123 lines
5.6 KiB
C++
123 lines
5.6 KiB
C++
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// 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/PxFoundation.h"
|
|
|
|
#include "vehicle2/PxVehicleParams.h"
|
|
|
|
#include "vehicle2/commands/PxVehicleCommandParams.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
namespace vehicle2
|
|
{
|
|
#endif
|
|
|
|
struct PxVehicleFrame;
|
|
struct PxVehicleScale;
|
|
|
|
/**
|
|
\brief Distribute a steer response to the wheels of a vehicle.
|
|
\note The steer angle applied to each wheel on the ith wheel is steerCommand * maxResponse * wheelResponseMultipliers[i].
|
|
\note A typical use case is to set maxResponse to be the vehicle's maximum achievable steer angle
|
|
that occurs when the steer command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used
|
|
to specify the maximum achievable steer angle per wheel as a fractional multiplier of the vehicle's maximum achievable steer angle.
|
|
*/
|
|
struct PxVehicleSteerCommandResponseParams : public PxVehicleCommandResponseParams
|
|
{
|
|
PX_FORCE_INLINE PxVehicleSteerCommandResponseParams transformAndScale(
|
|
const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
|
|
{
|
|
PX_UNUSED(srcFrame);
|
|
PX_UNUSED(trgFrame);
|
|
PX_UNUSED(srcScale);
|
|
PX_UNUSED(trgScale);
|
|
return *this;
|
|
}
|
|
|
|
PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
|
|
{
|
|
if (!axleDesc.isValid())
|
|
return false;
|
|
for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
|
|
{
|
|
PX_CHECK_AND_RETURN_VAL(PxAbs(maxResponse*wheelResponseMultipliers[axleDesc.wheelIdsInAxleOrder[i]]) <= PxPi,
|
|
"PxVehicleSteerCommandResponseParams.maxResponse*PxVehicleSteerCommandResponseParams.wheelResponseMultipliers[i] must be in range [-Pi, Pi]", false);
|
|
}
|
|
return true;
|
|
}
|
|
};
|
|
|
|
/**
|
|
\brief A description of a single axle that is to be affected by Ackermann steer correction.
|
|
*/
|
|
struct PxVehicleAckermannParams
|
|
{
|
|
PxU32 wheelIds[2]; //!< wheelIds[0] is the id of the wheel that is negative along the lateral axis, wheelIds[1] is the wheel id that is positive along the lateral axis.
|
|
PxReal wheelBase; //!< wheelBase is the longitudinal distance between the axle that is affected by Ackermann correction and a reference axle.
|
|
PxReal trackWidth; //!< trackWidth is the width of the axle specified by #wheelIds
|
|
PxReal strength; //!< is the strength of the correction with 0 denoting no correction and 1 denoting perfect correction.
|
|
|
|
PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
|
|
{
|
|
PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelIds[0] < axleDesc.getNbWheels(), "PxVehicleAckermannParams.wheelIds[0] must be valid wheel", false);
|
|
PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelIds[1] < axleDesc.getNbWheels(), "PxVehicleAckermannParams.wheelIds[1] must be a valid wheel", false);
|
|
PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelIds[0] != wheelIds[1], "PxVehicleAckermannParams.wheelIds[0] and PxVehicleAckermannParams.wheelIds[1] must reference two different wheels", false);
|
|
PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelBase > 0.0f, "PxVehicleAckermannParams.wheelBase must be greater than zero", false);
|
|
PX_CHECK_AND_RETURN_VAL(0.0f == strength || trackWidth > 0.0f, "PxVehicleAckermannParams.trackWidth must be greater than zero", false);
|
|
PX_CHECK_AND_RETURN_VAL(strength >= 0.0f && strength <= 1.0f, "PxVehicleAckermannParams.strength must be in range [0,1]", false);
|
|
PX_UNUSED(axleDesc);
|
|
return true;
|
|
}
|
|
|
|
PX_FORCE_INLINE PxVehicleAckermannParams transformAndScale(
|
|
const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
|
|
{
|
|
PX_UNUSED(srcFrame);
|
|
PX_UNUSED(trgFrame);
|
|
PxVehicleAckermannParams r = *this;
|
|
const PxReal scale = trgScale.scale / srcScale.scale;
|
|
r.wheelBase *= scale;
|
|
r.trackWidth *= scale;
|
|
return r;
|
|
}
|
|
};
|
|
|
|
#if !PX_DOXYGEN
|
|
} // namespace vehicle2
|
|
} // namespace physx
|
|
#endif
|
|
|
|
/** @} */
|