physxCAPI/physxCDLL/include/vehicle2/steering/PxVehicleSteeringFunctions.h
2023-08-11 10:55:58 +08:00

81 lines
3.6 KiB
C++

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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
/** \addtogroup vehicle2
@{
*/
#include "foundation/PxPreprocessor.h"
#include "foundation/PxSimpleTypes.h"
#include "vehicle2/PxVehicleParams.h"
#include "PxVehicleSteeringParams.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
struct PxVehicleCommandState;
/**
\brief Compute the yaw angle response to a steer command.
\param[in] steer is the input steer command value.
\param[in] longitudinalSpeed is the longitudinal speed of the vehicle.
\param[in] wheelId specifies the wheel to have its steer response computed.
\param[in] steerResponseParmas specifies the per wheel yaw angle response to the steer command as a nonlinear function of steer command and longitudinal speed.
\param[out] steerResponseState is the yaw angle response to the input steer command.
*/
void PxVehicleSteerCommandResponseUpdate
(const PxReal steer, const PxReal longitudinalSpeed,
const PxU32 wheelId, const PxVehicleSteerCommandResponseParams& steerResponseParmas,
PxReal& steerResponseState);
/**
\brief Account for Ackermann correction by modifying the per wheel steer response multipliers to engineer an asymmetric steer response across axles.
\param[in] steer is the input steer command value.
\param[in] steerResponseParmas describes the maximum response and a response multiplier per axle.
\param[in] ackermannParams is an array that describes the wheels affected by Ackerman steer correction.
\param[in,out] steerResponseStates contains the corrected per wheel steer response multipliers that take account of Ackermann steer correction.
*/
void PxVehicleAckermannSteerUpdate
(const PxReal steer, const PxVehicleSteerCommandResponseParams& steerResponseParmas,
const PxVehicleSizedArrayData<const PxVehicleAckermannParams>& ackermannParams,
PxVehicleArrayData<PxReal>& steerResponseStates);
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif
/** @} */