87 lines
3.6 KiB
C
87 lines
3.6 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#pragma once
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/** \addtogroup vehicle2
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@{
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*/
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#include "foundation/PxFoundation.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "vehicle2/commands/PxVehicleCommandParams.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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namespace vehicle2
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{
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#endif
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/**
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\brief Distribute a brake response to the wheels of a vehicle.
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\note The brake torque of each wheel on the ith wheel is brakeCommand * maxResponse * wheelResponseMultipliers[i].
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\note A typical use case is to set maxResponse to be the vehicle's maximum achievable brake torque
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that occurs when the brake command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used
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to specify the maximum achievable brake torque per wheel as a fractional multiplier of the vehicle's maximum achievable brake torque.
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*/
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struct PxVehicleBrakeCommandResponseParams : public PxVehicleCommandResponseParams
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{
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PX_FORCE_INLINE PxVehicleBrakeCommandResponseParams transformAndScale(
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const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
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{
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PX_UNUSED(srcFrame);
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PX_UNUSED(trgFrame);
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PxVehicleBrakeCommandResponseParams r = *this;
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const PxReal scale = trgScale.scale/srcScale.scale;
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r.maxResponse *= (scale*scale); //maxResponse is a torque!
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return r;
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}
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PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
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{
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if (!axleDesc.isValid())
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return false;
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PX_CHECK_AND_RETURN_VAL(maxResponse >= 0.0f, "PxVehicleBrakeCommandResponseParams.maxResponse must be greater than or equal to zero", false);
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for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
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{
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PX_CHECK_AND_RETURN_VAL(wheelResponseMultipliers[axleDesc.wheelIdsInAxleOrder[i]] >= 0.0f, "PxVehicleBrakeCommandResponseParams.wheelResponseMultipliers[i] must be greater than or equal to zero.", false);
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}
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return true;
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}
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};
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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/** @} */
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