99 lines
3.8 KiB
C++
99 lines
3.8 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/PxTransform.h"
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#include "foundation/PxVec3.h"
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#include "vehicle2/PxVehicleParams.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 PxVehicleRigidBodyState
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{
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PxTransform pose; //!< the body's pose (in world space)
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PxVec3 linearVelocity; //!< the body's linear velocity (in world space)
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PxVec3 angularVelocity; //!< the body's angular velocity (in world space)
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PxVec3 previousLinearVelocity; //!< the previous linear velocity of the body (in world space)
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PxVec3 previousAngularVelocity; //!< the previous angular velocity of the body (in world space)
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PxVec3 externalForce; //!< external force (in world space) affecting the rigid body (usually excluding gravitational force)
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PxVec3 externalTorque; //!< external torque (in world space) affecting the rigid body
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PX_FORCE_INLINE void setToDefault()
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{
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pose = PxTransform(PxIdentity);
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linearVelocity = PxVec3(PxZero);
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angularVelocity = PxVec3(PxZero);
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externalForce = PxVec3(PxZero);
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externalTorque = PxVec3(PxZero);
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}
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/**
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\brief Compute the vertical speed of the rigid body transformed to the world frame.
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\param[in] frame describes the axes of the vehicle
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*/
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PX_FORCE_INLINE PxReal getVerticalSpeed(const PxVehicleFrame& frame) const
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{
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return linearVelocity.dot(pose.q.rotate(frame.getVrtAxis()));
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}
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/**
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\param[in] frame describes the axes of the vehicle
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\brief Compute the lateral speed of the rigid body transformed to the world frame.
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*/
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PX_FORCE_INLINE PxReal getLateralSpeed(const PxVehicleFrame& frame) const
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{
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return linearVelocity.dot(pose.q.rotate(frame.getLatAxis()));
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}
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/**
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\brief Compute the longitudinal speed of the rigid body transformed to the world frame.
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\param[in] frame describes the axes of the vehicle
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*/
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PX_FORCE_INLINE PxReal getLongitudinalSpeed(const PxVehicleFrame& frame) const
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{
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return linearVelocity.dot(pose.q.rotate(frame.getLngAxis()));
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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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