390 lines
9.8 KiB
C
390 lines
9.8 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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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#ifndef PX_VEHICLE_UTILSTELEMETRY_H
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#define PX_VEHICLE_UTILSTELEMETRY_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleSDK.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec3.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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#if PX_DEBUG_VEHICLE_ON
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class PxVehicleGraphDesc
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{
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friend class PxVehicleGraph;
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PxVehicleGraphDesc();
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/**
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\brief x-coord of graph centre.
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<b>Range:</b> (0,1)<br>
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*/
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PxReal mPosX;
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/**
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\brief y-coord of graph centre.
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<b>Range:</b> (0,1)<br>
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*/
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PxReal mPosY;
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/**
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\brief x-extents of graph (from mPosX-0.5f*mSizeX to mPosX+0.5f*mSizeX).
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<b>Range:</b> (0,1)<br>
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*/
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PxReal mSizeX;
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/**
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\brief y-extents of graph (from mPosY-0.5f*mSizeY to mPosY+0.5f*mSizeY).
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<b>Range:</b> (0,1)<br>
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*/
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PxReal mSizeY;
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/**
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\brief Background color of graph.
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*/
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PxVec3 mBackgroundColor;
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/**
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\brief Alpha value of background color.
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*/
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PxReal mAlpha;
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private:
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bool isValid() const;
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};
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struct PxVehicleGraphChannelDesc
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{
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public:
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friend class PxVehicleGraph;
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PxVehicleGraphChannelDesc();
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/**
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\brief Data values less than mMinY will be clamped at mMinY.
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*/
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PxReal mMinY;
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/**
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\brief Data values greater than mMaxY will be clamped at mMaxY.
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*/
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PxReal mMaxY;
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/**
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\brief Data values greater than mMidY will be drawn with color mColorHigh.
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\brief Data values less than mMidY will be drawn with color mColorLow.
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*/
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PxReal mMidY;
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/**
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\brief Color used to render data values lower than mMidY.
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*/
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PxVec3 mColorLow;
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/**
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\brief Color used to render data values greater than mMidY.
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*/
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PxVec3 mColorHigh;
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/**
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\brief String to describe data channel.
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*/
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char* mTitle;
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private:
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bool isValid() const;
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};
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class PxVehicleGraph
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{
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public:
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friend class PxVehicleTelemetryData;
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friend class PxVehicleUpdate;
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enum
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{
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eMAX_NUM_SAMPLES=256
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};
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enum
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{
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eMAX_NUM_TITLE_CHARS=256
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};
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enum
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{
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eCHANNEL_JOUNCE=0,
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eCHANNEL_SUSPFORCE,
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eCHANNEL_TIRELOAD,
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eCHANNEL_NORMALIZED_TIRELOAD,
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eCHANNEL_WHEEL_OMEGA,
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eCHANNEL_TIRE_FRICTION,
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eCHANNEL_TIRE_LONG_SLIP,
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eCHANNEL_NORM_TIRE_LONG_FORCE,
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eCHANNEL_TIRE_LAT_SLIP,
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eCHANNEL_NORM_TIRE_LAT_FORCE,
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eCHANNEL_NORM_TIRE_ALIGNING_MOMENT,
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eMAX_NUM_WHEEL_CHANNELS
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};
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enum
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{
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eCHANNEL_ENGINE_REVS=0,
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eCHANNEL_ENGINE_DRIVE_TORQUE,
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eCHANNEL_CLUTCH_SLIP,
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eCHANNEL_ACCEL_CONTROL, //TANK_ACCEL
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eCHANNEL_BRAKE_CONTROL, //TANK_BRAKE_LEFT
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eCHANNEL_HANDBRAKE_CONTROL, //TANK_BRAKE_RIGHT
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eCHANNEL_STEER_LEFT_CONTROL, //TANK_THRUST_LEFT
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eCHANNEL_STEER_RIGHT_CONTROL, //TANK_THRUST_RIGHT
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eCHANNEL_GEAR_RATIO,
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eMAX_NUM_ENGINE_CHANNELS
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};
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enum
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{
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eMAX_NUM_CHANNELS=12
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};
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enum eGraphType
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{
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eGRAPH_TYPE_WHEEL=0,
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eGRAPH_TYPE_ENGINE
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};
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/**
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\brief Setup a graph from a descriptor.
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*/
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void setup(const PxVehicleGraphDesc& desc, const eGraphType graphType);
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/**
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\brief Clear all data recorded in a graph.
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*/
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void clearRecordedChannelData();
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/**
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\brief Get the color of the graph background. Used for rendering a graph.
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*/
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const PxVec3& getBackgroundColor() const {return mBackgroundColor;}
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/**
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\brief Get the alpha transparency of the color of the graph background. Used for rendering a graph.
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*/
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PxReal getBackgroundAlpha() const {return mBackgroundAlpha;}
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/**
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\brief Get the coordinates of the graph background. Used for rendering a graph
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*/
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void getBackgroundCoords(PxReal& xMin, PxReal& yMin, PxReal& xMax, PxReal& yMax) const {xMin = mBackgroundMinX;xMax = mBackgroundMaxX;yMin = mBackgroundMinY;yMax = mBackgroundMaxY;}
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/**
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\brief Compute the coordinates of the graph data of a specific graph channel.
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\brief xy is the graph data stored in order x0,y0,x1,y1,x2,y2...xn,yn.
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\brief colors stores the color of each point on the graph.
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\brief title is the title of the graph.
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*/
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void computeGraphChannel(const PxU32 channel, PxReal* xy, PxVec3* colors, char* title) const;
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private:
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//Min and max of each sample.
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PxReal mChannelMinY[eMAX_NUM_CHANNELS];
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PxReal mChannelMaxY[eMAX_NUM_CHANNELS];
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//Discriminate between high and low values with different colors.
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PxReal mChannelMidY[eMAX_NUM_CHANNELS];
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//Different colors for values than midY and less than midY.
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PxVec3 mChannelColorLow[eMAX_NUM_CHANNELS];
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PxVec3 mChannelColorHigh[eMAX_NUM_CHANNELS];
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//Title of graph
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char mChannelTitle[eMAX_NUM_CHANNELS][eMAX_NUM_TITLE_CHARS];
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//Graph data.
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PxReal mChannelSamples[eMAX_NUM_CHANNELS][eMAX_NUM_SAMPLES];
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//Background color,alpha,coords
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PxVec3 mBackgroundColor;
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PxReal mBackgroundAlpha;
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PxReal mBackgroundMinX;
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PxReal mBackgroundMaxX;
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PxReal mBackgroundMinY;
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PxReal mBackgroundMaxY;
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PxU32 mSampleTide;
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PxU32 mNumChannels;
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PxU32 mPad[2];
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void setup
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(const PxF32 graphSizeX, const PxF32 graphSizeY,
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const PxF32 engineGraphPosX, const PxF32 engineGraphPosY,
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const PxF32* const wheelGraphPosX, const PxF32* const wheelGraphPosY,
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const PxVec3& backgroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
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void updateTimeSlice(const PxReal* const samples);
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void setChannel(PxVehicleGraphChannelDesc& desc, const PxU32 channel);
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void setupEngineGraph
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(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY,
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const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
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void setupWheelGraph
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(const PxF32 sizeX, const PxF32 sizeY, const PxF32 posX, const PxF32 posY,
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const PxVec3& backgoundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
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PxVehicleGraph();
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~PxVehicleGraph();
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};
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PX_COMPILE_TIME_ASSERT(PxU32(PxVehicleGraph::eMAX_NUM_CHANNELS) >= PxU32(PxVehicleGraph::eMAX_NUM_WHEEL_CHANNELS) && PxU32(PxVehicleGraph::eMAX_NUM_CHANNELS) >= PxU32(PxVehicleGraph::eMAX_NUM_ENGINE_CHANNELS));
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleGraph) & 15));
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class PxVehicleTelemetryData
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{
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public:
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friend class PxVehicleUpdate;
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/**
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\brief Allocate a PxVehicleNWTelemetryData instance for a vehicle with 4*numSuspWheelTire4 wheels.
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@see PxVehicleNWTelemetryDataFree
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*/
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static PxVehicleTelemetryData* allocate(const PxU32 numWheels);
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/**
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\brief Free a PxVehicleNWTelemetryData instance for a vehicle.
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@see PxVehicleNWTelemetryDataAllocate
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*/
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void free();
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/**
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\brief Set up all the graphs so that they are ready to record data.
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*/
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void setup
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(const PxReal graphSizeX, const PxReal graphSizeY,
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const PxReal engineGraphPosX, const PxReal engineGraphPosY,
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const PxReal* const wheelGraphPosX, const PxReal* const wheelGraphPosY,
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const PxVec3& backGroundColor, const PxVec3& lineColorHigh, const PxVec3& lineColorLow);
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/**
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\brief Clear the graphs of recorded data.
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*/
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void clear();
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/**
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\brief Get the graph data for the engine
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*/
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const PxVehicleGraph& getEngineGraph() const {return *mEngineGraph;}
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/**
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\brief Get the number of wheel graphs
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*/
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PxU32 getNumWheelGraphs() const {return mNumActiveWheels;}
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/**
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\brief Get the graph data for the kth wheel
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*/
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const PxVehicleGraph& getWheelGraph(const PxU32 k) const {return mWheelGraphs[k];}
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/**
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\brief Get the array of tire force application points so they can be rendered
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*/
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const PxVec3* getTireforceAppPoints() const {return mTireforceAppPoints;}
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/**
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\brief Get the array of susp force application points so they can be rendered
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*/
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const PxVec3* getSuspforceAppPoints() const {return mSuspforceAppPoints;}
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private:
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/**
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\brief Graph data for engine.
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\brief Used for storing single timeslices of debug data for engine graph.
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@see PxVehicleGraph
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*/
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PxVehicleGraph* mEngineGraph;
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/**
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\brief Graph data for each wheel.
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\brief Used for storing single timeslices of debug data for wheel graphs.
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@see PxVehicleGraph
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*/
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PxVehicleGraph* mWheelGraphs;
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/**
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\brief Application point of tire forces.
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*/
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PxVec3* mTireforceAppPoints;
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/**
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\brief Application point of susp forces.
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*/
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PxVec3* mSuspforceAppPoints;
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/**
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\brief Total number of active wheels
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*/
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PxU32 mNumActiveWheels;
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PxU32 mPad[3];
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private:
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PxVehicleTelemetryData(){}
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~PxVehicleTelemetryData(){}
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTelemetryData) & 15));
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#endif //PX_DEBUG_VEHICLE_ON
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//#endif // PX_DEBUG_VEHICLE_ON
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif //PX_VEHICLE_UTILSTELEMETRY_H
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