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This notice may not be removed or altered from any source distribution. */ // dgVehicleConstraint.h: interface for the dgVehicleConstraint class. // ////////////////////////////////////////////////////////////////////// #if !defined(AFX_DGVEHICLECONSTRAINT_H__D8169ACD_1350_488D_8391_2EB2FF8850C8__INCLUDED_) #define AFX_DGVEHICLECONSTRAINT_H__D8169ACD_1350_488D_8391_2EB2FF8850C8__INCLUDED_ #include "dgConstraint.h" //template class dgPool; #define MIN_SIDE_SLIP_SPEED 0.5f #define MIN_SIDE_SLIDE_SPEED 0.5f class dgWorld; class dgTireCollision; class dgVehicleConstraint; typedef void (dgApi *OnVehicleUpdate) (const dgVehicleConstraint& vehicle); class dgVehicleConstraint: public dgConstraint { public: class dgTire { public: dgMatrix m_localMatrix; dgMatrix m_tireCollisionOffset; dgQuaternion m_baseRotation; dgVector m_rotationPin; dgVector m_tireNormalLoad; dgFloat32 m_mass; dgFloat32 m_width; dgFloat32 m_radius; dgFloat32 m_suspesionShock; dgFloat32 m_suspesionSpring; dgFloat32 m_suspesionLength; void* m_collisionID; void* m_userData; dgTireCollision* m_collision; dgVehicleConstraint* m_vehicle; // calculated contacts dgFloat32 m_inertia; dgFloat32 m_invMass; dgFloat32 m_invInertia; dgFloat32 m_steerAngle; dgFloat32 m_tireForce; dgFloat32 m_tireTorque; // dgFloat32 m_tireNormalLoad___; dgFloat32 m_lateralSpeed; dgFloat32 m_longitudinalSpeed; dgFloat32 m_sideSlipCoef; dgFloat32 m_maxSideSpeed; dgFloat32 m_longiSlideCoef; dgFloat32 m_maxSlideSpeed; dgFloat32 m_brakeAcceleration; dgFloat32 m_brakeFrictionTorque; // variables; dgFloat32 m_parametricPosit; dgFloat32 m_parametricAngle; dgFloat32 m_parametricSpeed; dgFloat32 m_parametricOmega; dgFloat32 m_paramT; dgUnsigned32 m_bodyIndex; bool m_isAirborne; bool m_lostTraction; bool m_lostSideGrip; }; class WheelsSet: public dgList { public: WheelsSet(); }; dgVehicleConstraint(dgWorld* world); virtual ~dgVehicleConstraint(); void InitVehicle(const dgVector& upDir); void SetTireCallback (OnVehicleUpdate update); void* AddTire (const dgMatrix& position, const dgVector& pin, dgFloat32 mass, dgFloat32 width, dgFloat32 radius, dgFloat32 suspesionShock, dgFloat32 suspesionSpring, dgFloat32 suspesionLength, void* collisionID, void* usedData); void Reset (); void RemoveTire (void* index); void* GetFirstTireIndex() const; void* GetNextTireIndex(void* index) const; bool IsTireAirBorned (void* index) const; bool TireLostSideGrip (void* index) const; bool TireLostTraction (void* index) const; void* GetTireUserData (void* index) const; dgFloat32 GetTireOmega (void* index) const; dgFloat32 GetSteerAngle (void* index) const; dgFloat32 GetTireNormalLoad (void* index) const; dgFloat32 GetTireLateralSpeed (void* index) const; dgFloat32 GetTireLongitudinalSpeed (void* index) const; void GetTireMatrix (void* index, dgMatrix& matrix) const; void GetTireLocalMatrix (void* index, dgMatrix& matrix) const; dgFloat32 TireCalculateMaxBrakeAcceleration (void* index) const; void SetSteerAngle (void* index, dgFloat32 angle); void SetTireTorque (void* index, dgFloat32 torque); void SetTireMaxSideSleepSpeed (void* index, dgFloat32 speed); void SetTireMaxLongitudinalSlideSpeed (void* index, dgFloat32 speed); void SetTireSideSleepCoeficient (void* index, dgFloat32 coeficient); void SetTireLongitudinalSlideCoeficient (void* index, dgFloat32 coeficient); void TireSetBrakeAcceleration (void* index, dgFloat32 acceleration, dgFloat32 torqueMaxFriction); private: // static dgVehicleConstraint* Create(dgWorld* world); // virtual void Remove(dgWorld* world); void AddContacts(); virtual void SetDestructorCallback (OnConstraintDestroy destructor); virtual dgUnsigned32 JacobianDerivative (dgContraintDescritor& params); virtual void JointAccelerations(const dgJointAccelerationDecriptor& params) {_ASSERTE (0);} virtual void JointAccelerationsSimd(const dgJointAccelerationDecriptor& params){_ASSERTE (0);} virtual void JointVelocityCorrection(const dgJointAccelerationDecriptor& params){_ASSERTE (0);} dgVector m_upPin; WheelsSet m_wheels; dgWorld* m_world; dgContraintDescritor* m_param; OnVehicleUpdate m_vehicleUpdate; OnConstraintDestroy m_destructor; dgInt64 m_updateLRU; dgInt16 m_tireCount; friend class dgWorld; friend class dgVehicleCache; friend class dgVehicleForceMiniSolver; // friend class dgPool; }; class dgVehicleCache: public dgTree { public: void UpdateVehicleContacts (); void CacheVehicle (dgBody* body); }; class dgVehicleList: public dgTree { public: dgVehicleList(); ~dgVehicleList(); dgFloat32 m_minFrec; }; class dgVehicleConstraintArray: public dgVehicleCache, public dgVehicleList { public: DG_CLASS_ALLOCATOR }; inline void dgVehicleCache::CacheVehicle (dgBody* body) { Insert (body, body); } inline void* dgVehicleConstraint::GetFirstTireIndex() const { return m_wheels.GetFirst(); } inline void* dgVehicleConstraint::GetNextTireIndex(void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetNext(); } inline void* dgVehicleConstraint::GetTireUserData (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_userData; } inline dgFloat32 dgVehicleConstraint::GetSteerAngle (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_steerAngle; } inline dgFloat32 dgVehicleConstraint::GetTireOmega (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_parametricOmega; } inline dgFloat32 dgVehicleConstraint::GetTireNormalLoad (void* index) const { dgFloat32 load; dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; // return node->GetInfo().m_tireNormalLoad; // load = node->GetInfo().m_tireNormalLoad___; load = node->GetInfo().m_tireNormalLoad % m_body0->m_matrix.RotateVector(m_upPin); //_ASSERTE (dgAbsf(load - node->GetInfo().m_tireNormalLoad_ % m_body0->m_matrix.RotateVector(m_upPin)) < 0.1f); return load; } inline void dgVehicleConstraint::SetTireTorque (void* index, dgFloat32 torque) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; node->GetInfo().m_tireTorque = torque; } inline void dgVehicleConstraint::SetTireMaxSideSleepSpeed (void* index, dgFloat32 speed) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; node->GetInfo().m_maxSideSpeed = GetMax (dgAbsf (speed), dgFloat32(MIN_SIDE_SLIP_SPEED)); } inline void dgVehicleConstraint::SetTireMaxLongitudinalSlideSpeed (void* index, dgFloat32 speed) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; node->GetInfo().m_maxSlideSpeed = GetMax (dgAbsf (speed), dgFloat32(MIN_SIDE_SLIDE_SPEED)); } inline void dgVehicleConstraint::SetTireSideSleepCoeficient (void* index, dgFloat32 coeficient) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; node->GetInfo().m_sideSlipCoef = 0.25f * ClampValue (dgAbsf(coeficient), dgFloat32(0.0f), dgFloat32(1.0f)); } inline void dgVehicleConstraint::SetTireLongitudinalSlideCoeficient (void* index, dgFloat32 coeficient) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; node->GetInfo().m_longiSlideCoef = 0.25f * ClampValue (dgAbsf(coeficient), dgFloat32(0.0f), dgFloat32(1.0f)); } inline void dgVehicleConstraint::TireSetBrakeAcceleration (void* index, dgFloat32 acceleration, dgFloat32 torqueMaxFriction) { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; dgTire& tire = node->GetInfo(); tire.m_brakeAcceleration = acceleration; tire.m_brakeFrictionTorque = dgAbsf (torqueMaxFriction); } inline dgFloat32 dgVehicleConstraint::TireCalculateMaxBrakeAcceleration (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return (node->GetInfo().m_parametricOmega * m_param->m_invTimestep * 0.99f); } inline dgFloat32 dgVehicleConstraint::GetTireLateralSpeed (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return -node->GetInfo().m_lateralSpeed; } inline dgFloat32 dgVehicleConstraint::GetTireLongitudinalSpeed (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return -node->GetInfo().m_longitudinalSpeed; } inline bool dgVehicleConstraint::IsTireAirBorned (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_isAirborne; } inline bool dgVehicleConstraint::TireLostSideGrip (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_lostSideGrip; } inline bool dgVehicleConstraint::TireLostTraction (void* index) const { dgVehicleConstraint::WheelsSet::dgListNode *node; node = (dgVehicleConstraint::WheelsSet::dgListNode *) index; return node->GetInfo().m_lostTraction; } #endif