PxVehicleDrive4W Class Reference
[Vehicle]

Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels. More...

#include <PxVehicleDrive4W.h>

Inheritance diagram for PxVehicleDrive4W:

[legend]

Collaboration diagram for PxVehicleDrive4W:

[legend]

List of all members.

Public Types
enum	eWheelOrdering {   eFRONT_LEFT_WHEEL = 0,   eFRONT_RIGHT_WHEEL,   eREAR_LEFT_WHEEL,   eREAR_RIGHT_WHEEL }
	The ordering of the driven and steered wheels. More...
enum	{   eANALOG_INPUT_ACCEL = PxVehicleDriveDynData::eANALOG_INPUT_ACCEL,   eANALOG_INPUT_BRAKE,   eANALOG_INPUT_HANDBRAKE,   eANALOG_INPUT_STEER_LEFT,   eANALOG_INPUT_STEER_RIGHT,   eMAX_NUM_DRIVE4W_ANALOG_INPUTS }
Public Member Functions
void	free ()
	Deallocate a PxVehicleDrive4W instance.
void	setup (PxPhysics *physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &driveData, const PxU32 numNonDrivenWheels)
	Set up a vehicle with.
void	setToRestState ()
	Set a vehicle to its rest state.
Static Public Member Functions
static PxVehicleDrive4W *	allocate (const PxU32 numWheels)
	Allocate a PxVehicleDrive4W instance for a 4WDrive vehicle with numWheels (= num driven wheels + num undriven wheels).
static PxVehicleDrive4W *	create (PxPhysics *physics, PxRigidDynamic *vehActor, const PxVehicleWheelsSimData &wheelsData, const PxVehicleDriveSimData4W &driveData, const PxU32 numNonDrivenWheels)
	Set up a vehicle with.
Public Attributes
PxVehicleDriveSimData4W	mDriveSimData
	Simulation data that models vehicle components.
Private Member Functions
	PxVehicleDrive4W ()
	~PxVehicleDrive4W ()
bool	isValid () const
	Test if the instanced dynamics and configuration data has legal values.
Friends
class	PxVehicleUpdate

---

Detailed Description

Data structure with instanced dynamics data and configuration data of a vehicle with up to 4 driven wheels.

and up to 16 non-driven wheels.

---

Member Enumeration Documentation

anonymous enum

See also:

PxVehicleDrive::setAnalogInput, PxVehicleDrive::getAnalogInput

Enumerator:

eANALOG_INPUT_ACCEL
eANALOG_INPUT_BRAKE
eANALOG_INPUT_HANDBRAKE
eANALOG_INPUT_STEER_LEFT
eANALOG_INPUT_STEER_RIGHT
eMAX_NUM_DRIVE4W_ANALOG_INPUTS

enum PxVehicleDrive4W::eWheelOrdering

The ordering of the driven and steered wheels.

Enumerator:

eFRONT_LEFT_WHEEL
eFRONT_RIGHT_WHEEL
eREAR_LEFT_WHEEL
eREAR_RIGHT_WHEEL

---

Constructor & Destructor Documentation

PxVehicleDrive4W::PxVehicleDrive4W

(

)

[inline, private]

PxVehicleDrive4W::~PxVehicleDrive4W

(

)

[inline, private]

---

Member Function Documentation

static PxVehicleDrive4W* PxVehicleDrive4W::allocate

(

const PxU32

numWheels

)

[static]

Allocate a PxVehicleDrive4W instance for a 4WDrive vehicle with numWheels (= num driven wheels + num undriven wheels).

See also:

free, setup

static PxVehicleDrive4W* PxVehicleDrive4W::create	(	PxPhysics *	physics,
		PxRigidDynamic *	vehActor,
		const PxVehicleWheelsSimData &	wheelsData,
		const PxVehicleDriveSimData4W &	driveData,
		const PxU32	numNonDrivenWheels
	)			[static]

Set up a vehicle with.

(i) a PxPhysics instance - needed to setup special vehicle constraints maintained by the vehicle. (ii) a PxRigidDynamic instance - the rigid body representation of the vehicle in the physx sdk. (iii) a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the vehicle instance takes a copy of this input data. (iv) a PxVehicle4WDriveSimData instance describing the drive data (engine/Ackermann steer correction/differential etc) - the vehicle instance takes a copy of this input data. (v) the number of non-driven wheels (it is assumed that the vehicle has up to 4 wheels that could be driven by the engine). (vi) it is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. (viii)it is assumed that the front-left wheel shape is shape 0 of the actor (ix) it is assumed that the front-right wheel shape is shape 1 of the actor (x) it is assumed that the rear-left wheel shape is shape 2 of the actor (xi) it is assumed that the rear-right wheel shape is shape 3 of the actor (xii) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor. (xiii)it is assumed that the wheel shapes ordered in the actor match the wheels specified in PxVehicleWheelsSimData. (xiv) to break assumptions (vi)-(xiii) and have arbitary shape ordering see PxVehicleWheels::setWheelShapeMapping (xv) only the first four wheels (the driven wheels) are connected to the steering.

See also:

free, setToRestState, setup, eWheelOrdering

void PxVehicleDrive4W::free

(

)

Deallocate a PxVehicleDrive4W instance.

See also:

allocate

Reimplemented from PxVehicleDrive.

bool PxVehicleDrive4W::isValid

(

)

const [private]

Test if the instanced dynamics and configuration data has legal values.

Reimplemented from PxVehicleDrive.

void PxVehicleDrive4W::setToRestState

(

)

Set a vehicle to its rest state.

See also:

setup

Reimplemented from PxVehicleDrive.

void PxVehicleDrive4W::setup	(	PxPhysics *	physics,
		PxRigidDynamic *	vehActor,
		const PxVehicleWheelsSimData &	wheelsData,
		const PxVehicleDriveSimData4W &	driveData,
		const PxU32	numNonDrivenWheels
	)

Set up a vehicle with.

(i) a PxPhysics instance - needed to setup special vehicle constraints maintained by the vehicle. (ii) a PxRigidDynamic instance - the rigid body representation of the vehicle in the physx sdk. (iii) a PxVehicleWheelsSimData instance describing the wheel/suspension/tires - the vehicle instance takes a copy of this input data. (iv) a PxVehicle4WDriveSimData instance describing the drive data (engine/Ackermann steer correction/differential etc) - the vehicle instance takes a copy of this input data. (v) the number of non-driven wheels (it is assumed that the vehicle has up to 4 wheels that could be driven by the engine). (vi) it is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. (viii)it is assumed that the front-left wheel shape is shape 0 of the actor (ix) it is assumed that the front-right wheel shape is shape 1 of the actor (x) it is assumed that the rear-left wheel shape is shape 2 of the actor (xi) it is assumed that the rear-right wheel shape is shape 3 of the actor (xii) it is assumed that the N non-driven wheel shapes are shapes 4 -> 4+N-1 of the actor. (xiii)it is assumed that the wheel shapes ordered in the actor match the wheels specified in PxVehicleWheelsSimData. (xiv) to break assumptions (vi)-(xiii) and have arbitary shape ordering see PxVehicleWheels::setWheelShapeMapping (xiv) only the first four wheels (the driven wheels) are connected to the steering.

See also:

allocate, free, setToRestState, eWheelOrdering

---

Friends And Related Function Documentation

friend class PxVehicleUpdate [friend]

Reimplemented from PxVehicleDrive.

---

Member Data Documentation

PxVehicleDriveSimData4W PxVehicleDrive4W::mDriveSimData

Simulation data that models vehicle components.

See also:

setup

---

The documentation for this class was generated from the following file:

• PxVehicleDrive4W.h