include/vehicle2/drivetrain/PxVehicleDrivetrainHelpers.h

File members: include/vehicle2/drivetrain/PxVehicleDrivetrainHelpers.h

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#pragma once

#include "vehicle2/drivetrain/PxVehicleDrivetrainParams.h"
#include "vehicle2/drivetrain/PxVehicleDrivetrainStates.h"

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

struct PxVehicleWheelRigidBody1dState;

PX_FORCE_INLINE PxReal PxVehicleClutchStrengthCompute(const PxVehicleClutchCommandResponseState& clutchResponseState, const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState)
{
    return (gearboxParams.neutralGear != gearboxState.currentGear) ? clutchResponseState.commandResponse : 0.0f;
}

PX_FORCE_INLINE PxReal PxVehicleEngineDampingRateCompute
(const PxVehicleEngineParams& engineParams,
 const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState,
 const PxVehicleClutchCommandResponseState& clutchResponseState,
 const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState)
{
    const PxReal  K = (gearboxParams.neutralGear != gearboxState.currentGear) ? clutchResponseState.normalisedCommandResponse : 0.0f;
    const PxReal zeroThrottleDamping = engineParams.dampingRateZeroThrottleClutchEngaged +
        (1.0f - K)* (engineParams.dampingRateZeroThrottleClutchDisengaged - engineParams.dampingRateZeroThrottleClutchEngaged);
    const PxReal appliedThrottle = throttleResponseState.commandResponse;
    const PxReal fullThrottleDamping = engineParams.dampingRateFullThrottle;
    const PxReal engineDamping = zeroThrottleDamping + (fullThrottleDamping - zeroThrottleDamping)*appliedThrottle;
    return engineDamping;
}

PX_FORCE_INLINE PxReal PxVehicleGearRatioCompute
(const PxVehicleGearboxParams& gearboxParams, const PxVehicleGearboxState& gearboxState)
{
    const PxReal gearRatio = gearboxParams.ratios[gearboxState.currentGear] * gearboxParams.finalRatio;
    return gearRatio;
}

PX_FORCE_INLINE PxReal PxVehicleEngineDriveTorqueCompute
(const PxVehicleEngineParams& engineParams, const PxVehicleEngineState& engineState, const PxVehicleEngineDriveThrottleCommandResponseState& throttleCommandResponseState)
{
    const PxReal appliedThrottle = throttleCommandResponseState.commandResponse;
    const PxReal peakTorque = engineParams.peakTorque;
    const PxVehicleFixedSizeLookupTable<PxReal, PxVehicleEngineParams::eMAX_NB_ENGINE_TORQUE_CURVE_ENTRIES>& torqueCurve = engineParams.torqueCurve;
    const PxReal normalisedRotSpeed = engineState.rotationSpeed/engineParams.maxOmega;
    const PxReal engineDriveTorque = appliedThrottle*peakTorque*torqueCurve.interpolate(normalisedRotSpeed);
    return engineDriveTorque;
}

void PX_DEPRECATED PxVehicleLegacyDifferentialWheelSpeedContributionsCompute
(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
 const PxU32 nbWheels, PxReal* diffAveWheelSpeedContributions);

void PX_DEPRECATED PxVehicleLegacyDifferentialTorqueRatiosCompute
(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelOmegas,
 const PxU32 nbWheels, PxReal* diffTorqueRatios);

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