PxVehicleMaths.h

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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#pragma once

#include "foundation/PxSimpleTypes.h"
#include "foundation/PxMemory.h"

#include "PxVehicleLimits.h"

#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif

class PxVehicleVectorN
{
public:
    enum
    {
        eMAX_SIZE = PxVehicleLimits::eMAX_NB_WHEELS + 3
    };

    PxVehicleVectorN(const PxU32 size)
        : mSize(size)
    {
        PX_ASSERT(mSize <= PxVehicleVectorN::eMAX_SIZE);
        PxMemZero(mValues, sizeof(PxReal)*PxVehicleVectorN::eMAX_SIZE);
    }

    ~PxVehicleVectorN()
    {
    }

    PxVehicleVectorN(const PxVehicleVectorN& src)
    {
        for (PxU32 i = 0; i < src.mSize; i++)
        {
            mValues[i] = src.mValues[i];
        }
        mSize = src.mSize;
    }

    PX_FORCE_INLINE PxVehicleVectorN& operator=(const PxVehicleVectorN& src)
    {
        for (PxU32 i = 0; i < src.mSize; i++)
        {
            mValues[i] = src.mValues[i];
        }
        mSize = src.mSize;
        return *this;
    }

    PX_FORCE_INLINE PxReal& operator[] (const PxU32 i)
    {
        PX_ASSERT(i < mSize);
        return (mValues[i]);
    }

    PX_FORCE_INLINE const PxReal& operator[] (const PxU32 i) const
    {
        //PX_ASSERT(i < mSize);
        return (mValues[i]);
    }

    PX_FORCE_INLINE PxU32 getSize() const { return mSize; }

private:

    PxReal mValues[PxVehicleVectorN::eMAX_SIZE];
    PxU32 mSize;
};

class PxVehicleMatrixNN
{
public:

    PxVehicleMatrixNN()
        : mSize(0)
    {
    }

    PxVehicleMatrixNN(const PxU32 size)
        : mSize(size)
    {
        PX_ASSERT(mSize <= PxVehicleVectorN::eMAX_SIZE);
        PxMemZero(mValues, sizeof(PxReal)*PxVehicleVectorN::eMAX_SIZE*PxVehicleVectorN::eMAX_SIZE);
    }

    PxVehicleMatrixNN(const PxVehicleMatrixNN& src)
    {
        for (PxU32 i = 0; i < src.mSize; i++)
        {
            for (PxU32 j = 0; j < src.mSize; j++)
            {
                mValues[i][j] = src.mValues[i][j];
            }
        }
        mSize = src.mSize;
    }

    ~PxVehicleMatrixNN()
    {
    }

    PX_FORCE_INLINE PxVehicleMatrixNN& operator=(const PxVehicleMatrixNN& src)
    {
        for (PxU32 i = 0; i < src.mSize; i++)
        {
            for (PxU32 j = 0; j < src.mSize; j++)
            {
                mValues[i][j] = src.mValues[i][j];
            }
        }
        mSize = src.mSize;
        return *this;
    }

    PX_FORCE_INLINE PxReal get(const PxU32 i, const PxU32 j) const
    {
        PX_ASSERT(i < mSize);
        PX_ASSERT(j < mSize);
        return mValues[i][j];
    }

    PX_FORCE_INLINE void set(const PxU32 i, const PxU32 j, const PxReal val)
    {
        PX_ASSERT(i < mSize);
        PX_ASSERT(j < mSize);
        mValues[i][j] = val;
    }

    PX_FORCE_INLINE PxU32 getSize() const { return mSize; }

    PX_FORCE_INLINE void setSize(const PxU32 size)
    {
        PX_ASSERT(size <= PxVehicleVectorN::eMAX_SIZE);
        mSize = size;
    }

public:

    PxReal mValues[PxVehicleVectorN::eMAX_SIZE][PxVehicleVectorN::eMAX_SIZE];
    PxU32 mSize;
};


/*
    LUPQ decomposition

    Based upon "Outer Product LU with Complete Pivoting," from Matrix Computations (4th Edition), Golub and Van Loan

    Solve A*x = b using:

        MatrixNNLUSolver solver;
        solver.decomposeLU(A);
        solver.solve(b, x);
*/
class PxVehicleMatrixNNLUSolver
{
private:

    PxVehicleMatrixNN mLU;
    PxU32   mP[PxVehicleVectorN::eMAX_SIZE - 1];    // Row permutation
    PxU32   mQ[PxVehicleVectorN::eMAX_SIZE - 1];    // Column permutation
    PxReal  mDetM;

public:

    PxVehicleMatrixNNLUSolver() {}
    ~PxVehicleMatrixNNLUSolver() {}

    PxReal getDet() const { return mDetM; }

    void decomposeLU(const PxVehicleMatrixNN& A);

    //Given a matrix A and a vector b find x that satisfies Ax = b, where the matrix A is the matrix that was passed to #decomposeLU.
    //Returns true if the lu decomposition indicates that the matrix has an inverse and x was successfully computed.
    //Returns false if the lu decomposition resulted in zero determinant ie the matrix has no inverse and no solution exists for x.
    //Returns false if the size of either b or x doesn't match the size of the matrix passed to #decomposeLU.
    //If false is returned then each relevant element of x is set to zero.
    bool solve(const PxVehicleVectorN& b, PxVehicleVectorN& x) const;
};


class PxVehicleMatrixNGaussSeidelSolver
{
public:

    void solve(const PxU32 maxIterations, const PxReal tolerance, const PxVehicleMatrixNN& A, const PxVehicleVectorN& b, PxVehicleVectorN& result) const;
};

class PxVehicleMatrix33Solver
{
public:

    bool solve(const PxVehicleMatrixNN& A_, const PxVehicleVectorN& b_, PxVehicleVectorN& result) const;
};

#if !PX_DOXYGEN
} //namespace vehicle2
} //namespace physx
#endif