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(); }