feat(physics): wire physx sdk into build
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76
engine/third_party/physx/include/vehicle2/steering/PxVehicleSteeringFunctions.h
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76
engine/third_party/physx/include/vehicle2/steering/PxVehicleSteeringFunctions.h
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#pragma once
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxSimpleTypes.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "PxVehicleSteeringParams.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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namespace vehicle2
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{
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#endif
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struct PxVehicleCommandState;
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/**
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\brief Compute the yaw angle response to a steer command.
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\param[in] steer is the input steer command value.
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\param[in] longitudinalSpeed is the longitudinal speed of the vehicle.
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\param[in] wheelId specifies the wheel to have its steer response computed.
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\param[in] steerResponseParams specifies the per wheel yaw angle response to the steer command as a nonlinear function of steer command and longitudinal speed.
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\param[out] steerResponseState is the yaw angle response to the input steer command.
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*/
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void PxVehicleSteerCommandResponseUpdate
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(const PxReal steer, const PxReal longitudinalSpeed,
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const PxU32 wheelId, const PxVehicleSteerCommandResponseParams& steerResponseParams,
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PxReal& steerResponseState);
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/**
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\brief Account for Ackermann correction by modifying the per wheel steer response multipliers to engineer an asymmetric steer response across axles.
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\param[in] steer is the input steer command value.
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\param[in] steerResponseParams describes the maximum response and a response multiplier per axle.
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\param[in] ackermannParams is an array that describes the wheels affected by Ackermann steer correction.
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\param[in,out] steerResponseStates contains the corrected per wheel steer response multipliers that take account of Ackermann steer correction.
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*/
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void PxVehicleAckermannSteerUpdate
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(const PxReal steer, const PxVehicleSteerCommandResponseParams& steerResponseParams,
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const PxVehicleSizedArrayData<const PxVehicleAckermannParams>& ackermannParams,
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PxVehicleArrayData<PxReal>& steerResponseStates);
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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118
engine/third_party/physx/include/vehicle2/steering/PxVehicleSteeringParams.h
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118
engine/third_party/physx/include/vehicle2/steering/PxVehicleSteeringParams.h
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@@ -0,0 +1,118 @@
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#pragma once
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#include "foundation/PxFoundation.h"
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#include "vehicle2/PxVehicleParams.h"
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#include "vehicle2/commands/PxVehicleCommandParams.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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namespace vehicle2
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{
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#endif
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struct PxVehicleFrame;
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struct PxVehicleScale;
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/**
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\brief Distribute a steer response to the wheels of a vehicle.
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\note The steer angle applied to each wheel on the ith wheel is steerCommand * maxResponse * wheelResponseMultipliers[i].
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\note A typical use case is to set maxResponse to be the vehicle's maximum achievable steer angle
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that occurs when the steer command is equal to 1.0. The array wheelResponseMultipliers[i] would then be used
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to specify the maximum achievable steer angle per wheel as a fractional multiplier of the vehicle's maximum achievable steer angle.
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*/
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struct PxVehicleSteerCommandResponseParams : public PxVehicleCommandResponseParams
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{
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PX_FORCE_INLINE PxVehicleSteerCommandResponseParams transformAndScale(
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const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
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{
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PX_UNUSED(srcFrame);
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PX_UNUSED(trgFrame);
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PX_UNUSED(srcScale);
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PX_UNUSED(trgScale);
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return *this;
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}
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PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
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{
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if (!axleDesc.isValid())
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return false;
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for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
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{
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PX_CHECK_AND_RETURN_VAL(PxAbs(maxResponse*wheelResponseMultipliers[axleDesc.wheelIdsInAxleOrder[i]]) <= PxPi,
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"PxVehicleSteerCommandResponseParams.maxResponse*PxVehicleSteerCommandResponseParams.wheelResponseMultipliers[i] must be in range [-Pi, Pi]", false);
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}
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return true;
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}
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};
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/**
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\brief A description of a single axle that is to be affected by Ackermann steer correction.
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*/
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struct PxVehicleAckermannParams
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{
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PxU32 wheelIds[2]; //!< wheelIds[0] is the id of the wheel that is negative along the lateral axis, wheelIds[1] is the wheel id that is positive along the lateral axis.
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PxReal wheelBase; //!< wheelBase is the longitudinal distance between the axle that is affected by Ackermann correction and a reference axle.
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PxReal trackWidth; //!< trackWidth is the width of the axle specified by #wheelIds
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PxReal strength; //!< is the strength of the correction with 0 denoting no correction and 1 denoting perfect correction.
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PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
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{
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PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelIds[0] < axleDesc.getNbWheels(), "PxVehicleAckermannParams.wheelIds[0] must be valid wheel", false);
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PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelIds[1] < axleDesc.getNbWheels(), "PxVehicleAckermannParams.wheelIds[1] must be a valid wheel", false);
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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);
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PX_CHECK_AND_RETURN_VAL(0.0f == strength || wheelBase > 0.0f, "PxVehicleAckermannParams.wheelBase must be greater than zero", false);
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PX_CHECK_AND_RETURN_VAL(0.0f == strength || trackWidth > 0.0f, "PxVehicleAckermannParams.trackWidth must be greater than zero", false);
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PX_CHECK_AND_RETURN_VAL(strength >= 0.0f && strength <= 1.0f, "PxVehicleAckermannParams.strength must be in range [0,1]", false);
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PX_UNUSED(axleDesc);
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return true;
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}
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PX_FORCE_INLINE PxVehicleAckermannParams transformAndScale(
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const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
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{
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PX_UNUSED(srcFrame);
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PX_UNUSED(trgFrame);
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PxVehicleAckermannParams r = *this;
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const PxReal scale = trgScale.scale / srcScale.scale;
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r.wheelBase *= scale;
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r.trackWidth *= scale;
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return r;
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}
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};
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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