109 lines
3.5 KiB
C++
109 lines
3.5 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 "foundation/PxSimpleTypes.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxMemory.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 It is useful to know if a brake or drive torque is to be applied to a wheel.
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*/
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struct PxVehicleWheelActuationState
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{
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bool isBrakeApplied; //!< True if a brake torque is applied, false if not.
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bool isDriveApplied; //!< True if a drive torque is applied, false if not.
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleWheelActuationState));
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}
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};
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struct PxVehicleWheelRigidBody1dState
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{
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/**
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\brief The rotation speed of the wheel around the lateral axis.
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<b>Unit:</b> radians / time
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*/
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PxReal rotationSpeed;
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/**
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\brief The corrected rotation speed of the wheel around the lateral axis in radians per second.
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At low forward wheel speed, the wheel rotation speed can get unstable (depending on the tire
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model used) and, for example, oscillate. To integrate the wheel rotation angle, a (potentially)
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blended rotation speed is used which gets stored in #correctedRotationSpeed.
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<b>Unit:</b> radians / time
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@see PxVehicleSimulationContext::thresholdForwardSpeedForWheelAngleIntegration
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*/
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PxReal correctedRotationSpeed;
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/**
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\brief The accumulated angle of the wheel around the lateral axis in radians in range (-2*Pi,2*Pi)
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*/
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PxReal rotationAngle;
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleWheelRigidBody1dState));
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}
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};
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struct PxVehicleWheelLocalPose
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{
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PxTransform localPose; //!< The pose of the wheel in the rigid body frame.
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PX_FORCE_INLINE void setToDefault()
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{
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localPose = PxTransform(PxIdentity);
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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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