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Add options for vehicle wheel suspension configuration and state

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This commit is contained in:
Wojtek Figat
2021-08-09 14:35:22 +02:00
parent fd01d37002
commit 09c11250b4
3 changed files with 38 additions and 7 deletions
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7
Source/Engine/Physics/Actors/WheeledVehicle.cpp
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@@ -303,12 +303,11 @@ void WheeledVehicle::Setup()
PxVehicleSuspensionData suspensionData;
const float suspensionFrequency = 7.0f;
const float suspensionDampingRatio = 1.0f;
suspensionData.mMaxCompression = 10.0f;
suspensionData.mMaxDroop = 10.0f;
suspensionData.mMaxCompression = wheel.SuspensionMaxRaise;
suspensionData.mMaxDroop = wheel.SuspensionMaxDrop;
suspensionData.mSprungMass = sprungMasses[i];
suspensionData.mSpringStrength = Math::Square(suspensionFrequency) * suspensionData.mSprungMass;
suspensionData.mSpringDamperRate = suspensionDampingRatio * 2.0f * Math::Sqrt(suspensionData.mSpringStrength * suspensionData.mSprungMass);
suspensionData.mSpringDamperRate = wheel.SuspensionDampingRate * 2.0f * Math::Sqrt(suspensionData.mSpringStrength * suspensionData.mSprungMass);
PxVehicleTireData tire;
tire.mType = 0;

30
Source/Engine/Physics/Actors/WheeledVehicle.h
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@@ -213,6 +213,21 @@ public:
/// Collider that represents the wheel shape and it's placement. Has to be attached as a child to the vehicle. Triangle mesh collider is not supported (use convex mesh or basic shapes).
/// </summary>
API_FIELD() ScriptingObjectReference<Collider> Collider;
/// <summary>
/// Spring damper rate of suspension unit.
/// </summary>
API_FIELD(Attributes="Limit(0)") float SuspensionDampingRate = 1.0f;
/// <summary>
/// The maximum offset for the suspension that wheel can go above resting location.
/// </summary>
API_FIELD(Attributes="Limit(0)") float SuspensionMaxRaise = 10.0f;
/// <summary>
/// The maximum offset for the suspension that wheel can go below resting location.
/// </summary>
API_FIELD(Attributes="Limit(0)") float SuspensionMaxDrop = 10.0f;
};
/// <summary>
@@ -246,6 +261,21 @@ public:
/// The friction experienced by the tire for the combination of tire type and surface type after accounting.
/// </summary>
API_FIELD() float TireFriction = 0.0f;
/// <summary>
/// The steer angle (in degrees) of the wheel about the "up" vector accounting for input steer and toe and, if applicable, Ackermann steer correction.
/// </summary>
API_FIELD() float SteerAngle = 0.0f;
/// <summary>
/// The rotation angle (in degrees) about the rolling axis for the specified wheel.
/// </summary>
API_FIELD() float RotationAngle = 0.0f;
/// <summary>
/// The compression of the suspension spring. Offsets the wheel location.
/// </summary>
API_FIELD() float SuspensionOffset = 0.0f;
};
private:

8
Source/Engine/Physics/Physics.cpp
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@@ -845,10 +845,12 @@ void Physics::CollectResults()
state.TireContactPoint = P2C(perWheel.tireContactPoint);
state.TireContactNormal = P2C(perWheel.tireContactNormal);
state.TireFriction = perWheel.tireFriction;
state.SteerAngle = RadiansToDegrees * perWheel.steerAngle;
state.RotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
const float suspensionOffsetDelta = perWheel.suspJounce - state.SuspensionOffset;
state.SuspensionOffset = perWheel.suspJounce;
const float wheelRotationAngle = -RadiansToDegrees * drive->mWheelsDynData.getWheelRotationAngle(j);
const float wheelSteerAngle = RadiansToDegrees * perWheel.steerAngle;
wheelData.Collider->SetLocalOrientation(Quaternion::Euler(0, wheelSteerAngle, wheelRotationAngle) * wheelData.LocalOrientation);
wheelData.Collider->SetLocalOrientation(Quaternion::Euler(0, state.SteerAngle, state.RotationAngle) * wheelData.LocalOrientation);
}
}
}