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Add support for editing WheeledVehicle wheels config at runtime without full physics state rebuild

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#1324
This commit is contained in:
Wojtek Figat
2023-09-01 12:40:51 +02:00
parent a8cc4d7fcb
commit b0ec8525aa
4 changed files with 77 additions and 0 deletions
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47
Source/Engine/Physics/PhysX/PhysicsBackendPhysX.cpp
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@@ -2923,6 +2923,53 @@ void PhysicsBackend::DestroyVehicle(void* vehicle, int32 driveType)
}
}
void PhysicsBackend::UpdateVehicleWheels(WheeledVehicle* actor)
{
auto drive = (PxVehicleWheels*)actor->_vehicle;
PxVehicleWheelsSimData* wheelsSimData = &drive->mWheelsSimData;
for (uint32 i = 0; i < wheelsSimData->getNbWheels(); i++)
{
auto& wheel = actor->_wheels[i];
// Update suspension data
PxVehicleSuspensionData suspensionData = wheelsSimData->getSuspensionData(i);
const float suspensionFrequency = 7.0f;
suspensionData.mMaxCompression = wheel.SuspensionMaxRaise;
suspensionData.mMaxDroop = wheel.SuspensionMaxDrop;
suspensionData.mSpringStrength = Math::Square(suspensionFrequency) * suspensionData.mSprungMass;
suspensionData.mSpringDamperRate = wheel.SuspensionDampingRate * 2.0f * Math::Sqrt(suspensionData.mSpringStrength * suspensionData.mSprungMass);
wheelsSimData->setSuspensionData(i, suspensionData);
// Update tire data
PxVehicleTireData tire;
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;
wheelsSimData->setTireData(i, tire);
// Update wheel data
PxVehicleWheelData wheelData;
wheelData.mMass = wheel.Mass;
wheelData.mRadius = wheel.Radius;
wheelData.mWidth = wheel.Width;
wheelData.mMOI = 0.5f * wheelData.mMass * Math::Square(wheelData.mRadius);
wheelData.mDampingRate = M2ToCm2(wheel.DampingRate);
wheelData.mMaxSteer = wheel.MaxSteerAngle * DegreesToRadians;
wheelData.mMaxBrakeTorque = M2ToCm2(wheel.MaxBrakeTorque);
wheelData.mMaxHandBrakeTorque = M2ToCm2(wheel.MaxHandBrakeTorque);
wheelsSimData->setWheelData(i, wheelData);
}
}
void PhysicsBackend::SetVehicleGearbox(void* vehicle, const void* value)
{
auto drive = (PxVehicleDrive*)vehicle;