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Add tire wheel tire friction scale parameter for Wheeled Vehicle

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This commit is contained in:
Wojtek Figat
2022-01-26 20:54:57 +01:00
parent ba2f58df6a
commit 05b80d17c5
2 changed files with 48 additions and 10 deletions
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53
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -365,6 +365,8 @@ namespace
Array<PxWheelQueryResult> WheelVehiclesResultsPerWheel;
Array<PxVehicleWheelQueryResult> WheelVehiclesResultsPerVehicle;
PxVehicleDrivableSurfaceToTireFrictionPairs* WheelTireFrictions = nullptr;
bool WheelTireFrictionsDirty = false;
Array<float> WheelTireTypes;
#endif
}
@@ -503,6 +505,10 @@ void* PhysicalMaterial::GetPhysicsMaterial()
const PhysicsCombineMode useRestitutionCombineMode = OverrideRestitutionCombineMode ? RestitutionCombineMode : _restitutionCombineMode;
material->setRestitutionCombineMode(static_cast<PxCombineMode::Enum>(useRestitutionCombineMode));
#if WITH_VEHICLE
WheelTireFrictionsDirty = true;
#endif
}
return _material;
}
@@ -521,6 +527,10 @@ void PhysicalMaterial::UpdatePhysicsMaterial()
material->setRestitution(Restitution);
const PhysicsCombineMode useRestitutionCombineMode = OverrideRestitutionCombineMode ? RestitutionCombineMode : _restitutionCombineMode;
material->setRestitutionCombineMode(static_cast<PxCombineMode::Enum>(useRestitutionCombineMode));
#if WITH_VEHICLE
WheelTireFrictionsDirty = true;
#endif
}
}
@@ -1097,16 +1107,31 @@ void PhysicsBackend::EndSimulateScene(void* scene)
scenePhysX->WheelRaycastBatchQuery = scenePhysX->Scene->createBatchQuery(desc);
}
// TODO: expose vehicle tires configuration
if (!WheelTireFrictions)
// Update lookup table that maps wheel type into the surface friction
if (!WheelTireFrictions || WheelTireFrictionsDirty)
{
PxVehicleDrivableSurfaceType surfaceTypes[1];
surfaceTypes[0].mType = 0;
const PxMaterial* surfaceMaterials[1];
surfaceMaterials[0] = DefaultMaterial;
WheelTireFrictions = PxVehicleDrivableSurfaceToTireFrictionPairs::allocate(1, 1);
WheelTireFrictions->setup(1, 1, surfaceMaterials, surfaceTypes);
WheelTireFrictions->setTypePairFriction(0, 0, 5.0f);
WheelTireFrictionsDirty = false;
RELEASE_PHYSX(WheelTireFrictions);
Array<PxMaterial*, InlinedAllocation<8>> materials;
materials.Resize(Math::Min<int32>((int32)PhysX->getNbMaterials(), PxVehicleDrivableSurfaceToTireFrictionPairs::eMAX_NB_SURFACE_TYPES));
PxMaterial** materialsPtr = materials.Get();
PhysX->getMaterials(materialsPtr, materials.Count(), 0);
Array<PxVehicleDrivableSurfaceType, InlinedAllocation<8>> tireTypes;
tireTypes.Resize(materials.Count());
PxVehicleDrivableSurfaceType* tireTypesPtr = tireTypes.Get();
for (int32 i = 0; i < tireTypes.Count(); i++)
tireTypesPtr[i].mType = i;
WheelTireFrictions = PxVehicleDrivableSurfaceToTireFrictionPairs::allocate(WheelTireTypes.Count(), materials.Count());
WheelTireFrictions->setup(WheelTireTypes.Count(), materials.Count(), (const PxMaterial**)materialsPtr, tireTypesPtr);
for (int32 material = 0; material < materials.Count(); material++)
{
float friction = materialsPtr[material]->getStaticFriction();
for (int32 tireType = 0; tireType < WheelTireTypes.Count(); tireType++)
{
float scale = WheelTireTypes[tireType];
WheelTireFrictions->setTypePairFriction(material, tireType, friction * scale);
}
}
}
// Setup cache for wheel states
@@ -2522,7 +2547,15 @@ void* PhysicsBackend::CreateVehicle(WheeledVehicle* actor)
suspensionData.mSpringDamperRate = wheel.SuspensionDampingRate * 2.0f * Math::Sqrt(suspensionData.mSpringStrength * suspensionData.mSprungMass);
PxVehicleTireData tire;
tire.mType = 0;
int32 tireIndex = WheelTireTypes.Find(wheel.TireFrictionScale);
if (tireIndex == -1)
{
// New tire type
tireIndex = WheelTireTypes.Count();
WheelTireTypes.Add(wheel.TireFrictionScale);
WheelTireFrictionsDirty = true;
}
tire.mType = tireIndex;
tire.mLatStiffX = wheel.TireLateralMax;
tire.mLatStiffY = wheel.TireLateralStiffness;
tire.mLongitudinalStiffnessPerUnitGravity = wheel.TireLongitudinalStiffness;