SuspensionUtility.h

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// Copyright Epic Games, Inc. All Rights Reserved.
 
#pragma once
 
#include "Containers/Array.h"
#include "CoreMinimal.h"
#include "Logging/LogMacros.h"
#include "Math/UnrealMath.h"
#include "Math/UnrealMathSSE.h"
#include "Templates/Function.h"
 
DECLARE_LOG_CATEGORY_EXTERN(LogVehicleUtility, Log, All);
 
 
struct FSuspensionUtility
{
    //
    // Setup functions
    //
 
    CHAOSVEHICLESCORE_API static bool ComputeSprungMasses(const TArray<FVector>& MassSpringPositions, const float TotalMass, TArray<float>& OutSprungMasses);
 
    CHAOSVEHICLESCORE_API static bool ComputeSprungMasses(const TArray<FVector>& LocalSpringPositions, const FVector& LocalCenterOfMass, const float TotalMass, TArray<float>& OutSprungMasses);
 
    static float ComputeNaturalFrequency(float SpringRate, float SprungMass)
    {
        return FMath::Sqrt(SpringRate / SprungMass);
    }
 
    static float ComputeCriticalDamping(float SpringRate, float SprungMass)
    {
        // critical damping is at point when damping ratio is 1.0
        float NaturalFrequency = FMath::Sqrt(SpringRate / SprungMass);
        return 2.f * SprungMass * NaturalFrequency;
    }
 
    static float ComputeDamping(float SpringRate, float SprungMass, float DampingRatio)
    {
        DampingRatio = FMath::Clamp(DampingRatio, 0.f, 1.f);
        float NaturalFrequency = FMath::Sqrt(SpringRate / SprungMass);
        return DampingRatio * 2.f * SprungMass * NaturalFrequency;
    }
};