include/vehicle2/steering/PxVehicleSteeringParams.h

File members: include/vehicle2/steering/PxVehicleSteeringParams.h

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#pragma once
#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;

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;
    }
};

struct PxVehicleAckermannParams
{
    PxU32 wheelIds[2];
    PxReal wheelBase;
    PxReal trackWidth;
    PxReal strength;

    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