161 lines
8.7 KiB
C++
161 lines
8.7 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/drivetrain/PxVehicleDrivetrainParams.h"
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#include "vehicle2/drivetrain/PxVehicleDrivetrainStates.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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struct PxVehicleWheelRigidBody1dState;
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/**
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\brief Compute the coupling strength of the clutch.
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\param[in] clutchResponseState describes the response of the clutch to the input clutch command.
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\param[in] gearboxParams holds the index of neutral gear.
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\param[in] gearboxState describes the current gear.
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\note If the gear is in neutral the clutch is fully disengaged and the clutch strength is 0.
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\note A clutch response state of 0.0 denotes a fully engaged clutch with maximum strength.
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\note A clutch response state of 1.0 denotes a fully disengaged clutch with a strength of 0.0.
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*/
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PX_FORCE_INLINE PxReal PxVehicleClutchStrengthCompute(const PxVehicleClutchCommandResponseState& clutchResponseState, const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState)
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{
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return (gearboxParams.neutralGear != gearboxState.currentGear) ? clutchResponseState.commandResponse : 0.0f;
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}
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/**
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\brief Compute the damping rate of the engine.
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\param[in] engineParams describes various damping rates of the engine in different operational states.
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\param[in] gearboxParams holds the index of neutral gear.
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\param[in] gearboxState describes the current gear.
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\param[in] clutchResponseState is the response of the clutch to the clutch command.
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\param[in] throttleResponseState is the response of the throttle to the throttle command.
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\note Engines typically have different damping rates with clutch engaged and disengaged.
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\note Engines typically have different damping rates at different throttle pedal values.
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@see PxVehicleClutchStrengthCompute()
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\note In neutral gear the clutch is considered to be fully disengaged.
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*/
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PX_FORCE_INLINE PxReal PxVehicleEngineDampingRateCompute
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(const PxVehicleEngineParams& engineParams,
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const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState,
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const PxVehicleClutchCommandResponseState& clutchResponseState,
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const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState)
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{
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const PxReal K = (gearboxParams.neutralGear != gearboxState.currentGear) ? clutchResponseState.normalisedCommandResponse : 0.0f;
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const PxReal zeroThrottleDamping = engineParams.dampingRateZeroThrottleClutchEngaged +
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(1.0f - K)* (engineParams.dampingRateZeroThrottleClutchDisengaged - engineParams.dampingRateZeroThrottleClutchEngaged);
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const PxReal appliedThrottle = throttleResponseState.commandResponse;
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const PxReal fullThrottleDamping = engineParams.dampingRateFullThrottle;
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const PxReal engineDamping = zeroThrottleDamping + (fullThrottleDamping - zeroThrottleDamping)*appliedThrottle;
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return engineDamping;
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}
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/**
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\brief Compute the gear ratio delivered by the gearbox in the current gear.
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\param[in] gearboxParams describes the gear ratio of each gear and the final ratio.
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\param[in] gearboxState describes the current gear.
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\note The gear ratio is the product of the gear ratio of the current gear and the final gear ratio of the gearbox.
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*/
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PX_FORCE_INLINE PxReal PxVehicleGearRatioCompute
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(const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState)
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{
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const PxReal gearRatio = gearboxParams.ratios[gearboxState.currentGear] * gearboxParams.finalRatio;
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return gearRatio;
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}
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/**
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\brief Compute the drive torque to deliver to the engine.
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\param[in] engineParams describes the profile of maximum available torque across the full range of engine rotational speed.
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\param[in] engineState describes the engine rotational speed.
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\param[in] throttleCommandResponseState describes the engine's response to input throttle command.
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*/
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PX_FORCE_INLINE PxReal PxVehicleEngineDriveTorqueCompute
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(const PxVehicleEngineParams& engineParams, const PxVehicleEngineState& engineState, const PxVehicleEngineDriveThrottleCommandResponseState& throttleCommandResponseState)
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{
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const PxReal appliedThrottle = throttleCommandResponseState.commandResponse;
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const PxReal peakTorque = engineParams.peakTorque;
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const PxVehicleFixedSizeLookupTable<PxReal, PxVehicleEngineParams::eMAX_NB_ENGINE_TORQUE_CURVE_ENTRIES>& torqueCurve = engineParams.torqueCurve;
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const PxReal normalisedRotSpeed = engineState.rotationSpeed/engineParams.maxOmega;
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const PxReal engineDriveTorque = appliedThrottle*peakTorque*torqueCurve.interpolate(normalisedRotSpeed);
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return engineDriveTorque;
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}
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/**
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@deprecated
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\brief Compute the contribution that each wheel makes to the averaged wheel speed at the clutch plate connected to the wheels driven by
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the differential.
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\param[in] diffParams describes the wheels coupled to the differential and the operation of the torque split at the differential.
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\param[in] nbWheels The number of wheels. Can be larger than the number of wheels connected to the differential.
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\param[out] diffAveWheelSpeedContributions describes the contribution that each wheel makes to the averaged wheel speed at the clutch.
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The buffer needs to be sized to be able to hold at least nbWheels entries.
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\note Any wheel on an axle connected to the differential could have a non-zero value, depending on the way the differential couples to the wheels.
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\note Any wheel on an axle not connected to the differential will have a zero contribution to the averaged wheel speed.
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*/
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void PX_DEPRECATED PxVehicleLegacyDifferentialWheelSpeedContributionsCompute
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(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
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const PxU32 nbWheels, PxReal* diffAveWheelSpeedContributions);
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/**
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@deprecated
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\brief Compute the fraction of available torque that is delivered to each wheel through the differential.
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\param[in] diffParams describes the wheels coupled to the differential and the operation of the torque split at the differential.
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\param[in] wheelOmegas describes the rotational speeds of the wheels. Is expected to have nbWheels entries.
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\param[in] nbWheels The number of wheels. Can be larger than the number of wheels connected to the differential.
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\param[out] diffTorqueRatios describes the fraction of available torque delivered to each wheel.
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The buffer needs to be sized to be able to hold at least nbWheels entries.
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\note Any wheel on an axle connected to the diff could receive a non-zero ratio, depending on the way the differential couples to the wheels.
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\note Any wheel not on an axle connected to the diff will have a zero value.
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\note The sum of all the ratios adds to 1.0.
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\note Slipping wheels driven by the differential will typically receive less torque than non-slipping wheels in the event that the
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differential has a limited slip configuration.
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*/
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void PX_DEPRECATED PxVehicleLegacyDifferentialTorqueRatiosCompute
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(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
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const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelOmegas,
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const PxU32 nbWheels, PxReal* diffTorqueRatios);
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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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