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More details for how to set up 'myFilterShader' above can be found in Section Filtering.įor a batch containing just a single 4-wheeled vehicle the suspension raycasts can be performed with the following pseudo-code:

PhysX vehicles make use of scene query filter shaders to eliminate intersections with the vehicle issuing the raycast and with any geometry that is not to be considered as a drivable surface. The only restriction is that all batched vehicle arrays and associated buffers configured at the start of a vehicle simulation frame must persist until the end of the vehicle simulation frame. It is possible to instantiate a PxBatchQuery instance for each vehicle or to instantiate a single PxBatchQuery instance with buffers large enough for all wheels of a batched array of vehicles. The PxBatchQuery instance is typically instantiated as part of the initialization phase and then reused each frame. preFilterShader = myFilterShader PxBatchQuery * batchQuery = scene -> createBatchQuery ( sqDesc ) userRaycastTouchBuffer = sqHitBuffer sqDesc. userRaycastResultBuffer = sqResults sqDesc. PxRaycastQueryResult sqResults PxRaycastHit sqHitBuffer PxBatchQueryDesc sqDesc ( 4, 0, 0 ) sqDesc. The functions setupWheelsSimulationData, setupDriveSimData and setupVehicleActor are actually quite involved and shall be discussed in future Sections setupWheelsSimulationData, setupDriveSimData and setupVehicleActor. The final step is to instantiate a PxVehicleDrive4W instance and associate it with the actor and the vehicle configuration data. Following this, a PxRigidDynamicActor is instantiated and configured with geometry for the wheels and chassis as well as dynamic properties such as mass, moment of inertia, and center of mass. This structure stores the configuration of the drive model and includes data fields such as engine peak torque, clutch strength, gearing ratios, and Ackermann steering correction. The next step is to create a PxVehicleDriveSimData4W instance. This configuration data includes fields such as suspension strength and damping rate, wheel mass, tire stiffness and suspension travel direction.

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The code above first instantiates a PxVehicleWheelsSimData instance with internal buffers that are large enough to store configuration data for four wheels.

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addActor ( * vehActor ) PxVehicleDrive4W * vehDrive4W = PxVehicleDrive4W :: allocate ( numWheels ) vehDrive4W -> setup ( physics, veh4WActor, * wheelsSimData, driveSimData, numWheels - 4 ) wheelsSimData -> free () createRigidDynamic ( startPose ) setupVehicleActor ( vehActor ) myScene. The data describing each component of the PhysX vehicle can be found in Section Tuning Guide.Ĭonst PxU32 numWheels = 4 PxVehicleWheelsSimData * wheelsSimData = PxVehicleWheelsSimData :: allocate ( numWheels ) setupWheelsSimulationData ( wheelsSimData ) PxVehicleDriveSimData4W driveSimData setupDriveSimData ( driveSimData ) PxRigidDynamic * vehActor = myPhysics. This model naturally allows engine torques to propagate to the wheels and wheel torques to propagate back to the engine, just as in a standard car. The effective rotational speed of the other side of the clutch can be computed directly from the gearing ratio and the rotational speed of the wheels that are coupled to the clutch through the differential. At the other side of the clutch are the gearing system, the differential and the wheels. The engine is modeled as a rigid body whose motion is purely rotational and limited to a single degree of rotational freedom. At one side of the clutch is the engine, which is powered directly from the accelerator pedal. The center of the drive model is a torsion clutch, which couples together the wheels and the engine via forces that arise from differences in rotational speeds at both sides of the clutch.

In addition to being collections of sprung masses, PhysX vehicles also support a variety of drive models. The aggregated force of all tire and suspension forces is then applied to the rigid body actor associated with the vehicle so that the transform may be modified accordingly in the next PhysX SDK update. The tire force computation actually depends on a number of factors including steer angle, camber angle, friction, wheel rotation speed, and rigid body momentum. This load is used to determine the tire forces that will be generated in the contact plane and then added to the aggregate force to be applied to the rigid body. Additionally, the suspension force is used to compute the load that is bearing down on the tire. The suspension force from each elongated or compressed spring is computed and added to the aggregate force to be applied to the rigid body.

Figure 2: Suspension limits and suspension raycasts.

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