Newton Dynamics
4.00
ndMultiBodyVehicleDifferential.h
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/* Copyright (c) <2003-2022> <Julio Jerez, Newton Game Dynamics>
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef __ND_MULTIBODY_VEHICLE_DIFFERENTIAL_H__
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#define __ND_MULTIBODY_VEHICLE_DIFFERENTIAL_H__
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#include "ndNewtonStdafx.h"
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#include "ndJointBilateralConstraint.h"
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#define D_MINIMUM_SLIP_OMEGA ndFloat32 (2.0f)
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class
ndMultiBodyVehicleDifferential
:
public
ndJointBilateralConstraint
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{
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public
:
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D_CLASS_REFLECTION(
ndMultiBodyVehicleDifferential
);
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D_NEWTON_API
ndMultiBodyVehicleDifferential
(
const
ndLoadSaveBase::ndLoadDescriptor
& desc);
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D_NEWTON_API
ndMultiBodyVehicleDifferential
(
ndBodyKinematic
*
const
differential,
ndBodyKinematic
*
const
chassis, ndFloat32 slipOmegaLock);
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ndFloat32 GetSlipOmega()
const
;
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void
SetSlipOmega(ndFloat32 speed);
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protected
:
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void
AlignMatrix();
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void
DebugJoint(
ndConstraintDebugCallback
&)
const
{}
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void
JacobianDerivative(
ndConstraintDescritor
& desc);
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void
Save(
const
ndLoadSaveBase::ndSaveDescriptor
& desc)
const
;
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friend
class
ndMultiBodyVehicle
;
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ndFloat32 m_limitedSlipOmega;
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};
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inline
ndFloat32 ndMultiBodyVehicleDifferential::GetSlipOmega()
const
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{
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return
m_limitedSlipOmega;
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}
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inline
void
ndMultiBodyVehicleDifferential::SetSlipOmega(ndFloat32 omega)
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{
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m_limitedSlipOmega = ndMax(D_MINIMUM_SLIP_OMEGA, ndAbs(omega));
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}
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#endif
ndMultiBodyVehicle
Definition:
ndMultiBodyVehicle.h:41
ndConstraintDescritor
Definition:
ndConstraint.h:179
ndJointBilateralConstraint
Definition:
ndJointBilateralConstraint.h:53
ndConstraintDebugCallback
Definition:
ndConstraint.h:42
ndBodyKinematic
Definition:
ndBodyKinematic.h:40
ndLoadSaveBase::ndLoadDescriptor
Definition:
ndSaveLoadSytem.h:59
ndLoadSaveBase::ndSaveDescriptor
Definition:
ndSaveLoadSytem.h:93
ndMultiBodyVehicleDifferential
Definition:
ndMultiBodyVehicleDifferential.h:31
newton-dynamics
newton-4.00
sdk
dNewton
dModels
dVehicle
ndMultiBodyVehicleDifferential.h
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