include/vehicle2/PxVehicleMaths.h
File members: include/vehicle2/PxVehicleMaths.h
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// Copyright (c) 2008-2024 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
#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