Runtime controller class. More...

#include <WheeledVehicleController.h>

Inheritance diagram for WheeledVehicleController:

Public Types
using	Differentials = Array< VehicleDifferentialSettings >
	Typedefs. More...

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). More...

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

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. More...

float	GetForwardInput () const

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

float	GetRightInput () const

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

float	GetBrakeInput () const

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

float	GetHandBrakeInput () const

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

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

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

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

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

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) More...

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

void	SetDifferentialLimitedSlipRatio (float inV)

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

const TireMaxImpulseCallback &	GetTireMaxImpulseCallback () const

void	SetTireMaxImpulseCallback (const TireMaxImpulseCallback &inTireMaxImpulseCallback)

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

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

virtual	~VehicleController ()=default

Public Member Functions inherited from RefTarget< VehicleController >
	RefTarget ()=default
	Constructor. More...

	RefTarget (const RefTarget &)

	~RefTarget ()
	assert no one is referencing us More...

void	SetEmbedded () const

RefTarget &	operator= (const RefTarget &)
	Assignment operator. More...

uint32	GetRefCount () const
	Get current refcount of this object. More...

void	AddRef () const
	Add or release a reference to this object. More...

void	Release () const

Public Member Functions inherited from NonCopyable
	NonCopyable ()=default

	NonCopyable (const NonCopyable &)=delete

void	operator= (const NonCopyable &)=delete

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

virtual bool	AllowSleep () const override

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

virtual void	PostCollide (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

virtual Wheel *	ConstructWheel (const WheelSettings &inWheel) const =0

virtual bool	AllowSleep () const =0

virtual void	PreCollide (float inDeltaTime, PhysicsSystem &inPhysicsSystem)=0

virtual void	PostCollide (float inDeltaTime, PhysicsSystem &inPhysicsSystem)=0

virtual bool	SolveLongitudinalAndLateralConstraints (float inDeltaTime)=0

virtual void	SaveState (StateRecorder &inStream) const =0

virtual void	RestoreState (StateRecorder &inStream)=0

virtual void	Draw (DebugRenderer *inRenderer) const =0

Protected Attributes
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. More...

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

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

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

VehicleEngine	mEngine
	Engine state of the vehicle. More...

VehicleTransmission	mTransmission
	Transmission state of the vehicle. More...

Differentials	mDifferentials
	Differential states of the vehicle. More...

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

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

TireMaxImpulseCallback	mTireMaxImpulseCallback

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

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

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

Protected Attributes inherited from RefTarget< VehicleController >
atomic< uint32 >	mRefCount
	Current reference count. More...

Additional Inherited Members
Static Public Member Functions inherited from RefTarget< VehicleController >
static int	sInternalGetRefCountOffset ()
	INTERNAL HELPER FUNCTION USED BY SERIALIZATION. More...

Static Protected Attributes inherited from RefTarget< VehicleController >
static constexpr uint32	cEmbedded
	A large value that gets added to the refcount to mark the object as embedded. More...

Detailed Description

Runtime controller class.

Member Typedef Documentation

◆ Differentials

using WheeledVehicleController::Differentials = Array<VehicleDifferentialSettings>

Typedefs.

◆ TireMaxImpulseCallback

using WheeledVehicleController::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).

Constructor & Destructor Documentation

◆ WheeledVehicleController()

WheeledVehicleController::WheeledVehicleController	(	const WheeledVehicleControllerSettings &	inSettings,
		VehicleConstraint &	inConstraint
	)

Constructor.

Member Function Documentation

◆ AllowSleep()

bool WheeledVehicleController::AllowSleep ( ) const

overrideprotectedvirtual

Implements VehicleController.

◆ ConstructWheel()

virtual Wheel * WheeledVehicleController::ConstructWheel ( const WheelSettings & inWheel ) const

inlineoverrideprotectedvirtual

Implements VehicleController.

◆ Draw()

void WheeledVehicleController::Draw ( DebugRenderer * inRenderer ) const

overrideprotectedvirtual

Implements VehicleController.

Reimplemented in MotorcycleController.

◆ GetBrakeInput()

float WheeledVehicleController::GetBrakeInput ( ) const

inline

◆ GetDifferentialLimitedSlipRatio()

float WheeledVehicleController::GetDifferentialLimitedSlipRatio ( ) const

inline

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

◆ GetDifferentials() [1/2]

Differentials & WheeledVehicleController::GetDifferentials ( )

inline

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

◆ GetDifferentials() [2/2]

const Differentials & WheeledVehicleController::GetDifferentials ( ) const

inline

Get the differentials this vehicle has.

◆ GetEngine() [1/2]

VehicleEngine & WheeledVehicleController::GetEngine ( )

inline

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

◆ GetEngine() [2/2]

const VehicleEngine & WheeledVehicleController::GetEngine ( ) const

inline

Get current engine state.

◆ GetForwardInput()

float WheeledVehicleController::GetForwardInput ( ) const

inline

◆ GetHandBrakeInput()

float WheeledVehicleController::GetHandBrakeInput ( ) const

inline

◆ GetRightInput()

float WheeledVehicleController::GetRightInput ( ) const

inline

◆ GetTireMaxImpulseCallback()

const TireMaxImpulseCallback & WheeledVehicleController::GetTireMaxImpulseCallback ( ) const

inline

◆ GetTransmission() [1/2]

VehicleTransmission & WheeledVehicleController::GetTransmission ( )

inline

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

◆ GetTransmission() [2/2]

const VehicleTransmission & WheeledVehicleController::GetTransmission ( ) const

inline

Get current transmission state.

◆ GetWheelSpeedAtClutch()

float WheeledVehicleController::GetWheelSpeedAtClutch ( ) const

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

◆ PostCollide()

void WheeledVehicleController::PostCollide	(	float	inDeltaTime,
		PhysicsSystem &	inPhysicsSystem
	)

overrideprotectedvirtual

Implements VehicleController.

◆ PreCollide()

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

overrideprotectedvirtual

Implements VehicleController.

Reimplemented in MotorcycleController.

◆ RestoreState()

void WheeledVehicleController::RestoreState ( StateRecorder & inStream )

overrideprotectedvirtual

Implements VehicleController.

Reimplemented in MotorcycleController.

◆ SaveState()

void WheeledVehicleController::SaveState ( StateRecorder & inStream ) const

overrideprotectedvirtual

Implements VehicleController.

Reimplemented in MotorcycleController.

◆ SetBrakeInput()

void WheeledVehicleController::SetBrakeInput ( float inBrake )

inline

Value between 0 and 1 indicating how strong the brake pedal is pressed.

◆ SetDifferentialLimitedSlipRatio()

void WheeledVehicleController::SetDifferentialLimitedSlipRatio ( float inV )

inline

◆ SetDriverInput()

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

inline

Set input from driver

Parameters

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
inRight	Value between -1 and 1 indicating desired steering angle (1 = right)
inBrake	Value between 0 and 1 indicating how strong the brake pedal is pressed
inHandBrake	Value between 0 and 1 indicating how strong the hand brake is pulled

◆ SetForwardInput()

void WheeledVehicleController::SetForwardInput ( float inForward )

inline

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.

◆ SetHandBrakeInput()

void WheeledVehicleController::SetHandBrakeInput ( float inHandBrake )

inline

Value between 0 and 1 indicating how strong the hand brake is pulled.

◆ SetRightInput()

void WheeledVehicleController::SetRightInput ( float inRight )

inline

Value between -1 and 1 indicating desired steering angle (1 = right)

◆ SetRPMMeter()

void WheeledVehicleController::SetRPMMeter	(	Vec3Arg	inPosition,
		float	inSize
	)

inline

Debug drawing of RPM meter.

◆ SetTireMaxImpulseCallback()

void WheeledVehicleController::SetTireMaxImpulseCallback ( const TireMaxImpulseCallback & inTireMaxImpulseCallback )

inline

◆ SolveLongitudinalAndLateralConstraints()

bool WheeledVehicleController::SolveLongitudinalAndLateralConstraints ( float inDeltaTime )

overrideprotectedvirtual

Implements VehicleController.

Reimplemented in MotorcycleController.

Member Data Documentation

◆ mBrakeInput

float WheeledVehicleController::mBrakeInput = 0.0f

protected

Value between 0 and 1 indicating how strong the brake pedal is pressed.

◆ mDifferentialLimitedSlipRatio

float WheeledVehicleController::mDifferentialLimitedSlipRatio

protected

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

◆ mDifferentials

Differentials WheeledVehicleController::mDifferentials

protected

Differential states of the vehicle.

◆ mEngine

VehicleEngine WheeledVehicleController::mEngine

protected

Engine state of the vehicle.

◆ mForwardInput

float WheeledVehicleController::mForwardInput = 0.0f

protected

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.

◆ mHandBrakeInput

float WheeledVehicleController::mHandBrakeInput = 0.0f

protected

Value between 0 and 1 indicating how strong the hand brake is pulled.

◆ mPreviousDeltaTime

float WheeledVehicleController::mPreviousDeltaTime = 0.0f

protected

Delta time of the last step.

◆ mRightInput

float WheeledVehicleController::mRightInput = 0.0f

protected

Value between -1 and 1 indicating desired steering angle.

◆ mRPMMeterPosition

Vec3 WheeledVehicleController::mRPMMeterPosition { 0, 1, 0 }

protected

Position (in local space of the body) of the RPM meter when drawing the constraint.

◆ mRPMMeterSize

float WheeledVehicleController::mRPMMeterSize = 0.5f

protected

Size of the RPM meter when drawing the constraint.

◆ mTireMaxImpulseCallback

TireMaxImpulseCallback WheeledVehicleController::mTireMaxImpulseCallback

protected

Initial value:

=
        [](uint, float &outLongitudinalImpulse, float &outLateralImpulse, float inSuspensionImpulse, float inLongitudinalFriction, float inLateralFriction, float, float, float)
        {
            outLongitudinalImpulse = inLongitudinalFriction * inSuspensionImpulse;
            outLateralImpulse = inLateralFriction * inSuspensionImpulse;
        }

◆ mTransmission

VehicleTransmission WheeledVehicleController::mTransmission

protected

Transmission state of the vehicle.

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

Jolt/Physics/Vehicle/WheeledVehicleController.h
Jolt/Physics/Vehicle/WheeledVehicleController.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Differentials

◆ TireMaxImpulseCallback

Constructor & Destructor Documentation

◆ WheeledVehicleController()

Member Function Documentation

◆ AllowSleep()

◆ ConstructWheel()

◆ Draw()

◆ GetBrakeInput()

◆ GetDifferentialLimitedSlipRatio()

◆ GetDifferentials() [1/2]

◆ GetDifferentials() [2/2]

◆ GetEngine() [1/2]

◆ GetEngine() [2/2]

◆ GetForwardInput()

◆ GetHandBrakeInput()

◆ GetRightInput()

◆ GetTireMaxImpulseCallback()

◆ GetTransmission() [1/2]

◆ GetTransmission() [2/2]

◆ GetWheelSpeedAtClutch()

◆ PostCollide()

◆ PreCollide()

◆ RestoreState()

◆ SaveState()

◆ SetBrakeInput()

◆ SetDifferentialLimitedSlipRatio()

◆ SetDriverInput()

◆ SetForwardInput()

◆ SetHandBrakeInput()

◆ SetRightInput()

◆ SetRPMMeter()

◆ SetTireMaxImpulseCallback()

◆ SolveLongitudinalAndLateralConstraints()

Member Data Documentation

◆ mBrakeInput

◆ mDifferentialLimitedSlipRatio

◆ mDifferentials

◆ mEngine

◆ mForwardInput

◆ mHandBrakeInput

◆ mPreviousDeltaTime

◆ mRightInput

◆ mRPMMeterPosition

◆ mRPMMeterSize

◆ mTireMaxImpulseCallback

◆ mTransmission