77 lines
3.3 KiB
C++
77 lines
3.3 KiB
C++
// 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 "vehicle2/PxVehicleParams.h"
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#include "PxVehicleCommandParams.h"
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#include "PxVehicleCommandStates.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 Compute the linear response to a command.
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\param[in] command is a normalised command value.
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\param[in] wheelId specifies the wheel that is to respond to the command.
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\param[in] responseParams specifies the wheel responses for all wheels on a vehicle.
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\return The linear response of the specified wheel to the command.
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*/
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PX_FORCE_INLINE PxReal PxVehicleLinearResponseCompute
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(const PxReal command, const PxU32 wheelId, const PxVehicleCommandResponseParams& responseParams)
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{
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return command*responseParams.maxResponse*responseParams.wheelResponseMultipliers[wheelId];
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}
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/**
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\brief Compute the non-linear response to a command.
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\param[in] command is a normalised command value.
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\param[in] longitudinalSpeed is the longitudional speed of the vehicle.
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\param[in] wheelId specifies the wheel that is to respond to the command.
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\param[in] responseParams specifies the wheel responses for all wheels on a vehicle.
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\note responseParams is used to compute an interpolated normalized response to the combination of command and longitudinalSpeed.
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The interpolated normalized response is then used in place of the command as input to PxVehicleComputeLinearResponse().
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*/
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PxReal PxVehicleNonLinearResponseCompute
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(const PxReal command, const PxReal longitudinalSpeed, const PxU32 wheelId, const PxVehicleCommandResponseParams& responseParams);
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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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