PxVehicleTireParams.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#pragma once
 
#include "foundation/PxFoundation.h"
 
#include "vehicle2/PxVehicleParams.h"
 
#include "PxVehicleTireStates.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
struct PxVehicleTireForceParams
{
    PxReal latStiffX;
 
    PxReal latStiffY;
 
    PxReal longStiff;
 
    PxReal camberStiff;
 
    PxReal frictionVsSlip[3][2]; //3 (x,y) points
 
    PxReal restLoad;
 
    PxReal loadFilter[2][2]; //2 (x,y) points
 
    PX_FORCE_INLINE PxVehicleTireForceParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PxVehicleTireForceParams r = *this;
        const PxReal scale = trgScale.scale / srcScale.scale;
        r.latStiffY *= scale;
        r.longStiff *= scale;
        r.camberStiff *= scale;
        r.restLoad *= scale;
        return r;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(latStiffX >= 0, "PxVehicleTireForceParams.latStiffX must be greater than or equal to zero", false);
        PX_CHECK_AND_RETURN_VAL(latStiffY > 0, "PxVehicleTireForceParams.latStiffY must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(longStiff > 0, "PxVehicleTireForceParams.longStiff must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(camberStiff >= 0, "PxVehicleTireForceParams.camberStiff must be greater than or equal zero", false);
        PX_CHECK_AND_RETURN_VAL(restLoad > 0, "PxVehicleTireForceParams.restLoad must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(loadFilter[1][0] >= loadFilter[0][0], "PxVehicleTireForceParams.loadFilter[1][0] must be greater than or equal to PxVehicleTireForceParams.loadFilter[0][0]", false);
        PX_CHECK_AND_RETURN_VAL(loadFilter[1][1] > 0, "PxVehicleTireLoadFilterData.loadFilter[1][1] must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(0.0f == loadFilter[0][0], "PxVehicleTireLoadFilterData.loadFilter[0][0] must be equal to zero", false);
        PX_CHECK_AND_RETURN_VAL(frictionVsSlip[0][0] >= 0.0f && frictionVsSlip[0][1] >= 0.0f, "Illegal values for frictionVsSlip[0]", false);
        PX_CHECK_AND_RETURN_VAL(frictionVsSlip[1][0] >= 0.0f && frictionVsSlip[1][1] >= 0.0f, "Illegal values for frictionVsSlip[1]", false);
        PX_CHECK_AND_RETURN_VAL(frictionVsSlip[2][0] >= 0.0f && frictionVsSlip[2][1] >= 0.0f, "Illegal values for frictionVsSlip[2]", false);
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif