141 lines
5.1 KiB
C++
141 lines
5.1 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/PxPreprocessor.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxMemory.h"
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#include "vehicle2/PxVehicleLimits.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 A description of the state of commands that are applied to the vehicle
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\note brakes[0] and brakes[1] may be used to distinguish brake and handbrake controls.
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*/
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struct PxVehicleCommandState
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{
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PxReal brakes[2]; //!< The instantaneous state of the brake controllers in range [0,1] with 1 denoting fully pressed and 0 fully depressed.
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PxU32 nbBrakes; //|< The number of brake commands.
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PxReal throttle; //!< The instantaneous state of the throttle controller in range [0,1] with 1 denoting fully pressed and 0 fully depressed.
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PxReal steer; //!< The instantaneous state of the steer controller in range [-1,1].
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleCommandState));
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}
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};
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/**
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\brief A description of the state of transmission-related commands that are applied to a vehicle with direct drive.
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*/
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struct PxVehicleDirectDriveTransmissionCommandState
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{
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/**
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\brief Direct drive vehicles only have reverse, neutral or forward gear.
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*/
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enum Enum
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{
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eREVERSE = 0,
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eNEUTRAL,
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eFORWARD
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};
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Enum gear; //!< The desired gear of the input gear controller.
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleDirectDriveTransmissionCommandState));
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}
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};
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/**
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\brief A description of the state of transmission-related commands that are applied to a vehicle with engine drive.
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*/
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struct PxVehicleEngineDriveTransmissionCommandState
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{
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enum Enum
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{
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/**
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\brief Special gear value to denote the automatic shift mode (often referred to as DRIVE).
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When using automatic transmission, setting this value as target gear will enable automatic
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gear shifts between first and highest gear. If the current gear is a reverse gear or
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the neutral gear, then this value will trigger a shift to first gear. If this value is
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used even though there is no automatic transmission available, the gear state will remain
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unchanged.
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*/
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eAUTOMATIC_GEAR = 0xff
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};
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PxReal clutch; //!< The instantaneous state of the clutch controller in range [0,1] with 1 denoting fully pressed and 0 fully depressed.
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PxU32 targetGear; //!< The desired gear of the input gear controller.
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleEngineDriveTransmissionCommandState));
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}
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};
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/**
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\brief A description of the state of transmission-related commands that are applied to a vehicle with tank drive.
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*/
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struct PxVehicleTankDriveTransmissionCommandState : public PxVehicleEngineDriveTransmissionCommandState
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{
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/**
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\brief The wheels of each tank track are either all connected to thrusts[0] or all connected to thrusts[1].
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\note The thrust commands are used to divert torque from the engine to the wheels of the tank tracks controlled by each thrust.
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\note thrusts[0] and thrusts[1] are in range [-1,1] with the sign dictating whether the thrust will be applied positively or negatively with respect to the gearing ratio.
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*/
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PxReal thrusts[2];
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehicleTankDriveTransmissionCommandState));
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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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