PxVehicleDrivetrainFunctions.h

// 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) 2008-2022 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 "vehicle2/PxVehicleParams.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
struct PxVehicleCommandState;
struct PxVehicleDirectDriveTransmissionCommandState;
struct PxVehicleEngineDriveTransmissionCommandState;
struct PxVehicleDirectDriveThrottleCommandResponseParams;
struct PxVehicleWheelActuationState;
struct PxVehicleWheelParams;
struct PxVehicleTireForce;
struct PxVehicleWheelRigidBody1dState;
struct PxVehicleEngineParams;
struct PxVehicleGearboxParams;
struct PxVehicleAutoboxParams;
struct PxVehicleEngineState;
struct PxVehicleGearboxState;
struct PxVehicleAutoboxState;
struct PxVehicleClutchCommandResponseParams;
struct PxVehicleClutchCommandResponseState;
struct PxVehicleEngineDriveThrottleCommandResponseState;
struct PxVehicleDifferentialState;
struct PxVehicleMultiWheelDriveDifferentialParams;
struct PxVehicleFourWheelDriveDifferentialParams;
struct PxVehicleTankDriveDifferentialParams;
struct PxVehicleFourWheelDriveDifferentialLegacyParams;
struct PxVehicleClutchParams;
struct PxVehicleWheelConstraintGroupState;
struct PxVehicleClutchSlipState;
 
void PxVehicleDirectDriveThrottleCommandResponseUpdate
(const PxReal throttle, const PxVehicleDirectDriveTransmissionCommandState& transmissionCommands, const PxReal longitudinalSpeed,
 const PxU32 wheelId, const PxVehicleDirectDriveThrottleCommandResponseParams& throttleResponseParams,
 PxReal& throttleResponseState);
 
void PxVehicleDirectDriveActuationStateUpdate
(const PxReal brakeTorque, const PxReal driveTorque,
 PxVehicleWheelActuationState& actuationState);
 
void PxVehicleDirectDriveUpdate
(const PxVehicleWheelParams& wheelParams,
 const PxVehicleWheelActuationState& actuationState, 
 const PxReal brakeTorque, const PxReal driveTorque, const PxVehicleTireForce& tireForce,
 const PxF32 dt, 
 PxVehicleWheelRigidBody1dState& wheelRigidBody1dState);
 
void PxVehicleAutoBoxUpdate
(const PxVehicleEngineParams& engineParams, const PxVehicleGearboxParams& gearboxParams, const PxVehicleAutoboxParams& autoboxParams,
 const PxVehicleEngineState& engineState, const PxVehicleGearboxState& gearboxState,
 const PxReal dt,
 PxU32& targetGearCommand, PxVehicleAutoboxState& autoboxState,
 PxReal& throttle);
 
void PxVehicleGearCommandResponseUpdate
(const PxU32 targetGearCommand,
    const PxVehicleGearboxParams& gearboxParams,
    PxVehicleGearboxState& gearboxState);
 
void PxVehicleClutchCommandResponseLinearUpdate
(const PxReal clutchCommand,
    const PxVehicleClutchCommandResponseParams& clutchResponseParams,
    PxVehicleClutchCommandResponseState& clutchResponse);
 
void PxVehicleEngineDriveThrottleCommandResponseLinearUpdate
(const PxVehicleCommandState& commands,
    PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse);
 
void PxVehicleEngineDriveActuationStateUpdate
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleGearboxParams& gearboxParams,
 const PxVehicleArrayData<const PxReal>& brakeResponseStates,
 const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState,
 const PxVehicleGearboxState& gearboxState, const PxVehicleDifferentialState& diffState, const PxVehicleClutchCommandResponseState& clutchResponseState,
 PxVehicleArrayData<PxVehicleWheelActuationState>& actuationStates);
 
void PX_DEPRECATED PxVehicleDifferentialStateUpdate
(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
 PxVehicleDifferentialState& diffState);
 
void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription, const PxVehicleFourWheelDriveDifferentialParams& diffParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
 const PxReal dt,
 PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);
 
void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription, const PxVehicleMultiWheelDriveDifferentialParams& diffParams,
 PxVehicleDifferentialState& diffState);
 
void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription, 
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams, const PxVehicleTankDriveDifferentialParams& diffParams,
 const PxReal thrustCommand0, PxReal thrustCommand1,
 PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);
 
 
void PxVehicleGearboxUpdate
(const PxVehicleGearboxParams& gearboxParams, 
 const PxF32 dt, 
 PxVehicleGearboxState& gearboxState);
 
void PxVehicleEngineDrivetrainUpdate
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
 const PxVehicleEngineParams& engineParams, const PxVehicleClutchParams& clutchParams, const PxVehicleGearboxParams& gearboxParams, 
 const PxVehicleArrayData<const PxReal>& brakeResponseStates, 
 const PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
 const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
 const PxVehicleGearboxState& gearboxState, const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse, const PxVehicleClutchCommandResponseState& clutchResponse, 
 const PxVehicleDifferentialState& diffState, const PxVehicleWheelConstraintGroupState* constraintGroupState,
 const PxReal dt,
 PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidbody1dStates,
 PxVehicleEngineState& engineState, PxVehicleClutchSlipState& clutchState);
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif