Newton Dynamics  4.00
ndMultiBodyVehicleTorsionBar.h
1 /* Copyright (c) <2003-2022> <Julio Jerez, Newton Game Dynamics>
2 *
3 * This software is provided 'as-is', without any express or implied
4 * warranty. In no event will the authors be held liable for any damages
5 * arising from the use of this software.
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7 * Permission is granted to anyone to use this software for any purpose,
8 * including commercial applications, and to alter it and redistribute it
9 * freely, subject to the following restrictions:
10 *
11 * 1. The origin of this software must not be misrepresented; you must not
12 * claim that you wrote the original software. If you use this software
13 * in a product, an acknowledgment in the product documentation would be
14 * appreciated but is not required.
15 *
16 * 2. Altered source versions must be plainly marked as such, and must not be
17 * misrepresented as being the original software.
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19 * 3. This notice may not be removed or altered from any source distribution.
20 */
21 
22 #ifndef __ND_MULTIBODY_VEHICLE_TORSION_BAR_H__
23 #define __ND_MULTIBODY_VEHICLE_TORSION_BAR_H__
24 
25 #include "ndNewtonStdafx.h"
26 #include "ndJointGear.h"
27 
28 class ndMultiBodyVehicle;
29 
31 {
32  public:
33  D_CLASS_REFLECTION(ndMultiBodyVehicleTorsionBar);
35  D_NEWTON_API ndMultiBodyVehicleTorsionBar(const ndMultiBodyVehicle* const chassis, ndBodyKinematic* const fixedbody);
36 
37  D_NEWTON_API void AddAxel(const ndBodyKinematic* const leftTire, const ndBodyKinematic* const rightTire);
38  D_NEWTON_API void SetTorsionTorque(ndFloat32 springK, ndFloat32 damperC, ndFloat32 springDamperRegularizer);
39 
40  protected:
41  class ndAxles
42  {
43  public:
44  ndAxles()
45  :m_leftTire(nullptr)
46  ,m_rightTire(nullptr)
47  ,m_axleAngle(ndFloat32(0.0f))
48  {
49  }
50  const ndBodyKinematic* m_leftTire;
51  const ndBodyKinematic* m_rightTire;
52  ndFloat32 m_axleAngle;
53  };
54 
55  void DebugJoint(ndConstraintDebugCallback&) const {}
56  void JacobianDerivative(ndConstraintDescritor& desc);
57  void Save(const ndLoadSaveBase::ndSaveDescriptor& desc) const;
58 
59  ndAxles m_axles[2];
60  ndFloat32 m_springK;
61  ndFloat32 m_damperC;
62  ndFloat32 m_springDamperRegularizer;
63  ndInt32 m_axleCount;
64  friend class ndMultiBodyVehicle;
65 };
66 
67 #endif
ndMultiBodyVehicle
Definition: ndMultiBodyVehicle.h:41
ndMultiBodyVehicleTorsionBar
Definition: ndMultiBodyVehicleTorsionBar.h:31
ndConstraintDescritor
Definition: ndConstraint.h:179
ndJointBilateralConstraint
Definition: ndJointBilateralConstraint.h:53
ndConstraintDebugCallback
Definition: ndConstraint.h:42
ndBodyKinematic
Definition: ndBodyKinematic.h:40
ndLoadSaveBase::ndLoadDescriptor
Definition: ndSaveLoadSytem.h:59
ndMultiBodyVehicleTorsionBar::ndAxles
Definition: ndMultiBodyVehicleTorsionBar.h:42
ndLoadSaveBase::ndSaveDescriptor
Definition: ndSaveLoadSytem.h:93