99 lines
3.8 KiB
C
99 lines
3.8 KiB
C
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
// * Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the distribution.
|
||
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
|
// contributors may be used to endorse or promote products derived
|
||
|
|
// from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
|
||
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
/** \addtogroup vehicle2
|
||
|
|
@{
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "foundation/PxTransform.h"
|
||
|
|
#include "foundation/PxVec3.h"
|
||
|
|
#include "vehicle2/PxVehicleParams.h"
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
namespace vehicle2
|
||
|
|
{
|
||
|
|
#endif
|
||
|
|
|
||
|
|
struct PxVehicleRigidBodyState
|
||
|
|
{
|
||
|
|
PxTransform pose; //!< the body's pose (in world space)
|
||
|
|
PxVec3 linearVelocity; //!< the body's linear velocity (in world space)
|
||
|
|
PxVec3 angularVelocity; //!< the body's angular velocity (in world space)
|
||
|
|
PxVec3 previousLinearVelocity; //!< the previous linear velocity of the body (in world space)
|
||
|
|
PxVec3 previousAngularVelocity; //!< the previous angular velocity of the body (in world space)
|
||
|
|
PxVec3 externalForce; //!< external force (in world space) affecting the rigid body (usually excluding gravitational force)
|
||
|
|
PxVec3 externalTorque; //!< external torque (in world space) affecting the rigid body
|
||
|
|
|
||
|
|
PX_FORCE_INLINE void setToDefault()
|
||
|
|
{
|
||
|
|
pose = PxTransform(PxIdentity);
|
||
|
|
linearVelocity = PxVec3(PxZero);
|
||
|
|
angularVelocity = PxVec3(PxZero);
|
||
|
|
externalForce = PxVec3(PxZero);
|
||
|
|
externalTorque = PxVec3(PxZero);
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Compute the vertical speed of the rigid body transformed to the world frame.
|
||
|
|
\param[in] frame describes the axes of the vehicle
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getVerticalSpeed(const PxVehicleFrame& frame) const
|
||
|
|
{
|
||
|
|
return linearVelocity.dot(pose.q.rotate(frame.getVrtAxis()));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\param[in] frame describes the axes of the vehicle
|
||
|
|
\brief Compute the lateral speed of the rigid body transformed to the world frame.
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getLateralSpeed(const PxVehicleFrame& frame) const
|
||
|
|
{
|
||
|
|
return linearVelocity.dot(pose.q.rotate(frame.getLatAxis()));
|
||
|
|
}
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief Compute the longitudinal speed of the rigid body transformed to the world frame.
|
||
|
|
\param[in] frame describes the axes of the vehicle
|
||
|
|
*/
|
||
|
|
PX_FORCE_INLINE PxReal getLongitudinalSpeed(const PxVehicleFrame& frame) const
|
||
|
|
{
|
||
|
|
return linearVelocity.dot(pose.q.rotate(frame.getLngAxis()));
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace vehicle2
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|