WheeledVehicleMovementComponentNW.h

Go to the documentation of this file.

// Copyright (c) 2022 Computer Vision Center (CVC) at the Universitat Autonoma
// de Barcelona (UAB).
//
// This work is licensed under the terms of the MIT license.
// For a copy, see <https://opensource.org/licenses/MIT>.

#pragma once
#include "WheeledVehicleMovementComponent.h"
#include "Curves/CurveFloat.h"
#include "WheeledVehicleMovementComponentNW.generated.h"

namespace physx
{
    class PxVehicleWheelData;
}

USTRUCT()
struct FVehicleNWWheelDifferentialData
{
    GENERATED_USTRUCT_BODY()

        /** If True, torque is applied to this wheel */
        UPROPERTY(EditAnywhere, Category = Setup)
        bool bDriven;

    FVehicleNWWheelDifferentialData()
        : bDriven(true)
    { }
};

USTRUCT()
struct FVehicleNWEngineData
{
    GENERATED_USTRUCT_BODY()

    /** Torque (Nm) at a given RPM*/
    UPROPERTY(EditAnywhere, Category = Setup)
    FRuntimeFloatCurve TorqueCurve;

    /** Maximum revolutions per minute of the engine */
    UPROPERTY(EditAnywhere, Category = Setup, meta = (ClampMin = "0.01", UIMin = "0.01"))
    float MaxRPM;

    /** Moment of inertia of the engine around the axis of rotation (Kgm^2). */
    UPROPERTY(EditAnywhere, Category = Setup, meta = (ClampMin = "0.01", UIMin = "0.01"))
    float MOI;

    /** Damping rate of engine when full throttle is applied (Kgm^2/s) */
    UPROPERTY(EditAnywhere, Category = Setup, AdvancedDisplay, meta = (ClampMin = "0.0", UIMin = "0.0"))
    float DampingRateFullThrottle;

    /** Damping rate of engine in at zero throttle when the clutch is engaged (Kgm^2/s)*/
    UPROPERTY(EditAnywhere, Category = Setup, AdvancedDisplay, meta = (ClampMin = "0.0", UIMin = "0.0"))
    float DampingRateZeroThrottleClutchEngaged;

    /** Damping rate of engine in at zero throttle when the clutch is disengaged (in neutral gear) (Kgm^2/s)*/
    UPROPERTY(EditAnywhere, Category = Setup, AdvancedDisplay, meta = (ClampMin = "0.0", UIMin = "0.0"))
    float DampingRateZeroThrottleClutchDisengaged;

    /** Find the peak torque produced by the TorqueCurve */
    float FindPeakTorque() const;
};

USTRUCT()
struct FVehicleNWGearData
{
    GENERATED_USTRUCT_BODY()

    /** Determines the amount of torque multiplication*/
    UPROPERTY(EditAnywhere, Category = Setup)
    float Ratio;

    /** Value of engineRevs/maxEngineRevs that is low enough to gear down*/
    UPROPERTY(EditAnywhere, meta = (ClampMin = "0.0", UIMin = "0.0", ClampMax = "1.0", UIMax = "1.0"), Category = Setup)
    float DownRatio;

    /** Value of engineRevs/maxEngineRevs that is high enough to gear up*/
    UPROPERTY(EditAnywhere, meta = (ClampMin = "0.0", UIMin = "0.0", ClampMax = "1.0", UIMax = "1.0"), Category = Setup)
    float UpRatio;
};

USTRUCT()
struct FVehicleNWTransmissionData
{
    GENERATED_USTRUCT_BODY()
    /** Whether to use automatic transmission */
    UPROPERTY(EditAnywhere, Category = VehicleSetup, meta = (DisplayName = "Automatic Transmission"))
    bool bUseGearAutoBox;

    /** Time it takes to switch gears (seconds) */
    UPROPERTY(EditAnywhere, Category = Setup, meta = (ClampMin = "0.0", UIMin = "0.0"))
    float GearSwitchTime;

    /** Minimum time it takes the automatic transmission to initiate a gear change (seconds)*/
    UPROPERTY(EditAnywhere, Category = Setup, meta = (editcondition = "bUseGearAutoBox", ClampMin = "0.0", UIMin = "0.0"))
    float GearAutoBoxLatency;

    /** The final gear ratio multiplies the transmission gear ratios.*/
    UPROPERTY(EditAnywhere, AdvancedDisplay, Category = Setup)
    float FinalRatio;

    /** Forward gear ratios (up to 30) */
    UPROPERTY(EditAnywhere, Category = Setup, AdvancedDisplay)
    TArray<FVehicleNWGearData> ForwardGears;

    /** Reverse gear ratio */
    UPROPERTY(EditAnywhere, AdvancedDisplay, Category = Setup)
    float ReverseGearRatio;

    /** Value of engineRevs/maxEngineRevs that is high enough to increment gear*/
    UPROPERTY(EditAnywhere, AdvancedDisplay, Category = Setup, meta = (ClampMin = "0.0", UIMin = "0.0", ClampMax = "1.0", UIMax = "1.0"))
    float NeutralGearUpRatio;

    /** Strength of clutch (Kgm^2/s)*/
    UPROPERTY(EditAnywhere, Category = Setup, AdvancedDisplay, meta = (ClampMin = "0.0", UIMin = "0.0"))
    float ClutchStrength;
};

UCLASS(ClassGroup = (Physics), meta = (BlueprintSpawnableComponent), hidecategories = (PlanarMovement, "Components|Movement|Planar", Activation, "Components|Activation"))
class CARLA_API UWheeledVehicleMovementComponentNW : public UWheeledVehicleMovementComponent
{
    GENERATED_UCLASS_BODY()

        /** Engine */
    UPROPERTY(EditAnywhere, Category = MechanicalSetup)
    FVehicleNWEngineData EngineSetup;

    /** Differential */
    UPROPERTY(EditAnywhere, Category = MechanicalSetup)
    TArray<FVehicleNWWheelDifferentialData> DifferentialSetup;

    /** Transmission data */
    UPROPERTY(EditAnywhere, Category = MechanicalSetup)
    FVehicleNWTransmissionData TransmissionSetup;

    /** Maximum steering versus forward speed (km/h) */
    UPROPERTY(EditAnywhere, Category = SteeringSetup)
    FRuntimeFloatCurve SteeringCurve;

    virtual void Serialize(FArchive& Ar) override;
    virtual void ComputeConstants() override;
#if WITH_EDITOR
    virtual void PostEditChangeProperty(struct FPropertyChangedEvent& PropertyChangedEvent) override;
#endif

protected:

    virtual const void* GetTireData(physx::PxVehicleWheels* Wheels, UVehicleWheel* Wheel);
    virtual const int32 GetWheelShapeMapping(physx::PxVehicleWheels* Wheels, uint32 Wheel);
    virtual const physx::PxVehicleWheelData GetWheelData(physx::PxVehicleWheels* Wheels, uint32 Wheel);

    /** Allocate and setup the PhysX vehicle */
    virtual void SetupVehicle() override;

    virtual int32 GetCustomGearBoxNumForwardGears() const;

    virtual void UpdateSimulation(float DeltaTime) override;

    /** update simulation data: engine */
    virtual void UpdateEngineSetup(const FVehicleNWEngineData& NewEngineSetup);

    /** update simulation data: differential */
    virtual void UpdateDifferentialSetup(const TArray<FVehicleNWWheelDifferentialData>& NewDifferentialSetup);

    /** update simulation data: transmission */
    virtual void UpdateTransmissionSetup(const FVehicleNWTransmissionData& NewGearSetup);
};