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converted the flat bed truck to
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next, the ndLav25Vehicle (wip)
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@JulioJerez
JulioJerez committed Jan 4, 2025
1 parent 020b6cd commit 54f625e
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Showing 2 changed files with 55 additions and 82 deletions.
2 changes: 1 addition & 1 deletion newton-4.00/applications/ndSandbox/demos/ndBasicVehicle.cpp
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Expand Up @@ -255,7 +255,7 @@ static ndMultiBodyVehicle* CreateBasicVehicle(ndDemoEntityManager* const scene,
ndDemoEntity* const vehicleEntity = vehicleEntityDummyRoot->GetFirstChild();
vehicleEntity->ResetMatrix(vehicleEntity->CalculateGlobalMatrix() * matrix);

// 1- add chassis to the vehicle mode
// 1- add chassis to the vehicle model
// create the vehicle chassis as a normal rigid body
const ndVehicleDectriptor& configuration = notifyCallback->m_desc;
vehicle->AddChassis(ndSharedPtr<ndBody>(notifyCallback->CreateChassis(scene, vehicleEntity, configuration.m_chassisMass)));
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135 changes: 54 additions & 81 deletions newton-4.00/applications/ndSandbox/demos/ndHeavyVehicle.cpp
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Expand Up @@ -685,83 +685,6 @@ class ndTractorVehicle : public ndHeavyMultiBodyVehicle
ndFloat32 m_bucketAngle;
};

class ndBigRigVehicle : public ndHeavyMultiBodyVehicle
{
public:
ndBigRigVehicle(ndDemoEntityManager* const scene, const ndVehicleDectriptor& desc, const ndMatrix& matrix, ndVehicleUI* const vehicleUI)
:ndHeavyMultiBodyVehicle(scene, desc, matrix, vehicleUI)
{
VehicleAssembly(scene);
}

void VehicleAssembly(ndDemoEntityManager* const scene)
{
// 2- each tire to the model,
// this function will create the tire as a normal rigid body
// and attach them to the chassis with the tire joints

//ndWorld* const world = scene->GetWorld();
ndBodyKinematic* const chassis = m_chassis;

ndVehicleDectriptor::ndTireDefinition f0_tireConfiguration(m_configuration.m_frontTire);
ndVehicleDectriptor::ndTireDefinition f1_tireConfiguration(m_configuration.m_frontTire);
ndSharedPtr<ndBody> fl_tire_body (CreateTireBody(scene, chassis, f0_tireConfiguration, "fl_tire"));
ndSharedPtr<ndBody> fr_tire_body (CreateTireBody(scene, chassis, f1_tireConfiguration, "fr_tire"));
AddTire(f0_tireConfiguration, fr_tire_body);
AddTire(f0_tireConfiguration, fl_tire_body);

ndVehicleDectriptor::ndTireDefinition r0_tireConfiguration(m_configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r1_tireConfiguration(m_configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r2_tireConfiguration(m_configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r3_tireConfiguration(m_configuration.m_rearTire);
ndSharedPtr<ndBody> rl_tire0_body (CreateTireBody(scene, chassis, r0_tireConfiguration, "rl_midle_tire"));
ndSharedPtr<ndBody> rr_tire0_body (CreateTireBody(scene, chassis, r1_tireConfiguration, "rr_midle_tire"));
ndSharedPtr<ndBody> rl_tire1_body (CreateTireBody(scene, chassis, r2_tireConfiguration, "rl_tire"));
ndSharedPtr<ndBody> rr_tire1_body (CreateTireBody(scene, chassis, r3_tireConfiguration, "rr_tire"));

ndMultiBodyVehicleTireJoint* const rr_tire0 = AddTire(r0_tireConfiguration, rr_tire0_body);
ndMultiBodyVehicleTireJoint* const rl_tire0 = AddTire(r1_tireConfiguration, rl_tire0_body);
ndMultiBodyVehicleTireJoint* const rr_tire1 = AddTire(r2_tireConfiguration, rr_tire1_body);
ndMultiBodyVehicleTireJoint* const rl_tire1 = AddTire(r3_tireConfiguration, rl_tire1_body);

//ndSharedPtr<ndBody> fl_tire_body_Ptr(fl_tire_body);
//ndSharedPtr<ndBody> fr_tire_body_Ptr(fr_tire_body);
//ndSharedPtr<ndBody> rl_tire0_body_Ptr(rl_tire0_body);
//ndSharedPtr<ndBody> rr_tire0_body_Ptr(rr_tire0_body);
//ndSharedPtr<ndBody> rl_tire1_body_Ptr(rl_tire1_body);
//ndSharedPtr<ndBody> rr_tire1_body_Ptr(rr_tire1_body);
//world->AddBody(fl_tire_body_Ptr);
//world->AddBody(fr_tire_body_Ptr);
//world->AddBody(rl_tire0_body_Ptr);
//world->AddBody(rr_tire0_body_Ptr);
//world->AddBody(rl_tire1_body_Ptr);
//world->AddBody(rr_tire1_body_Ptr);

m_currentGear = sizeof(m_configuration.m_transmission.m_forwardRatios) / sizeof(m_configuration.m_transmission.m_forwardRatios[0]) + 1;

// add the slip differential
ndMultiBodyVehicleDifferential* const rearDifferential0 = AddDifferential(m_configuration.m_differentialMass, m_configuration.m_differentialRadius, rl_tire0, rr_tire0, m_configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);
ndMultiBodyVehicleDifferential* const rearDifferential1 = AddDifferential(m_configuration.m_differentialMass, m_configuration.m_differentialRadius, rl_tire1, rr_tire1, m_configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);
ndMultiBodyVehicleDifferential* const differential = AddDifferential(m_configuration.m_differentialMass, m_configuration.m_differentialRadius, rearDifferential0, rearDifferential1, m_configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);

// add a motor
ndMultiBodyVehicleMotor* const motor = AddMotor(m_configuration.m_motorMass, m_configuration.m_motorRadius);
motor->SetMaxRpm(m_configuration.m_engine.GetRedLineRadPerSec() * dRadPerSecToRpm);

// add the gear box
ndMultiBodyVehicleGearBox* const gearBox = AddGearBox(differential);
gearBox->SetIdleOmega(m_configuration.m_engine.GetIdleRadPerSec() * dRadPerSecToRpm);

// set a soft or hard mode
SetVehicleSolverModel(m_configuration.m_useHardSolverMode ? true : false);
}

void ApplyInputs(ndWorld* const world, ndFloat32 timestep)
{
ndVehicleCommon::ApplyInputs(world, timestep);
}
};


static ndDemoEntity* LoadVehicleMeshModel(ndDemoEntityManager* const scene, const char* const filename)
{
Expand All @@ -771,7 +694,7 @@ static ndDemoEntity* LoadVehicleMeshModel(ndDemoEntityManager* const scene, cons
return vehicleEntity;
}

static ndMultiBodyVehicle* CreateBigRig(ndDemoEntityManager* const scene, const ndVehicleDectriptor& desc, const ndMatrix& matrix, ndVehicleUI* const vehicleUI)
static ndMultiBodyVehicle* CreateFlatBedTruck(ndDemoEntityManager* const scene, const ndVehicleDectriptor& desc, const ndMatrix& matrix, ndVehicleUI* const vehicleUI)
{
ndMultiBodyVehicle* const vehicle = new ndMultiBodyVehicle;

Expand All @@ -783,11 +706,61 @@ static ndMultiBodyVehicle* CreateBigRig(ndDemoEntityManager* const scene, const
ndDemoEntity* const vehicleEntity = vehicleEntityDummyRoot->GetFirstChild();
vehicleEntity->ResetMatrix(vehicleEntity->CalculateGlobalMatrix() * matrix);

// 1- add chassis to the vehicle mode
// 1- add chassis to the vehicle model
// create the vehicle chassis as a normal rigid body
const ndVehicleDectriptor& configuration = notifyCallback->m_desc;


ndSharedPtr<ndBody> chassisBody(notifyCallback->CreateChassis(scene, vehicleEntity, configuration.m_chassisMass));
vehicle->AddChassis(chassisBody);

ndBodyDynamic* const chassis = vehicle->GetChassis();
chassis->SetAngularDamping(ndVector(configuration.m_chassisAngularDrag));

// lower vehicle com;
ndVector com(chassis->GetCentreOfMass());
const ndMatrix localFrame(vehicle->GetLocalFrame());
com += localFrame.m_up.Scale(configuration.m_comDisplacement.m_y);
com += localFrame.m_front.Scale(configuration.m_comDisplacement.m_x);
com += localFrame.m_right.Scale(configuration.m_comDisplacement.m_z);
chassis->SetCentreOfMass(com);

//2- add all tires
ndVehicleDectriptor::ndTireDefinition f0_tireConfiguration(configuration.m_frontTire);
ndVehicleDectriptor::ndTireDefinition f1_tireConfiguration(configuration.m_frontTire);
ndSharedPtr<ndBody> fl_tire_body(notifyCallback->CreateTireBody(scene, chassis, f0_tireConfiguration, "fl_tire"));
ndSharedPtr<ndBody> fr_tire_body(notifyCallback->CreateTireBody(scene, chassis, f1_tireConfiguration, "fr_tire"));
vehicle->AddTire(f0_tireConfiguration, fr_tire_body);
vehicle->AddTire(f0_tireConfiguration, fl_tire_body);

ndVehicleDectriptor::ndTireDefinition r0_tireConfiguration(configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r1_tireConfiguration(configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r2_tireConfiguration(configuration.m_rearTire);
ndVehicleDectriptor::ndTireDefinition r3_tireConfiguration(configuration.m_rearTire);
ndSharedPtr<ndBody> rl_tire0_body(notifyCallback->CreateTireBody(scene, chassis, r0_tireConfiguration, "rl_midle_tire"));
ndSharedPtr<ndBody> rr_tire0_body(notifyCallback->CreateTireBody(scene, chassis, r1_tireConfiguration, "rr_midle_tire"));
ndSharedPtr<ndBody> rl_tire1_body(notifyCallback->CreateTireBody(scene, chassis, r2_tireConfiguration, "rl_tire"));
ndSharedPtr<ndBody> rr_tire1_body(notifyCallback->CreateTireBody(scene, chassis, r3_tireConfiguration, "rr_tire"));

ndMultiBodyVehicleTireJoint* const rr_tire0 = vehicle->AddTire(r0_tireConfiguration, rr_tire0_body);
ndMultiBodyVehicleTireJoint* const rl_tire0 = vehicle->AddTire(r1_tireConfiguration, rl_tire0_body);
ndMultiBodyVehicleTireJoint* const rr_tire1 = vehicle->AddTire(r2_tireConfiguration, rr_tire1_body);
ndMultiBodyVehicleTireJoint* const rl_tire1 = vehicle->AddTire(r3_tireConfiguration, rl_tire1_body);

// 3- add the slip differential, vehicle is rear wheel drive by has four wheels intread of two.
// this is done setting a diffrential for each pair and the connectin a differnetial to the two differentials.
ndMultiBodyVehicleDifferential* const rearDifferential0 = vehicle->AddDifferential(configuration.m_differentialMass, configuration.m_differentialRadius, rl_tire0, rr_tire0, configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);
ndMultiBodyVehicleDifferential* const rearDifferential1 = vehicle->AddDifferential(configuration.m_differentialMass, configuration.m_differentialRadius, rl_tire1, rr_tire1, configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);
ndMultiBodyVehicleDifferential* const differential = vehicle->AddDifferential(configuration.m_differentialMass, configuration.m_differentialRadius, rearDifferential0, rearDifferential1, configuration.m_slipDifferentialRmpLock / dRadPerSecToRpm);

// 4 - add a motor
ndMultiBodyVehicleMotor* const motor = vehicle->AddMotor(configuration.m_motorMass, configuration.m_motorRadius);
motor->SetMaxRpm(configuration.m_engine.GetRedLineRadPerSec() * dRadPerSecToRpm);

// 5- add the gear box
ndMultiBodyVehicleGearBox* const gearBox = vehicle->AddGearBox(differential);
gearBox->SetIdleOmega(configuration.m_engine.GetIdleRadPerSec() * dRadPerSecToRpm);

notifyCallback->m_currentGear = sizeof(configuration.m_transmission.m_forwardRatios) / sizeof(configuration.m_transmission.m_forwardRatios[0]) + 1;
vehicle->SetVehicleSolverModel(configuration.m_useHardSolverMode ? true : false);
return vehicle;
}
Expand Down Expand Up @@ -835,7 +808,7 @@ void ndHeavyVehicle (ndDemoEntityManager* const scene)
scene->Set2DDisplayRenderFunction(vehicleUIPtr);

//ndSharedPtr<ndModel> vehicle0(new ndBigRigVehicle(scene, bigRigDesc, matrix, vehicleUI));
ndSharedPtr<ndModel> vehicle0(CreateBigRig(scene, bigRigDesc, matrix, vehicleUI));
ndSharedPtr<ndModel> vehicle0(CreateFlatBedTruck(scene, bigRigDesc, matrix, vehicleUI));

matrix.m_posit.m_x += 6.0f;
matrix.m_posit.m_z += 6.0f;
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