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  108.   <div class="headertitle"><div class="title">MotorcycleController.h</div></div>
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  110. <div class="contents">
    111. 

  111. <a href="_motorcycle_controller_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)</span></div>
    112. 

  112. <div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment">// SPDX-FileCopyrightText: 2023 Jorrit Rouwe</span></div>
    113. 

  113. <div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment">// SPDX-License-Identifier: MIT</span></div>
    114. 

  114. <div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span> </div>
    115. 

  115. <div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#pragma once</span></div>
    116. 

  116. <div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
    117. 

  117. <div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#include &lt;<a class="code" href="_wheeled_vehicle_controller_8h.html">Jolt/Physics/Vehicle/WheeledVehicleController.h</a>&gt;</span></div>
    118. 

  118. <div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span> </div>
    119. 

  119. <div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><a class="code hl_define" href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div>
    120. 

  120. <div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
    121. 

  121. <div class="foldopen" id="foldopen00013" data-start="{" data-end="};">
    122. 

  122. <div class="line"><a id="l00013" name="l00013"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html">   13</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_motorcycle_controller_settings.html">MotorcycleControllerSettings</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_wheeled_vehicle_controller_settings.html">WheeledVehicleControllerSettings</a></div>
    123. 

  123. <div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span>{</div>
    124. 

  124. <div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>    <a class="code hl_define" href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a>(<a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a>, <a class="code hl_class" href="class_motorcycle_controller_settings.html">MotorcycleControllerSettings</a>)</div>
    125. 

  125. <div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span> </div>
    126. 

  126. <div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">public</span>:</div>
    127. 

  127. <div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>    <span class="comment">// See: VehicleControllerSettings</span></div>
    128. 

  128. <div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_vehicle_controller.html">VehicleController</a> * <a class="code hl_function" href="class_wheeled_vehicle_controller_settings.html#a6ab2f1877dd58bc447f4392b553bfb6a">ConstructController</a>(<a class="code hl_class" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint) <span class="keyword">const override</span>;</div>
    129. 

  129. <div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_wheeled_vehicle_controller_settings.html#ae82335336bab2f06e41dc7ae4325f394">SaveBinaryState</a>(<a class="code hl_class" href="class_stream_out.html">StreamOut</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    130. 

  130. <div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                <a class="code hl_function" href="class_wheeled_vehicle_controller_settings.html#a2521d5acd5088a1110c5abf5df948734">RestoreBinaryState</a>(<a class="code hl_class" href="class_stream_in.html">StreamIn</a> &amp;inStream) <span class="keyword">override</span>;</div>
    131. 

  131. <div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span> </div>
    132. 

  132. <div class="line"><a id="l00024" name="l00024"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#a0dac3fbd774847fa6fa66631b7cc2e91">   24</a></span>    <span class="keywordtype">float</span>                       mMaxLeanAngle = <a class="code hl_function" href="_math_8h.html#a636689581f2a6ce1d3030dc4dd83b2f5">DegreesToRadians</a>(45.0f);</div>
    133. 

  133. <div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
    134. 

  134. <div class="line"><a id="l00027" name="l00027"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#a89d4563cd7e9659a4fcdc2c7b34832d9">   27</a></span>    <span class="keywordtype">float</span>                       mLeanSpringConstant = 5000.0f;</div>
    135. 

  135. <div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span> </div>
    136. 

  136. <div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#a1b4a9d49c0305c91955ce074881d46b0">   30</a></span>    <span class="keywordtype">float</span>                       mLeanSpringDamping = 1000.0f;</div>
    137. 

  137. <div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span> </div>
    138. 

  138. <div class="line"><a id="l00033" name="l00033"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#a1dbe2b657773dabc46548a4b14a09446">   33</a></span>    <span class="keywordtype">float</span>                       mLeanSpringIntegrationCoefficient = 0.0f;</div>
    139. 

  139. <div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span> </div>
    140. 

  140. <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#ab0a0e9d685c79d159bfab4736a578273">   36</a></span>    <span class="keywordtype">float</span>                       mLeanSpringIntegrationCoefficientDecay = 4.0f;</div>
    141. 

  141. <div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span> </div>
    142. 

  142. <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="class_motorcycle_controller_settings.html#ab432e48f3f8bf7836d0b6c2ea9745a8f">   40</a></span>    <span class="keywordtype">float</span>                       mLeanSmoothingFactor = 0.8f;</div>
    143. 

  143. <div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>};</div>
    144. 

  144. </div>
    145. 

  145. <div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span> </div>
    146. 

  146. <div class="foldopen" id="foldopen00044" data-start="{" data-end="};">
    147. 

  147. <div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html">   44</a></span><span class="keyword">class </span><a class="code hl_define" href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a> <a class="code hl_class" href="class_motorcycle_controller.html">MotorcycleController</a> : <span class="keyword">public</span> <a class="code hl_class" href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></div>
    148. 

  148. <div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>{</div>
    149. 

  149. <div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span><span class="keyword">public</span>:</div>
    150. 

  150. <div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>    <a class="code hl_define" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div>
    151. 

  151. <div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span> </div>
    152. 

  152. <div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>                                <a class="code hl_class" href="class_motorcycle_controller.html">MotorcycleController</a>(<span class="keyword">const</span> <a class="code hl_class" href="class_motorcycle_controller_settings.html">MotorcycleControllerSettings</a> &amp;inSettings, <a class="code hl_class" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint);</div>
    153. 

  153. <div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
    154. 

  154. <div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span>    <span class="keywordtype">float</span>                       GetWheelBase() <span class="keyword">const</span>;</div>
    155. 

  155. <div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span> </div>
    156. 

  156. <div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#ac0d6c78cc5ee2dd850f535a972875df8">   56</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#ac0d6c78cc5ee2dd850f535a972875df8">EnableLeanController</a>(<span class="keywordtype">bool</span> inEnable)                 { mEnableLeanController = inEnable; }</div>
    157. 

  157. <div class="line"><a id="l00057" name="l00057"></a><span class="lineno">   57</span> </div>
    158. 

  158. <div class="line"><a id="l00059" name="l00059"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a45023171410fa8b5abcdce36068dd10c">   59</a></span>    <span class="keywordtype">bool</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#a45023171410fa8b5abcdce36068dd10c">IsLeanControllerEnabled</a>()<span class="keyword"> const                     </span>{ <span class="keywordflow">return</span> mEnableLeanController; }</div>
    159. 

  159. <div class="line"><a id="l00060" name="l00060"></a><span class="lineno">   60</span> </div>
    160. 

  160. <div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a70f9325f8dde2c3ef76148f45332fc1a">   62</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#a70f9325f8dde2c3ef76148f45332fc1a">EnableLeanSteeringLimit</a>(<span class="keywordtype">bool</span> inEnable)              { mEnableLeanSteeringLimit = inEnable; }</div>
    161. 

  161. <div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#ab992be424860c4da8e88968ca7cbe45b">   63</a></span>    <span class="keywordtype">bool</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#ab992be424860c4da8e88968ca7cbe45b">IsLeanSteeringLimitEnabled</a>()<span class="keyword"> const                  </span>{ <span class="keywordflow">return</span> mEnableLeanSteeringLimit; }</div>
    162. 

  162. <div class="line"><a id="l00064" name="l00064"></a><span class="lineno">   64</span> </div>
    163. 

  163. <div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#aaa1568ff36c906b58c45ea69724bb67a">   66</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#aaa1568ff36c906b58c45ea69724bb67a">SetLeanSpringConstant</a>(<span class="keywordtype">float</span> inConstant)             { mLeanSpringConstant = inConstant; }</div>
    164. 

  164. <div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a7e63f90a4b0c4a787374c1724d3999d6">   67</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_motorcycle_controller.html#a7e63f90a4b0c4a787374c1724d3999d6">GetLeanSpringConstant</a>()<span class="keyword"> const                       </span>{ <span class="keywordflow">return</span> mLeanSpringConstant; }</div>
    165. 

  165. <div class="line"><a id="l00068" name="l00068"></a><span class="lineno">   68</span> </div>
    166. 

  166. <div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#aaf88f2fed53bad1a7fa94521097b68a5">   70</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#aaf88f2fed53bad1a7fa94521097b68a5">SetLeanSpringDamping</a>(<span class="keywordtype">float</span> inDamping)               { mLeanSpringDamping = inDamping; }</div>
    167. 

  167. <div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#adfe9afcb3c52f6f6012f61e55cb9fc1d">   71</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_motorcycle_controller.html#adfe9afcb3c52f6f6012f61e55cb9fc1d">GetLeanSpringDamping</a>()<span class="keyword"> const                        </span>{ <span class="keywordflow">return</span> mLeanSpringDamping; }</div>
    168. 

  168. <div class="line"><a id="l00072" name="l00072"></a><span class="lineno">   72</span> </div>
    169. 

  169. <div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#af2c273bd46e6a59e6b818949d294d4ef">   74</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#af2c273bd46e6a59e6b818949d294d4ef">SetLeanSpringIntegrationCoefficient</a>(<span class="keywordtype">float</span> inCoefficient) { mLeanSpringIntegrationCoefficient = inCoefficient; }</div>
    170. 

  170. <div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#ad4a48da07b7959ee53165b149d82c7e9">   75</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_motorcycle_controller.html#ad4a48da07b7959ee53165b149d82c7e9">GetLeanSpringIntegrationCoefficient</a>()<span class="keyword"> const         </span>{ <span class="keywordflow">return</span> mLeanSpringIntegrationCoefficient; }</div>
    171. 

  171. <div class="line"><a id="l00076" name="l00076"></a><span class="lineno">   76</span> </div>
    172. 

  172. <div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#adc5db8e0b1290ccf6ea77676d129cb1a">   78</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#adc5db8e0b1290ccf6ea77676d129cb1a">SetLeanSpringIntegrationCoefficientDecay</a>(<span class="keywordtype">float</span> inDecay) { mLeanSpringIntegrationCoefficientDecay = inDecay; }</div>
    173. 

  173. <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a52a7c8e605868fe0905235c8baa598b0">   79</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_motorcycle_controller.html#a52a7c8e605868fe0905235c8baa598b0">GetLeanSpringIntegrationCoefficientDecay</a>()<span class="keyword"> const    </span>{ <span class="keywordflow">return</span> mLeanSpringIntegrationCoefficientDecay; }</div>
    174. 

  174. <div class="line"><a id="l00080" name="l00080"></a><span class="lineno">   80</span> </div>
    175. 

  175. <div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a209159d85e6c261382551e7fe12afd18">   83</a></span>    <span class="keywordtype">void</span>                        <a class="code hl_function" href="class_motorcycle_controller.html#a209159d85e6c261382551e7fe12afd18">SetLeanSmoothingFactor</a>(<span class="keywordtype">float</span> inFactor)              { mLeanSmoothingFactor = inFactor; }</div>
    176. 

  176. <div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a9d7a05e2d9311d373f33354e4d75e543">   84</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_function" href="class_motorcycle_controller.html#a9d7a05e2d9311d373f33354e4d75e543">GetLeanSmoothingFactor</a>()<span class="keyword"> const                      </span>{ <span class="keywordflow">return</span> mLeanSmoothingFactor; }</div>
    177. 

  177. <div class="line"><a id="l00085" name="l00085"></a><span class="lineno">   85</span> </div>
    178. 

  178. <div class="line"><a id="l00086" name="l00086"></a><span class="lineno">   86</span>    <span class="comment">// See: VehicleController</span></div>
    179. 

  179. <div class="line"><a id="l00087" name="l00087"></a><span class="lineno">   87</span>    <span class="keyword">virtual</span> <a class="code hl_class" href="class_ref.html">Ref&lt;VehicleControllerSettings&gt;</a> GetSettings() <span class="keyword">const override</span>;</div>
    180. 

  180. <div class="line"><a id="l00088" name="l00088"></a><span class="lineno">   88</span> </div>
    181. 

  181. <div class="line"><a id="l00089" name="l00089"></a><span class="lineno">   89</span><span class="keyword">protected</span>:</div>
    182. 

  182. <div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>    <span class="comment">// See: VehicleController</span></div>
    183. 

  183. <div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                PreCollide(<span class="keywordtype">float</span> inDeltaTime, <a class="code hl_class" href="class_physics_system.html">PhysicsSystem</a> &amp;inPhysicsSystem) <span class="keyword">override</span>;</div>
    184. 

  184. <div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>    <span class="keyword">virtual</span> <span class="keywordtype">bool</span>                SolveLongitudinalAndLateralConstraints(<span class="keywordtype">float</span> inDeltaTime) <span class="keyword">override</span>;</div>
    185. 

  185. <div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                SaveState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">const override</span>;</div>
    186. 

  186. <div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                RestoreState(<a class="code hl_class" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) <span class="keyword">override</span>;</div>
    187. 

  187. <div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span><span class="preprocessor">#ifdef JPH_DEBUG_RENDERER</span></div>
    188. 

  188. <div class="line"><a id="l00096" name="l00096"></a><span class="lineno">   96</span>    <span class="keyword">virtual</span> <span class="keywordtype">void</span>                Draw(<a class="code hl_class" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) <span class="keyword">const override</span>;</div>
    189. 

  189. <div class="line"><a id="l00097" name="l00097"></a><span class="lineno">   97</span><span class="preprocessor">#endif </span><span class="comment">// JPH_DEBUG_RENDERER</span></div>
    190. 

  190. <div class="line"><a id="l00098" name="l00098"></a><span class="lineno">   98</span> </div>
    191. 

  191. <div class="line"><a id="l00099" name="l00099"></a><span class="lineno">   99</span>    <span class="comment">// Configuration properties</span></div>
    192. 

  192. <div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a2d5d508db4203835f4b683a1eea97615">  100</a></span>    <span class="keywordtype">bool</span>                        mEnableLeanController = <span class="keyword">true</span>;</div>
    193. 

  193. <div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#ad3494edd19039ec352b2454a9fc883e3">  101</a></span>    <span class="keywordtype">bool</span>                        mEnableLeanSteeringLimit = <span class="keyword">true</span>;</div>
    194. 

  194. <div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a55d13eac40efa2eef9a7d87f23c39405">  102</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a55d13eac40efa2eef9a7d87f23c39405">mMaxLeanAngle</a>;</div>
    195. 

  195. <div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a688718567a63ba567e52c13dab088373">  103</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a688718567a63ba567e52c13dab088373">mLeanSpringConstant</a>;</div>
    196. 

  196. <div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a97fa55bb4283d82101118a7cb3c789b8">  104</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a97fa55bb4283d82101118a7cb3c789b8">mLeanSpringDamping</a>;</div>
    197. 

  197. <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a159abc09d514573ce94519c424244a11">  105</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a159abc09d514573ce94519c424244a11">mLeanSpringIntegrationCoefficient</a>;</div>
    198. 

  198. <div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a745a8a1838cf92a9bf7a993dc105e541">  106</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a745a8a1838cf92a9bf7a993dc105e541">mLeanSpringIntegrationCoefficientDecay</a>;</div>
    199. 

  199. <div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a7196a7d0932e3e537e39514385e7184c">  107</a></span>    <span class="keywordtype">float</span>                       <a class="code hl_variable" href="class_motorcycle_controller.html#a7196a7d0932e3e537e39514385e7184c">mLeanSmoothingFactor</a>;</div>
    200. 

  200. <div class="line"><a id="l00108" name="l00108"></a><span class="lineno">  108</span> </div>
    201. 

  201. <div class="line"><a id="l00109" name="l00109"></a><span class="lineno">  109</span>    <span class="comment">// Run-time calculated target lean vector</span></div>
    202. 

  202. <div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a9b83a81c63978a8048d781e9dc4ceddb">  110</a></span>    <a class="code hl_class" href="class_vec3.html">Vec3</a>                        mTargetLean = <a class="code hl_function" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>();</div>
    203. 

  203. <div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span> </div>
    204. 

  204. <div class="line"><a id="l00112" name="l00112"></a><span class="lineno">  112</span>    <span class="comment">// Integrated error for the lean spring</span></div>
    205. 

  205. <div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#a0fef8cc24d8f3afa9ec59a015fbd0639">  113</a></span>    <span class="keywordtype">float</span>                       mLeanSpringIntegratedDeltaAngle = 0.0f;</div>
    206. 

  206. <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span> </div>
    207. 

  207. <div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>    <span class="comment">// Run-time total angular impulse applied to turn the cycle towards the target lean angle</span></div>
    208. 

  208. <div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="class_motorcycle_controller.html#ad9e7a708da11a8da6e91bbb4c56b08d7">  116</a></span>    <span class="keywordtype">float</span>                       mAppliedImpulse = 0.0f;</div>
    209. 

  209. <div class="line"><a id="l00117" name="l00117"></a><span class="lineno">  117</span>};</div>
    210. 

  210. </div>
    211. 

  211. <div class="line"><a id="l00118" name="l00118"></a><span class="lineno">  118</span> </div>
    212. 

  212. <div class="line"><a id="l00119" name="l00119"></a><span class="lineno">  119</span><a class="code hl_define" href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div>
    213. 

  213. <div class="ttc" id="a_core_8h_html_a2712a9b0f778ab9d1aa5118b4e8e6bd8"><div class="ttname"><a href="_core_8h.html#a2712a9b0f778ab9d1aa5118b4e8e6bd8">JPH_EXPORT</a></div><div class="ttdeci">#define JPH_EXPORT</div><div class="ttdef"><b>Definition</b> Core.h:275</div></div>
    214. 

  214. <div class="ttc" id="a_core_8h_html_a73da8725998b00321a9db341202d650d"><div class="ttname"><a href="_core_8h.html#a73da8725998b00321a9db341202d650d">JPH_NAMESPACE_END</a></div><div class="ttdeci">#define JPH_NAMESPACE_END</div><div class="ttdef"><b>Definition</b> Core.h:425</div></div>
    215. 

  215. <div class="ttc" id="a_core_8h_html_ad14098b68b8c44ea6112601031268405"><div class="ttname"><a href="_core_8h.html#ad14098b68b8c44ea6112601031268405">JPH_NAMESPACE_BEGIN</a></div><div class="ttdeci">#define JPH_NAMESPACE_BEGIN</div><div class="ttdef"><b>Definition</b> Core.h:419</div></div>
    216. 

  216. <div class="ttc" id="a_math_8h_html_a636689581f2a6ce1d3030dc4dd83b2f5"><div class="ttname"><a href="_math_8h.html#a636689581f2a6ce1d3030dc4dd83b2f5">DegreesToRadians</a></div><div class="ttdeci">JPH_INLINE constexpr float DegreesToRadians(float inV)</div><div class="ttdoc">Convert a value from degrees to radians.</div><div class="ttdef"><b>Definition</b> Math.h:16</div></div>
    217. 

  217. <div class="ttc" id="a_memory_8h_html_a91074fb218fe28954a0938c099ddd9e0"><div class="ttname"><a href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a></div><div class="ttdeci">#define JPH_OVERRIDE_NEW_DELETE</div><div class="ttdoc">Macro to override the new and delete functions.</div><div class="ttdef"><b>Definition</b> Memory.h:50</div></div>
    218. 

  218. <div class="ttc" id="a_serializable_object_8h_html_ad80cbee2b256f570ee204534dec05da4"><div class="ttname"><a href="_serializable_object_8h.html#ad80cbee2b256f570ee204534dec05da4">JPH_DECLARE_SERIALIZABLE_VIRTUAL</a></div><div class="ttdeci">#define JPH_DECLARE_SERIALIZABLE_VIRTUAL(linkage, class_name)</div><div class="ttdef"><b>Definition</b> SerializableObject.h:109</div></div>
    219. 

  219. <div class="ttc" id="a_wheeled_vehicle_controller_8h_html"><div class="ttname"><a href="_wheeled_vehicle_controller_8h.html">WheeledVehicleController.h</a></div></div>
    220. 

  220. <div class="ttc" id="aclass_debug_renderer_html"><div class="ttname"><a href="class_debug_renderer.html">DebugRenderer</a></div><div class="ttdef"><b>Definition</b> DebugRenderer.h:47</div></div>
    221. 

  221. <div class="ttc" id="aclass_motorcycle_controller_html"><div class="ttname"><a href="class_motorcycle_controller.html">MotorcycleController</a></div><div class="ttdoc">Runtime controller class.</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:45</div></div>
    222. 

  222. <div class="ttc" id="aclass_motorcycle_controller_html_a159abc09d514573ce94519c424244a11"><div class="ttname"><a href="class_motorcycle_controller.html#a159abc09d514573ce94519c424244a11">MotorcycleController::mLeanSpringIntegrationCoefficient</a></div><div class="ttdeci">float mLeanSpringIntegrationCoefficient</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:105</div></div>
    223. 

  223. <div class="ttc" id="aclass_motorcycle_controller_html_a209159d85e6c261382551e7fe12afd18"><div class="ttname"><a href="class_motorcycle_controller.html#a209159d85e6c261382551e7fe12afd18">MotorcycleController::SetLeanSmoothingFactor</a></div><div class="ttdeci">void SetLeanSmoothingFactor(float inFactor)</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:83</div></div>
    224. 

  224. <div class="ttc" id="aclass_motorcycle_controller_html_a45023171410fa8b5abcdce36068dd10c"><div class="ttname"><a href="class_motorcycle_controller.html#a45023171410fa8b5abcdce36068dd10c">MotorcycleController::IsLeanControllerEnabled</a></div><div class="ttdeci">bool IsLeanControllerEnabled() const</div><div class="ttdoc">Check if the lean spring is enabled.</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:59</div></div>
    225. 

  225. <div class="ttc" id="aclass_motorcycle_controller_html_a52a7c8e605868fe0905235c8baa598b0"><div class="ttname"><a href="class_motorcycle_controller.html#a52a7c8e605868fe0905235c8baa598b0">MotorcycleController::GetLeanSpringIntegrationCoefficientDecay</a></div><div class="ttdeci">float GetLeanSpringIntegrationCoefficientDecay() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:79</div></div>
    226. 

  226. <div class="ttc" id="aclass_motorcycle_controller_html_a55d13eac40efa2eef9a7d87f23c39405"><div class="ttname"><a href="class_motorcycle_controller.html#a55d13eac40efa2eef9a7d87f23c39405">MotorcycleController::mMaxLeanAngle</a></div><div class="ttdeci">float mMaxLeanAngle</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:102</div></div>
    227. 

  227. <div class="ttc" id="aclass_motorcycle_controller_html_a688718567a63ba567e52c13dab088373"><div class="ttname"><a href="class_motorcycle_controller.html#a688718567a63ba567e52c13dab088373">MotorcycleController::mLeanSpringConstant</a></div><div class="ttdeci">float mLeanSpringConstant</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:103</div></div>
    228. 

  228. <div class="ttc" id="aclass_motorcycle_controller_html_a70f9325f8dde2c3ef76148f45332fc1a"><div class="ttname"><a href="class_motorcycle_controller.html#a70f9325f8dde2c3ef76148f45332fc1a">MotorcycleController::EnableLeanSteeringLimit</a></div><div class="ttdeci">void EnableLeanSteeringLimit(bool inEnable)</div><div class="ttdoc">Enable or disable the lean steering limit. When enabled (default) the steering angle is limited based...</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:62</div></div>
    229. 

  229. <div class="ttc" id="aclass_motorcycle_controller_html_a7196a7d0932e3e537e39514385e7184c"><div class="ttname"><a href="class_motorcycle_controller.html#a7196a7d0932e3e537e39514385e7184c">MotorcycleController::mLeanSmoothingFactor</a></div><div class="ttdeci">float mLeanSmoothingFactor</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:107</div></div>
    230. 

  230. <div class="ttc" id="aclass_motorcycle_controller_html_a745a8a1838cf92a9bf7a993dc105e541"><div class="ttname"><a href="class_motorcycle_controller.html#a745a8a1838cf92a9bf7a993dc105e541">MotorcycleController::mLeanSpringIntegrationCoefficientDecay</a></div><div class="ttdeci">float mLeanSpringIntegrationCoefficientDecay</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:106</div></div>
    231. 

  231. <div class="ttc" id="aclass_motorcycle_controller_html_a7e63f90a4b0c4a787374c1724d3999d6"><div class="ttname"><a href="class_motorcycle_controller.html#a7e63f90a4b0c4a787374c1724d3999d6">MotorcycleController::GetLeanSpringConstant</a></div><div class="ttdeci">float GetLeanSpringConstant() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:67</div></div>
    232. 

  232. <div class="ttc" id="aclass_motorcycle_controller_html_a97fa55bb4283d82101118a7cb3c789b8"><div class="ttname"><a href="class_motorcycle_controller.html#a97fa55bb4283d82101118a7cb3c789b8">MotorcycleController::mLeanSpringDamping</a></div><div class="ttdeci">float mLeanSpringDamping</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:104</div></div>
    233. 

  233. <div class="ttc" id="aclass_motorcycle_controller_html_a9d7a05e2d9311d373f33354e4d75e543"><div class="ttname"><a href="class_motorcycle_controller.html#a9d7a05e2d9311d373f33354e4d75e543">MotorcycleController::GetLeanSmoothingFactor</a></div><div class="ttdeci">float GetLeanSmoothingFactor() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:84</div></div>
    234. 

  234. <div class="ttc" id="aclass_motorcycle_controller_html_aaa1568ff36c906b58c45ea69724bb67a"><div class="ttname"><a href="class_motorcycle_controller.html#aaa1568ff36c906b58c45ea69724bb67a">MotorcycleController::SetLeanSpringConstant</a></div><div class="ttdeci">void SetLeanSpringConstant(float inConstant)</div><div class="ttdoc">Spring constant for the lean spring.</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:66</div></div>
    235. 

  235. <div class="ttc" id="aclass_motorcycle_controller_html_aaf88f2fed53bad1a7fa94521097b68a5"><div class="ttname"><a href="class_motorcycle_controller.html#aaf88f2fed53bad1a7fa94521097b68a5">MotorcycleController::SetLeanSpringDamping</a></div><div class="ttdeci">void SetLeanSpringDamping(float inDamping)</div><div class="ttdoc">Spring damping constant for the lean spring.</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:70</div></div>
    236. 

  236. <div class="ttc" id="aclass_motorcycle_controller_html_ab992be424860c4da8e88968ca7cbe45b"><div class="ttname"><a href="class_motorcycle_controller.html#ab992be424860c4da8e88968ca7cbe45b">MotorcycleController::IsLeanSteeringLimitEnabled</a></div><div class="ttdeci">bool IsLeanSteeringLimitEnabled() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:63</div></div>
    237. 

  237. <div class="ttc" id="aclass_motorcycle_controller_html_ac0d6c78cc5ee2dd850f535a972875df8"><div class="ttname"><a href="class_motorcycle_controller.html#ac0d6c78cc5ee2dd850f535a972875df8">MotorcycleController::EnableLeanController</a></div><div class="ttdeci">void EnableLeanController(bool inEnable)</div><div class="ttdoc">Enable or disable the lean spring. This allows you to temporarily disable the lean spring to allow th...</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:56</div></div>
    238. 

  238. <div class="ttc" id="aclass_motorcycle_controller_html_ad4a48da07b7959ee53165b149d82c7e9"><div class="ttname"><a href="class_motorcycle_controller.html#ad4a48da07b7959ee53165b149d82c7e9">MotorcycleController::GetLeanSpringIntegrationCoefficient</a></div><div class="ttdeci">float GetLeanSpringIntegrationCoefficient() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:75</div></div>
    239. 

  239. <div class="ttc" id="aclass_motorcycle_controller_html_adc5db8e0b1290ccf6ea77676d129cb1a"><div class="ttname"><a href="class_motorcycle_controller.html#adc5db8e0b1290ccf6ea77676d129cb1a">MotorcycleController::SetLeanSpringIntegrationCoefficientDecay</a></div><div class="ttdeci">void SetLeanSpringIntegrationCoefficientDecay(float inDecay)</div><div class="ttdoc">How much to decay the angle integral when the wheels are not touching the floor: new_value = e^(-deca...</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:78</div></div>
    240. 

  240. <div class="ttc" id="aclass_motorcycle_controller_html_adfe9afcb3c52f6f6012f61e55cb9fc1d"><div class="ttname"><a href="class_motorcycle_controller.html#adfe9afcb3c52f6f6012f61e55cb9fc1d">MotorcycleController::GetLeanSpringDamping</a></div><div class="ttdeci">float GetLeanSpringDamping() const</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:71</div></div>
    241. 

  241. <div class="ttc" id="aclass_motorcycle_controller_html_af2c273bd46e6a59e6b818949d294d4ef"><div class="ttname"><a href="class_motorcycle_controller.html#af2c273bd46e6a59e6b818949d294d4ef">MotorcycleController::SetLeanSpringIntegrationCoefficient</a></div><div class="ttdeci">void SetLeanSpringIntegrationCoefficient(float inCoefficient)</div><div class="ttdoc">The lean spring applies an additional force equal to this coefficient * Integral(delta angle,...</div><div class="ttdef"><b>Definition</b> MotorcycleController.h:74</div></div>
    242. 

  242. <div class="ttc" id="aclass_motorcycle_controller_settings_html"><div class="ttname"><a href="class_motorcycle_controller_settings.html">MotorcycleControllerSettings</a></div><div class="ttdef"><b>Definition</b> MotorcycleController.h:14</div></div>
    243. 

  243. <div class="ttc" id="aclass_physics_system_html"><div class="ttname"><a href="class_physics_system.html">PhysicsSystem</a></div><div class="ttdef"><b>Definition</b> PhysicsSystem.h:30</div></div>
    244. 

  244. <div class="ttc" id="aclass_ref_html"><div class="ttname"><a href="class_ref.html">Ref</a></div><div class="ttdef"><b>Definition</b> Reference.h:107</div></div>
    245. 

  245. <div class="ttc" id="aclass_state_recorder_html"><div class="ttname"><a href="class_state_recorder.html">StateRecorder</a></div><div class="ttdef"><b>Definition</b> StateRecorder.h:110</div></div>
    246. 

  246. <div class="ttc" id="aclass_stream_in_html"><div class="ttname"><a href="class_stream_in.html">StreamIn</a></div><div class="ttdoc">Simple binary input stream.</div><div class="ttdef"><b>Definition</b> StreamIn.h:13</div></div>
    247. 

  247. <div class="ttc" id="aclass_stream_out_html"><div class="ttname"><a href="class_stream_out.html">StreamOut</a></div><div class="ttdoc">Simple binary output stream.</div><div class="ttdef"><b>Definition</b> StreamOut.h:13</div></div>
    248. 

  248. <div class="ttc" id="aclass_vec3_html"><div class="ttname"><a href="class_vec3.html">Vec3</a></div><div class="ttdef"><b>Definition</b> Vec3.h:17</div></div>
    249. 

  249. <div class="ttc" id="aclass_vec3_html_ad03c52ab27761bc1e64e33c47632ba51"><div class="ttname"><a href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a></div><div class="ttdeci">static JPH_INLINE Vec3 sZero()</div><div class="ttdoc">Vector with all zeros.</div><div class="ttdef"><b>Definition</b> Vec3.inl:103</div></div>
    250. 

  250. <div class="ttc" id="aclass_vehicle_constraint_html"><div class="ttname"><a href="class_vehicle_constraint.html">VehicleConstraint</a></div><div class="ttdef"><b>Definition</b> VehicleConstraint.h:66</div></div>
    251. 

  251. <div class="ttc" id="aclass_vehicle_controller_html"><div class="ttname"><a href="class_vehicle_controller.html">VehicleController</a></div><div class="ttdoc">Runtime data for interface that controls acceleration / deceleration of the vehicle.</div><div class="ttdef"><b>Definition</b> VehicleController.h:41</div></div>
    252. 

  252. <div class="ttc" id="aclass_wheeled_vehicle_controller_html"><div class="ttname"><a href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></div><div class="ttdoc">Runtime controller class.</div><div class="ttdef"><b>Definition</b> WheeledVehicleController.h:90</div></div>
    253. 

  253. <div class="ttc" id="aclass_wheeled_vehicle_controller_settings_html"><div class="ttname"><a href="class_wheeled_vehicle_controller_settings.html">WheeledVehicleControllerSettings</a></div><div class="ttdef"><b>Definition</b> WheeledVehicleController.h:73</div></div>
    254. 

  254. <div class="ttc" id="aclass_wheeled_vehicle_controller_settings_html_a2521d5acd5088a1110c5abf5df948734"><div class="ttname"><a href="class_wheeled_vehicle_controller_settings.html#a2521d5acd5088a1110c5abf5df948734">WheeledVehicleControllerSettings::RestoreBinaryState</a></div><div class="ttdeci">virtual void RestoreBinaryState(StreamIn &amp;inStream) override</div><div class="ttdoc">Restore the contents of the controller settings in binary form from inStream.</div><div class="ttdef"><b>Definition</b> WheeledVehicleController.cpp:163</div></div>
    255. 

  255. <div class="ttc" id="aclass_wheeled_vehicle_controller_settings_html_a6ab2f1877dd58bc447f4392b553bfb6a"><div class="ttname"><a href="class_wheeled_vehicle_controller_settings.html#a6ab2f1877dd58bc447f4392b553bfb6a">WheeledVehicleControllerSettings::ConstructController</a></div><div class="ttdeci">virtual VehicleController * ConstructController(VehicleConstraint &amp;inConstraint) const override</div><div class="ttdoc">Create an instance of the vehicle controller class.</div><div class="ttdef"><b>Definition</b> WheeledVehicleController.cpp:144</div></div>
    256. 

  256. <div class="ttc" id="aclass_wheeled_vehicle_controller_settings_html_ae82335336bab2f06e41dc7ae4325f394"><div class="ttname"><a href="class_wheeled_vehicle_controller_settings.html#ae82335336bab2f06e41dc7ae4325f394">WheeledVehicleControllerSettings::SaveBinaryState</a></div><div class="ttdeci">virtual void SaveBinaryState(StreamOut &amp;inStream) const override</div><div class="ttdoc">Saves the contents of the controller settings in binary form to inStream.</div><div class="ttdef"><b>Definition</b> WheeledVehicleController.cpp:149</div></div>
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