Runtime controller class. More...

#include <MotorcycleController.h>

Inheritance diagram for MotorcycleController:

Public Member Functions
JPH_OVERRIDE_NEW_DELETE	MotorcycleController (const MotorcycleControllerSettings &inSettings, VehicleConstraint &inConstraint)
	Constructor.

float	GetWheelBase () const
	Get the distance between the front and back wheels.

void	EnableLeanController (bool inEnable)
	Enable or disable the lean spring. This allows you to temporarily disable the lean spring to allow the motorcycle to fall over.

bool	IsLeanControllerEnabled () const
	Check if the lean spring is enabled.

void	EnableLeanSteeringLimit (bool inEnable)
	Enable or disable the lean steering limit. When enabled (default) the steering angle is limited based on the vehicle speed to prevent steering that would cause an inertial force that causes the motorcycle to topple over.

bool	IsLeanSteeringLimitEnabled () const

void	SetLeanSpringConstant (float inConstant)
	Spring constant for the lean spring.

float	GetLeanSpringConstant () const

void	SetLeanSpringDamping (float inDamping)
	Spring damping constant for the lean spring.

float	GetLeanSpringDamping () const

void	SetLeanSpringIntegrationCoefficient (float inCoefficient)
	The lean spring applies an additional force equal to this coefficient * Integral(delta angle, 0, t), this effectively makes the lean spring a PID controller.

float	GetLeanSpringIntegrationCoefficient () const

void	SetLeanSpringIntegrationCoefficientDecay (float inDecay)
	How much to decay the angle integral when the wheels are not touching the floor: new_value = e^(-decay * t) * initial_value.

float	GetLeanSpringIntegrationCoefficientDecay () const

void	SetLeanSmoothingFactor (float inFactor)

float	GetLeanSmoothingFactor () const

Public Member Functions inherited from WheeledVehicleController
JPH_OVERRIDE_NEW_DELETE	WheeledVehicleController (const WheeledVehicleControllerSettings &inSettings, VehicleConstraint &inConstraint)
	Constructor.

void	SetDriverInput (float inForward, float inRight, float inBrake, float inHandBrake)

void	SetForwardInput (float inForward)
	Value between -1 and 1 for auto transmission and value between 0 and 1 indicating desired driving direction and amount the gas pedal is pressed.

float	GetForwardInput () const

void	SetRightInput (float inRight)
	Value between -1 and 1 indicating desired steering angle (1 = right)

float	GetRightInput () const

void	SetBrakeInput (float inBrake)
	Value between 0 and 1 indicating how strong the brake pedal is pressed.

float	GetBrakeInput () const

void	SetHandBrakeInput (float inHandBrake)
	Value between 0 and 1 indicating how strong the hand brake is pulled.

float	GetHandBrakeInput () const

const VehicleEngine &	GetEngine () const
	Get current engine state.

VehicleEngine &	GetEngine ()
	Get current engine state (writable interface, allows you to make changes to the configuration which will take effect the next time step)

const VehicleTransmission &	GetTransmission () const
	Get current transmission state.

VehicleTransmission &	GetTransmission ()
	Get current transmission state (writable interface, allows you to make changes to the configuration which will take effect the next time step)

const Differentials &	GetDifferentials () const
	Get the differentials this vehicle has.

Differentials &	GetDifferentials ()
	Get the differentials this vehicle has (writable interface, allows you to make changes to the configuration which will take effect the next time step)

float	GetDifferentialLimitedSlipRatio () const
	Ratio max / min average wheel speed of each differential (measured at the clutch).

void	SetDifferentialLimitedSlipRatio (float inV)

float	GetWheelSpeedAtClutch () const
	Get the average wheel speed of all driven wheels (measured at the clutch)

const TireMaxImpulseCallback &	GetTireMaxImpulseCallback () const

void	SetTireMaxImpulseCallback (const TireMaxImpulseCallback &inTireMaxImpulseCallback)

void	SetRPMMeter (Vec3Arg inPosition, float inSize)
	Debug drawing of RPM meter.

Public Member Functions inherited from VehicleController
JPH_OVERRIDE_NEW_DELETE	VehicleController (VehicleConstraint &inConstraint)
	Constructor / destructor.

virtual	~VehicleController ()=default

VehicleConstraint &	GetConstraint ()
	Access the vehicle constraint that this controller is part of.

const VehicleConstraint &	GetConstraint () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

Protected Member Functions
virtual void	PreCollide (float inDeltaTime, PhysicsSystem &inPhysicsSystem) override

virtual bool	SolveLongitudinalAndLateralConstraints (float inDeltaTime) override

virtual void	SaveState (StateRecorder &inStream) const override

virtual void	RestoreState (StateRecorder &inStream) override

virtual void	Draw (DebugRenderer *inRenderer) const override

Protected Member Functions inherited from WheeledVehicleController
virtual Wheel *	ConstructWheel (const WheelSettings &inWheel) const override

virtual bool	AllowSleep () const override

virtual void	PostCollide (float inDeltaTime, PhysicsSystem &inPhysicsSystem) override

Protected Member Functions inherited from VehicleController

Protected Attributes
bool	mEnableLeanController = true

bool	mEnableLeanSteeringLimit = true

float	mMaxLeanAngle

float	mLeanSpringConstant

float	mLeanSpringDamping

float	mLeanSpringIntegrationCoefficient

float	mLeanSpringIntegrationCoefficientDecay

float	mLeanSmoothingFactor

Vec3	mTargetLean = Vec3::sZero()

float	mLeanSpringIntegratedDeltaAngle = 0.0f

float	mAppliedImpulse = 0.0f

Protected Attributes inherited from WheeledVehicleController
float	mForwardInput = 0.0f
	Value between -1 and 1 for auto transmission and value between 0 and 1 indicating desired driving direction and amount the gas pedal is pressed.

float	mRightInput = 0.0f
	Value between -1 and 1 indicating desired steering angle.

float	mBrakeInput = 0.0f
	Value between 0 and 1 indicating how strong the brake pedal is pressed.

float	mHandBrakeInput = 0.0f
	Value between 0 and 1 indicating how strong the hand brake is pulled.

VehicleEngine	mEngine
	Engine state of the vehicle.

VehicleTransmission	mTransmission
	Transmission state of the vehicle.

Differentials	mDifferentials
	Differential states of the vehicle.

float	mDifferentialLimitedSlipRatio
	Ratio max / min average wheel speed of each differential (measured at the clutch).

float	mPreviousDeltaTime = 0.0f
	Delta time of the last step.

TireMaxImpulseCallback	mTireMaxImpulseCallback

Vec3	mRPMMeterPosition { 0, 1, 0 }
	Position (in local space of the body) of the RPM meter when drawing the constraint.

float	mRPMMeterSize = 0.5f
	Size of the RPM meter when drawing the constraint.

Protected Attributes inherited from VehicleController
VehicleConstraint &	mConstraint
	The vehicle constraint we belong to.

Additional Inherited Members
Public Types inherited from WheeledVehicleController
using	Differentials = Array<VehicleDifferentialSettings>
	Typedefs.

using	TireMaxImpulseCallback = function<void(uint inWheelIndex, float &outLongitudinalImpulse, float &outLateralImpulse, float inSuspensionImpulse, float inLongitudinalFriction, float inLateralFriction, float inLongitudinalSlip, float inLateralSlip, float inDeltaTime)>
	Calculate max tire impulses by combining friction, slip, and suspension impulse. Note that the actual applied impulse may be lower (e.g. when the vehicle is stationary on a horizontal surface the actual impulse applied will be 0).

Detailed Description

Runtime controller class.

Constructor & Destructor Documentation

◆ MotorcycleController()

MotorcycleController::MotorcycleController	(	const MotorcycleControllerSettings &	inSettings,
		VehicleConstraint &	inConstraint )

Constructor.

Member Function Documentation

◆ Draw()

void MotorcycleController::Draw ( DebugRenderer * inRenderer ) const

overrideprotectedvirtual

Reimplemented from WheeledVehicleController.

◆ EnableLeanController()

void MotorcycleController::EnableLeanController ( bool inEnable )

inline

Enable or disable the lean spring. This allows you to temporarily disable the lean spring to allow the motorcycle to fall over.

◆ EnableLeanSteeringLimit()

void MotorcycleController::EnableLeanSteeringLimit ( bool inEnable )

inline

Enable or disable the lean steering limit. When enabled (default) the steering angle is limited based on the vehicle speed to prevent steering that would cause an inertial force that causes the motorcycle to topple over.

◆ GetLeanSmoothingFactor()

float MotorcycleController::GetLeanSmoothingFactor ( ) const

inline

◆ GetLeanSpringConstant()

float MotorcycleController::GetLeanSpringConstant ( ) const

inline

◆ GetLeanSpringDamping()

float MotorcycleController::GetLeanSpringDamping ( ) const

inline

◆ GetLeanSpringIntegrationCoefficient()

float MotorcycleController::GetLeanSpringIntegrationCoefficient ( ) const

inline

◆ GetLeanSpringIntegrationCoefficientDecay()

float MotorcycleController::GetLeanSpringIntegrationCoefficientDecay ( ) const

inline

◆ GetWheelBase()

float MotorcycleController::GetWheelBase ( ) const

Get the distance between the front and back wheels.

◆ IsLeanControllerEnabled()

bool MotorcycleController::IsLeanControllerEnabled ( ) const

inline

Check if the lean spring is enabled.

◆ IsLeanSteeringLimitEnabled()

bool MotorcycleController::IsLeanSteeringLimitEnabled ( ) const

inline

◆ PreCollide()

void MotorcycleController::PreCollide	(	float	inDeltaTime,
		PhysicsSystem &	inPhysicsSystem )

overrideprotectedvirtual

Reimplemented from WheeledVehicleController.

◆ RestoreState()

void MotorcycleController::RestoreState ( StateRecorder & inStream )

overrideprotectedvirtual

Reimplemented from WheeledVehicleController.

◆ SaveState()

void MotorcycleController::SaveState ( StateRecorder & inStream ) const

overrideprotectedvirtual

Reimplemented from WheeledVehicleController.

◆ SetLeanSmoothingFactor()

void MotorcycleController::SetLeanSmoothingFactor ( float inFactor )

inline

How much to smooth the lean angle (0 = no smoothing, 1 = lean angle never changes) Note that this is frame rate dependent because the formula is: smoothing_factor * previous + (1 - smoothing_factor) * current

◆ SetLeanSpringConstant()

void MotorcycleController::SetLeanSpringConstant ( float inConstant )

inline

Spring constant for the lean spring.

◆ SetLeanSpringDamping()

void MotorcycleController::SetLeanSpringDamping ( float inDamping )

inline

Spring damping constant for the lean spring.

◆ SetLeanSpringIntegrationCoefficient()

void MotorcycleController::SetLeanSpringIntegrationCoefficient ( float inCoefficient )

inline

The lean spring applies an additional force equal to this coefficient * Integral(delta angle, 0, t), this effectively makes the lean spring a PID controller.

◆ SetLeanSpringIntegrationCoefficientDecay()

void MotorcycleController::SetLeanSpringIntegrationCoefficientDecay ( float inDecay )

inline

How much to decay the angle integral when the wheels are not touching the floor: new_value = e^(-decay * t) * initial_value.

◆ SolveLongitudinalAndLateralConstraints()

bool MotorcycleController::SolveLongitudinalAndLateralConstraints ( float inDeltaTime )

overrideprotectedvirtual

Reimplemented from WheeledVehicleController.

Member Data Documentation

◆ mAppliedImpulse

float MotorcycleController::mAppliedImpulse = 0.0f

protected

◆ mEnableLeanController

bool MotorcycleController::mEnableLeanController = true

protected

◆ mEnableLeanSteeringLimit

bool MotorcycleController::mEnableLeanSteeringLimit = true

protected

◆ mLeanSmoothingFactor

float MotorcycleController::mLeanSmoothingFactor

protected

◆ mLeanSpringConstant

float MotorcycleController::mLeanSpringConstant

protected

◆ mLeanSpringDamping

float MotorcycleController::mLeanSpringDamping

protected

◆ mLeanSpringIntegratedDeltaAngle

float MotorcycleController::mLeanSpringIntegratedDeltaAngle = 0.0f

protected

◆ mLeanSpringIntegrationCoefficient

float MotorcycleController::mLeanSpringIntegrationCoefficient

protected

◆ mLeanSpringIntegrationCoefficientDecay

float MotorcycleController::mLeanSpringIntegrationCoefficientDecay

protected

◆ mMaxLeanAngle

float MotorcycleController::mMaxLeanAngle

protected

◆ mTargetLean

Vec3 MotorcycleController::mTargetLean = Vec3::sZero()

protected

The documentation for this class was generated from the following files:

Jolt/Physics/Vehicle/MotorcycleController.h
Jolt/Physics/Vehicle/MotorcycleController.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ MotorcycleController()

Member Function Documentation

◆ Draw()

◆ EnableLeanController()

◆ EnableLeanSteeringLimit()

◆ GetLeanSmoothingFactor()

◆ GetLeanSpringConstant()

◆ GetLeanSpringDamping()

◆ GetLeanSpringIntegrationCoefficient()

◆ GetLeanSpringIntegrationCoefficientDecay()

◆ GetWheelBase()

◆ IsLeanControllerEnabled()

◆ IsLeanSteeringLimitEnabled()

◆ PreCollide()

◆ RestoreState()

◆ SaveState()

◆ SetLeanSmoothingFactor()

◆ SetLeanSpringConstant()

◆ SetLeanSpringDamping()

◆ SetLeanSpringIntegrationCoefficient()

◆ SetLeanSpringIntegrationCoefficientDecay()

◆ SolveLongitudinalAndLateralConstraints()

Member Data Documentation

◆ mAppliedImpulse

◆ mEnableLeanController

◆ mEnableLeanSteeringLimit

◆ mLeanSmoothingFactor

◆ mLeanSpringConstant

◆ mLeanSpringDamping

◆ mLeanSpringIntegratedDeltaAngle

◆ mLeanSpringIntegrationCoefficient

◆ mLeanSpringIntegrationCoefficientDecay

◆ mMaxLeanAngle

◆ mTargetLean