
IntPtr wheelRearRightData = PhysXNativeVehicleInitData.Create();
//Chassis mass
PhysXNativeVehicleInitData.SetParameter(generalData, "massChassis", InitData.MassChassis);
//Differential
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialType", (float)(int)InitData.DifferentialType);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontRearSplit", InitData.DifferentialFrontRearSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontLeftRightSplit", InitData.DifferentialFrontLeftRightSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialRearLeftRightSplit", InitData.DifferentialRearLeftRightSplit);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialCenterBias", InitData.DifferentialCenterBias);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialFrontBias", InitData.DifferentialFrontBias);
PhysXNativeVehicleInitData.SetParameter(generalData, "differentialRearBias", InitData.DifferentialRearBias);
//Engine
{
PhysXNativeVehicleInitData.SetParameter(generalData, "enginePeakTorque", InitData.EnginePeakTorque);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineMaxRPM", InitData.EngineMaxRPM);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateFullThrottle",
InitData.EngineDampingRateFullThrottle);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateZeroThrottleClutchEngaged",
InitData.EngineDampingRateZeroThrottleClutchEngaged);
PhysXNativeVehicleInitData.SetParameter(generalData, "engineDampingRateZeroThrottleClutchDisengaged",
InitData.EngineDampingRateZeroThrottleClutchDisengaged);
if (InitData.EngineTorqueCurve.Count == 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: EngineTorqueCurve is not configured.");
}
if (InitData.EngineTorqueCurve.Count > 8)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: EngineTorqueCurve can't have more than 8 values.");
}
for (int n = 0; n < InitData.EngineTorqueCurve.Count; n++)
{
InitDataClass.EngineTorqueCurveItem item = InitData.EngineTorqueCurve[n];
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("engineTorqueCurveTorque{0}", n),
item.NormalizedTorque);
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("engineTorqueCurveRev{0}", n),
item.NormalizedRev);
}
}
//Gears
{
if (InitData.Gears.Count == 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: The gears are not defined.");
}
if (InitData.FindGearByNumber(0) == null)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Neutral gear is not defined.");
}
if (InitData.FindGearByNumber(-1) == null)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Reverse gear is not defined.");
}
foreach (PhysicsVehicle.InitDataClass.GearItem gearItem in InitData.Gears)
{
if (gearItem.Number < -1)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Gear number can't be less than -1.");
}
if (gearItem.Number > 30)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Gear number can't be more than 30.");
}
if (gearItem.Number < 0 && gearItem.Ratio >= 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Reverse gear ratio must be less than zero.");
}
if (gearItem.Number == 0 && gearItem.Ratio != 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Neutral gear ratio must be zero.");
}
if (gearItem.Number > 0 && gearItem.Ratio < 0)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Forward gear ratios must be greater than zero.");
}
if (gearItem.Number >= 2)
{
PhysicsVehicle.InitDataClass.GearItem nextGearItem = InitData.FindGearByNumber(gearItem.Number - 1);
if (nextGearItem == null || gearItem.Ratio > nextGearItem.Ratio)
{
Log.Fatal("PhysXPhysicsVehicle: PushToWorld: Forward gear ratios must be a descending sequence of gear ratios.");
}
}
PhysXNativeVehicleInitData.SetParameter(generalData, string.Format("gear{0}", gearItem.Number), gearItem.Ratio);
}
PhysXNativeVehicleInitData.SetParameter(generalData, "gearsSwitchTime", InitData.GearsSwitchTime);
}
//Clutch
PhysXNativeVehicleInitData.SetParameter(generalData, "clutchStrength", InitData.ClutchStrength);
//Ackermann steer accuracy
PhysXNativeVehicleInitData.SetParameter(generalData, "ackermannSteerAccuracy", InitData.AckermannSteerAccuracy);
//Wheels
InitWheelData(wheelFrontLeftData, InitData.WheelFrontLeft);
InitWheelData(wheelFrontRightData, InitData.WheelFrontRight);
InitWheelData(wheelRearLeftData, InitData.WheelRearLeft);
InitWheelData(wheelRearRightData, InitData.WheelRearRight);
//Tire settings
{
int n = 0;
foreach (InitDataClass.TireFrictionMultiplierItem frictionItem in InitData.TireFrictionMultipliers)
{
PhysXNativeVehicleInitData.SetParameter(generalData,
string.Format("tireFrictionMaterial{0}", n), frictionItem.SurfaceMaterialName);
PhysXNativeVehicleInitData.SetParameter(generalData,
string.Format("tireFrictionValue{0}", n), frictionItem.Value);
n++;
}
}
nativeVehicle = PhysXNativeVehicle.Create(scene.nativeScene, baseBody.nativeBody, generalData,
wheelFrontLeftData, wheelFrontRightData, wheelRearLeftData, wheelRearRightData);
PhysXNativeVehicleInitData.Destroy(generalData);
PhysXNativeVehicleInitData.Destroy(wheelFrontLeftData);
PhysXNativeVehicleInitData.Destroy(wheelFrontRightData);
PhysXNativeVehicleInitData.Destroy(wheelRearLeftData);
PhysXNativeVehicleInitData.Destroy(wheelRearRightData);
OnUpdateAutoGearSettings();
}