1

Physx两轮载具简单实现

 2 years ago
source link: http://pkxpp.github.io/2021/06/13/PhysX%E4%B8%A4%E8%BD%AE%E8%BD%BD%E5%85%B7%E7%AE%80%E5%8D%95%E5%AE%9E%E7%8E%B0/
Go to the source link to view the article. You can view the picture content, updated content and better typesetting reading experience. If the link is broken, please click the button below to view the snapshot at that time.

[TOC]

想实现一个摩托车的物理载具，所以先在Snippet里面改了一下

PxVehicleNoDrive

看到UE4中是用PxVehicleNoDrive实现的，就想在SnippetVehicleNoDrive快速改一下看下效果，结果改了几行代码就基本看到效果了

1.修改轮子个数

VehicleDesc initVehicleDesc()
{
    // 省略...
    // two wheels
    const PxU32 nbWheels = 2;

2.修改报错

主要是默认是四个轮子的，然后默认代码传多了，删掉即可

void startBrakeMode()
{
    gVehicleNoDrive->setBrakeTorque(0, 1000.0f);
    gVehicleNoDrive->setBrakeTorque(1, 1000.0f);
    //gVehicleNoDrive->setBrakeTorque(2, 1000.0f);
    //gVehicleNoDrive->setBrakeTorque(3, 1000.0f);
}
void startHandbrakeTurnLeftMode()
{
    //gVehicleNoDrive->setBrakeTorque(2, 1000.0f);
    //gVehicleNoDrive->setBrakeTorque(3, 1000.0f);
    gVehicleNoDrive->setDriveTorque(0, 1000.0f);
    gVehicleNoDrive->setDriveTorque(1, 1000.0f);
    gVehicleNoDrive->setSteerAngle(0, 1.0f); 
    gVehicleNoDrive->setSteerAngle(1, 1.0f); 
}
void startHandbrakeTurnRightMode()
{
    //gVehicleNoDrive->setBrakeTorque(2, 1000.0f);
    //gVehicleNoDrive->setBrakeTorque(3, 1000.0f);
    gVehicleNoDrive->setDriveTorque(0, 1000.0f);
    gVehicleNoDrive->setDriveTorque(1, 1000.0f);
    gVehicleNoDrive->setSteerAngle(0, -1.0f); 
    gVehicleNoDrive->setSteerAngle(1, -1.0f); 
}
void releaseAllControls()
{
    gVehicleNoDrive->setDriveTorque(0, 0.0f);
    gVehicleNoDrive->setDriveTorque(1, 0.0f);
    //gVehicleNoDrive->setDriveTorque(2, 0.0f);
    //gVehicleNoDrive->setDriveTorque(3, 0.0f);
    gVehicleNoDrive->setBrakeTorque(0, 0.0f);
    gVehicleNoDrive->setBrakeTorque(1, 0.0f);
    //gVehicleNoDrive->setBrakeTorque(2, 0.0f);
    //gVehicleNoDrive->setBrakeTorque(3, 0.0f);
    gVehicleNoDrive->setSteerAngle(0, 0.0f);
    gVehicleNoDrive->setSteerAngle(1, 0.0f);
    //gVehicleNoDrive->setSteerAngle(2, 0.0f);
    //gVehicleNoDrive->setSteerAngle(3, 0.0f);
}

3.控制台提示参数不对

..\..\PhysXVehicle\src\PxVehicleUpdate.cpp (244) : invalid parameter : PxVehicleComputeSprungMasses: sprungMassCoordinates must all be valid coordinates

断点看一下就知道问题在哪里了，主要是计算便宜的时候坐标是无穷大，修改下下面的代码即可

void computeWheelCenterActorOffsets
(const PxF32 wheelFrontZ, const PxF32 wheelRearZ, const PxVec3& chassisDims, const PxF32 wheelWidth, const PxF32 wheelRadius, const PxU32 numWheels, PxVec3* wheelCentreOffsets)
{
            // 两个轮子的时候deltaZ算的时候除以0了
        //const PxF32 deltaZ = (wheelFrontZ - wheelRearZ) / (numLeftWheels - 1.0f);
        PX_UNUSED(numWheels);
        PX_UNUSED(wheelWidth);
        //front wheel offset from origin.
        wheelCentreOffsets[0] = PxVec3(0.f, -(chassisDims.y / 2 + wheelRadius), wheelRearZ);
        //rear wheel offsets from origin.
        wheelCentreOffsets[1] = PxVec3(0.f, -(chassisDims.y / 2 + wheelRadius), wheelFrontZ);
}

PVD效果

因为渲染窗口没有重播功能，不好找角度，就在PVD里面录制了 two effect


report

Recommend

About Joyk


Aggregate valuable and interesting links.
Joyk means Joy of geeK