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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="class_motorcycle_controller-members.html">List of all members</a>  </div>
  <div class="headertitle"><div class="title">MotorcycleController Class Reference</div></div>
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<p>Runtime controller class.  
 <a href="#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_motorcycle_controller_8h_source.html">MotorcycleController.h</a>&gt;</code></p>
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Inheritance diagram for MotorcycleController:</div>
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 <div class="center">
  <img src="class_motorcycle_controller.png" usemap="#MotorcycleController_map" alt=""/>
  <map id="MotorcycleController_map" name="MotorcycleController_map">
<area href="class_wheeled_vehicle_controller.html" title="Runtime controller class." alt="WheeledVehicleController" shape="rect" coords="0,112,160,136"/>
<area href="class_vehicle_controller.html" title="Runtime data for interface that controls acceleration / deceleration of the vehicle." alt="VehicleController" shape="rect" coords="0,56,160,80"/>
<area href="class_non_copyable.html" title="Class that makes another class non-copyable. Usage: Inherit from NonCopyable." alt="NonCopyable" shape="rect" coords="0,0,160,24"/>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:aed5939c4ba195b16de315229faa5d64f" id="r_aed5939c4ba195b16de315229faa5d64f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aed5939c4ba195b16de315229faa5d64f">MotorcycleController</a> (const <a class="el" href="class_motorcycle_controller_settings.html">MotorcycleControllerSettings</a> &amp;inSettings, <a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint)</td></tr>
<tr class="memdesc:aed5939c4ba195b16de315229faa5d64f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <br /></td></tr>
<tr class="separator:aed5939c4ba195b16de315229faa5d64f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab3fdaf44396f6325dccb7cc1e8aab6a7" id="r_ab3fdaf44396f6325dccb7cc1e8aab6a7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab3fdaf44396f6325dccb7cc1e8aab6a7">GetWheelBase</a> () const</td></tr>
<tr class="memdesc:ab3fdaf44396f6325dccb7cc1e8aab6a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the distance between the front and back wheels.  <br /></td></tr>
<tr class="separator:ab3fdaf44396f6325dccb7cc1e8aab6a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac0d6c78cc5ee2dd850f535a972875df8" id="r_ac0d6c78cc5ee2dd850f535a972875df8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ac0d6c78cc5ee2dd850f535a972875df8">EnableLeanController</a> (bool inEnable)</td></tr>
<tr class="memdesc:ac0d6c78cc5ee2dd850f535a972875df8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable or disable the lean spring. This allows you to temporarily disable the lean spring to allow the motorcycle to fall over.  <br /></td></tr>
<tr class="separator:ac0d6c78cc5ee2dd850f535a972875df8"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a45023171410fa8b5abcdce36068dd10c" id="r_a45023171410fa8b5abcdce36068dd10c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a45023171410fa8b5abcdce36068dd10c">IsLeanControllerEnabled</a> () const</td></tr>
<tr class="memdesc:a45023171410fa8b5abcdce36068dd10c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if the lean spring is enabled.  <br /></td></tr>
<tr class="separator:a45023171410fa8b5abcdce36068dd10c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a70f9325f8dde2c3ef76148f45332fc1a" id="r_a70f9325f8dde2c3ef76148f45332fc1a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a70f9325f8dde2c3ef76148f45332fc1a">EnableLeanSteeringLimit</a> (bool inEnable)</td></tr>
<tr class="memdesc:a70f9325f8dde2c3ef76148f45332fc1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">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.  <br /></td></tr>
<tr class="separator:a70f9325f8dde2c3ef76148f45332fc1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab992be424860c4da8e88968ca7cbe45b" id="r_ab992be424860c4da8e88968ca7cbe45b"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ab992be424860c4da8e88968ca7cbe45b">IsLeanSteeringLimitEnabled</a> () const</td></tr>
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<tr class="memitem:aaa1568ff36c906b58c45ea69724bb67a" id="r_aaa1568ff36c906b58c45ea69724bb67a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaa1568ff36c906b58c45ea69724bb67a">SetLeanSpringConstant</a> (float inConstant)</td></tr>
<tr class="memdesc:aaa1568ff36c906b58c45ea69724bb67a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spring constant for the lean spring.  <br /></td></tr>
<tr class="separator:aaa1568ff36c906b58c45ea69724bb67a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7e63f90a4b0c4a787374c1724d3999d6" id="r_a7e63f90a4b0c4a787374c1724d3999d6"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7e63f90a4b0c4a787374c1724d3999d6">GetLeanSpringConstant</a> () const</td></tr>
<tr class="separator:a7e63f90a4b0c4a787374c1724d3999d6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf88f2fed53bad1a7fa94521097b68a5" id="r_aaf88f2fed53bad1a7fa94521097b68a5"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaf88f2fed53bad1a7fa94521097b68a5">SetLeanSpringDamping</a> (float inDamping)</td></tr>
<tr class="memdesc:aaf88f2fed53bad1a7fa94521097b68a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Spring damping constant for the lean spring.  <br /></td></tr>
<tr class="separator:aaf88f2fed53bad1a7fa94521097b68a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfe9afcb3c52f6f6012f61e55cb9fc1d" id="r_adfe9afcb3c52f6f6012f61e55cb9fc1d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adfe9afcb3c52f6f6012f61e55cb9fc1d">GetLeanSpringDamping</a> () const</td></tr>
<tr class="separator:adfe9afcb3c52f6f6012f61e55cb9fc1d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2c273bd46e6a59e6b818949d294d4ef" id="r_af2c273bd46e6a59e6b818949d294d4ef"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af2c273bd46e6a59e6b818949d294d4ef">SetLeanSpringIntegrationCoefficient</a> (float inCoefficient)</td></tr>
<tr class="memdesc:af2c273bd46e6a59e6b818949d294d4ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">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.  <br /></td></tr>
<tr class="separator:af2c273bd46e6a59e6b818949d294d4ef"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4a48da07b7959ee53165b149d82c7e9" id="r_ad4a48da07b7959ee53165b149d82c7e9"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad4a48da07b7959ee53165b149d82c7e9">GetLeanSpringIntegrationCoefficient</a> () const</td></tr>
<tr class="separator:ad4a48da07b7959ee53165b149d82c7e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adc5db8e0b1290ccf6ea77676d129cb1a" id="r_adc5db8e0b1290ccf6ea77676d129cb1a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#adc5db8e0b1290ccf6ea77676d129cb1a">SetLeanSpringIntegrationCoefficientDecay</a> (float inDecay)</td></tr>
<tr class="memdesc:adc5db8e0b1290ccf6ea77676d129cb1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">How much to decay the angle integral when the wheels are not touching the floor: new_value = e^(-decay * t) * initial_value.  <br /></td></tr>
<tr class="separator:adc5db8e0b1290ccf6ea77676d129cb1a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a52a7c8e605868fe0905235c8baa598b0" id="r_a52a7c8e605868fe0905235c8baa598b0"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a52a7c8e605868fe0905235c8baa598b0">GetLeanSpringIntegrationCoefficientDecay</a> () const</td></tr>
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<tr class="memitem:a209159d85e6c261382551e7fe12afd18" id="r_a209159d85e6c261382551e7fe12afd18"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a209159d85e6c261382551e7fe12afd18">SetLeanSmoothingFactor</a> (float inFactor)</td></tr>
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<tr class="memitem:a9d7a05e2d9311d373f33354e4d75e543" id="r_a9d7a05e2d9311d373f33354e4d75e543"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9d7a05e2d9311d373f33354e4d75e543">GetLeanSmoothingFactor</a> () const</td></tr>
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<tr class="memitem:af197398dc8067edaf41287019f69c21b" id="r_af197398dc8067edaf41287019f69c21b"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="class_ref.html">Ref</a>&lt; <a class="el" href="class_vehicle_controller_settings.html">VehicleControllerSettings</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#af197398dc8067edaf41287019f69c21b">GetSettings</a> () const override</td></tr>
<tr class="memdesc:af197398dc8067edaf41287019f69c21b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recreate the settings for this controller.  <br /></td></tr>
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<tr class="inherit_header pub_methods_class_wheeled_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_wheeled_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></td></tr>
<tr class="memitem:ad00936264e25f1902bed6e7c86f198dc inherit pub_methods_class_wheeled_vehicle_controller" id="r_ad00936264e25f1902bed6e7c86f198dc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#ad00936264e25f1902bed6e7c86f198dc">WheeledVehicleController</a> (const <a class="el" href="class_wheeled_vehicle_controller_settings.html">WheeledVehicleControllerSettings</a> &amp;inSettings, <a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint)</td></tr>
<tr class="memdesc:ad00936264e25f1902bed6e7c86f198dc inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <br /></td></tr>
<tr class="separator:ad00936264e25f1902bed6e7c86f198dc inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a3b66c895677f66890ddde7b5e6f9ba inherit pub_methods_class_wheeled_vehicle_controller" id="r_a3a3b66c895677f66890ddde7b5e6f9ba"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a3a3b66c895677f66890ddde7b5e6f9ba">SetDriverInput</a> (float inForward, float inRight, float inBrake, float inHandBrake)</td></tr>
<tr class="separator:a3a3b66c895677f66890ddde7b5e6f9ba inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a219dd9b901cf12dc8e8a6eb2fa8d6915 inherit pub_methods_class_wheeled_vehicle_controller" id="r_a219dd9b901cf12dc8e8a6eb2fa8d6915"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a219dd9b901cf12dc8e8a6eb2fa8d6915">SetForwardInput</a> (float inForward)</td></tr>
<tr class="memdesc:a219dd9b901cf12dc8e8a6eb2fa8d6915 inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">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.  <br /></td></tr>
<tr class="separator:a219dd9b901cf12dc8e8a6eb2fa8d6915 inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a781e75a695c39395e56b91cfcd780bdc inherit pub_methods_class_wheeled_vehicle_controller" id="r_a781e75a695c39395e56b91cfcd780bdc"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a781e75a695c39395e56b91cfcd780bdc">GetForwardInput</a> () const</td></tr>
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<tr class="memitem:aec55421b09ff5dc8421e133c01561da1 inherit pub_methods_class_wheeled_vehicle_controller" id="r_aec55421b09ff5dc8421e133c01561da1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#aec55421b09ff5dc8421e133c01561da1">SetRightInput</a> (float inRight)</td></tr>
<tr class="memdesc:aec55421b09ff5dc8421e133c01561da1 inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between -1 and 1 indicating desired steering angle (1 = right)  <br /></td></tr>
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<tr class="memitem:a3fa4fcaa580f6bb5c47894858144397d inherit pub_methods_class_wheeled_vehicle_controller" id="r_a3fa4fcaa580f6bb5c47894858144397d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a3fa4fcaa580f6bb5c47894858144397d">GetRightInput</a> () const</td></tr>
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<tr class="memitem:a274d8e6bb7aca40c3f3d467de6f744eb inherit pub_methods_class_wheeled_vehicle_controller" id="r_a274d8e6bb7aca40c3f3d467de6f744eb"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a274d8e6bb7aca40c3f3d467de6f744eb">SetBrakeInput</a> (float inBrake)</td></tr>
<tr class="memdesc:a274d8e6bb7aca40c3f3d467de6f744eb inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between 0 and 1 indicating how strong the brake pedal is pressed.  <br /></td></tr>
<tr class="separator:a274d8e6bb7aca40c3f3d467de6f744eb inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa087571387d316eee2e8ed7fb500b291 inherit pub_methods_class_wheeled_vehicle_controller" id="r_aa087571387d316eee2e8ed7fb500b291"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#aa087571387d316eee2e8ed7fb500b291">GetBrakeInput</a> () const</td></tr>
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<tr class="memitem:a7d48f4399fa3ed50e559b12017664510 inherit pub_methods_class_wheeled_vehicle_controller" id="r_a7d48f4399fa3ed50e559b12017664510"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a7d48f4399fa3ed50e559b12017664510">SetHandBrakeInput</a> (float inHandBrake)</td></tr>
<tr class="memdesc:a7d48f4399fa3ed50e559b12017664510 inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between 0 and 1 indicating how strong the hand brake is pulled.  <br /></td></tr>
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<tr class="memitem:a785dc39a5b664a71b5c08ca00db4886d inherit pub_methods_class_wheeled_vehicle_controller" id="r_a785dc39a5b664a71b5c08ca00db4886d"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a785dc39a5b664a71b5c08ca00db4886d">GetHandBrakeInput</a> () const</td></tr>
<tr class="separator:a785dc39a5b664a71b5c08ca00db4886d inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a459374f72146ee0bfe05ead3151d346c inherit pub_methods_class_wheeled_vehicle_controller" id="r_a459374f72146ee0bfe05ead3151d346c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_vehicle_engine.html">VehicleEngine</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a459374f72146ee0bfe05ead3151d346c">GetEngine</a> () const</td></tr>
<tr class="memdesc:a459374f72146ee0bfe05ead3151d346c inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current engine state.  <br /></td></tr>
<tr class="separator:a459374f72146ee0bfe05ead3151d346c inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf0f3be1d9270518b59691310c28769b inherit pub_methods_class_wheeled_vehicle_controller" id="r_acf0f3be1d9270518b59691310c28769b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_engine.html">VehicleEngine</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#acf0f3be1d9270518b59691310c28769b">GetEngine</a> ()</td></tr>
<tr class="memdesc:acf0f3be1d9270518b59691310c28769b inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current engine state (writable interface, allows you to make changes to the configuration which will take effect the next time step)  <br /></td></tr>
<tr class="separator:acf0f3be1d9270518b59691310c28769b inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a14cc53afb7a84709927cd9b5fc863b inherit pub_methods_class_wheeled_vehicle_controller" id="r_a3a14cc53afb7a84709927cd9b5fc863b"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_vehicle_transmission.html">VehicleTransmission</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a3a14cc53afb7a84709927cd9b5fc863b">GetTransmission</a> () const</td></tr>
<tr class="memdesc:a3a14cc53afb7a84709927cd9b5fc863b inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current transmission state.  <br /></td></tr>
<tr class="separator:a3a14cc53afb7a84709927cd9b5fc863b inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8c3ab1fdbdcec9b95237e2b727c378ac inherit pub_methods_class_wheeled_vehicle_controller" id="r_a8c3ab1fdbdcec9b95237e2b727c378ac"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_transmission.html">VehicleTransmission</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a8c3ab1fdbdcec9b95237e2b727c378ac">GetTransmission</a> ()</td></tr>
<tr class="memdesc:a8c3ab1fdbdcec9b95237e2b727c378ac inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current transmission state (writable interface, allows you to make changes to the configuration which will take effect the next time step)  <br /></td></tr>
<tr class="separator:a8c3ab1fdbdcec9b95237e2b727c378ac inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7364b136c27cf5330968729518859a1d inherit pub_methods_class_wheeled_vehicle_controller" id="r_a7364b136c27cf5330968729518859a1d"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_wheeled_vehicle_controller.html#ac37470c3ca61d99d2ab55e6c851410d0">Differentials</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a7364b136c27cf5330968729518859a1d">GetDifferentials</a> () const</td></tr>
<tr class="memdesc:a7364b136c27cf5330968729518859a1d inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the differentials this vehicle has.  <br /></td></tr>
<tr class="separator:a7364b136c27cf5330968729518859a1d inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abc5128d2c64bd0081380279ed025e2ed inherit pub_methods_class_wheeled_vehicle_controller" id="r_abc5128d2c64bd0081380279ed025e2ed"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_wheeled_vehicle_controller.html#ac37470c3ca61d99d2ab55e6c851410d0">Differentials</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#abc5128d2c64bd0081380279ed025e2ed">GetDifferentials</a> ()</td></tr>
<tr class="memdesc:abc5128d2c64bd0081380279ed025e2ed inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the differentials this vehicle has (writable interface, allows you to make changes to the configuration which will take effect the next time step)  <br /></td></tr>
<tr class="separator:abc5128d2c64bd0081380279ed025e2ed inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a54518ef2b442bd0a1fe7a871d36d167f inherit pub_methods_class_wheeled_vehicle_controller" id="r_a54518ef2b442bd0a1fe7a871d36d167f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a54518ef2b442bd0a1fe7a871d36d167f">GetDifferentialLimitedSlipRatio</a> () const</td></tr>
<tr class="memdesc:a54518ef2b442bd0a1fe7a871d36d167f inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ratio max / min average wheel speed of each differential (measured at the clutch).  <br /></td></tr>
<tr class="separator:a54518ef2b442bd0a1fe7a871d36d167f inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a18c2ead8335924c4225b2580b2fd6f31 inherit pub_methods_class_wheeled_vehicle_controller" id="r_a18c2ead8335924c4225b2580b2fd6f31"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a18c2ead8335924c4225b2580b2fd6f31">SetDifferentialLimitedSlipRatio</a> (float inV)</td></tr>
<tr class="separator:a18c2ead8335924c4225b2580b2fd6f31 inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ef079b5815d391cedacbceb40105c6f inherit pub_methods_class_wheeled_vehicle_controller" id="r_a0ef079b5815d391cedacbceb40105c6f"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a0ef079b5815d391cedacbceb40105c6f">GetWheelSpeedAtClutch</a> () const</td></tr>
<tr class="memdesc:a0ef079b5815d391cedacbceb40105c6f inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the average wheel speed of all driven wheels (measured at the clutch)  <br /></td></tr>
<tr class="separator:a0ef079b5815d391cedacbceb40105c6f inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f0a4d01b9c0db904d5e6aa79484bc63 inherit pub_methods_class_wheeled_vehicle_controller" id="r_a9f0a4d01b9c0db904d5e6aa79484bc63"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_wheeled_vehicle_controller.html#a0503d8b97090455578f6db2be92e980f">TireMaxImpulseCallback</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a9f0a4d01b9c0db904d5e6aa79484bc63">GetTireMaxImpulseCallback</a> () const</td></tr>
<tr class="separator:a9f0a4d01b9c0db904d5e6aa79484bc63 inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b57f16d22c14cc0fc7a56a81b13aca9 inherit pub_methods_class_wheeled_vehicle_controller" id="r_a8b57f16d22c14cc0fc7a56a81b13aca9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a8b57f16d22c14cc0fc7a56a81b13aca9">SetTireMaxImpulseCallback</a> (const <a class="el" href="class_wheeled_vehicle_controller.html#a0503d8b97090455578f6db2be92e980f">TireMaxImpulseCallback</a> &amp;inTireMaxImpulseCallback)</td></tr>
<tr class="separator:a8b57f16d22c14cc0fc7a56a81b13aca9 inherit pub_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65374d5dabe3c20c393a69ed780de89f inherit pub_methods_class_wheeled_vehicle_controller" id="r_a65374d5dabe3c20c393a69ed780de89f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a65374d5dabe3c20c393a69ed780de89f">SetRPMMeter</a> (<a class="el" href="_math_types_8h.html#a6bc57c31f15cea47640b580d03737c68">Vec3Arg</a> inPosition, float inSize)</td></tr>
<tr class="memdesc:a65374d5dabe3c20c393a69ed780de89f inherit pub_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Debug drawing of RPM meter.  <br /></td></tr>
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<tr class="inherit_header pub_methods_class_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_vehicle_controller.html">VehicleController</a></td></tr>
<tr class="memitem:ad5cad3b5a580aaf05e36e4c350db37cb inherit pub_methods_class_vehicle_controller" id="r_ad5cad3b5a580aaf05e36e4c350db37cb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="_memory_8h.html#a91074fb218fe28954a0938c099ddd9e0">JPH_OVERRIDE_NEW_DELETE</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_vehicle_controller.html#ad5cad3b5a580aaf05e36e4c350db37cb">VehicleController</a> (<a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;inConstraint)</td></tr>
<tr class="memdesc:ad5cad3b5a580aaf05e36e4c350db37cb inherit pub_methods_class_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor / destructor.  <br /></td></tr>
<tr class="separator:ad5cad3b5a580aaf05e36e4c350db37cb inherit pub_methods_class_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adaf1b8a1da0e7b167c8849e13743809c inherit pub_methods_class_vehicle_controller" id="r_adaf1b8a1da0e7b167c8849e13743809c"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_vehicle_controller.html#adaf1b8a1da0e7b167c8849e13743809c">~VehicleController</a> ()=default</td></tr>
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<tr class="memitem:a97ba509e3468e66269d6215b2729f9e0 inherit pub_methods_class_vehicle_controller" id="r_a97ba509e3468e66269d6215b2729f9e0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_vehicle_controller.html#a97ba509e3468e66269d6215b2729f9e0">GetConstraint</a> ()</td></tr>
<tr class="memdesc:a97ba509e3468e66269d6215b2729f9e0 inherit pub_methods_class_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Access the vehicle constraint that this controller is part of.  <br /></td></tr>
<tr class="separator:a97ba509e3468e66269d6215b2729f9e0 inherit pub_methods_class_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4c5bb85e046cfe166be59a38d53ee13b inherit pub_methods_class_vehicle_controller" id="r_a4c5bb85e046cfe166be59a38d53ee13b"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_vehicle_controller.html#a4c5bb85e046cfe166be59a38d53ee13b">GetConstraint</a> () const</td></tr>
<tr class="separator:a4c5bb85e046cfe166be59a38d53ee13b inherit pub_methods_class_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_class_non_copyable"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_methods_class_non_copyable')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="class_non_copyable.html">NonCopyable</a></td></tr>
<tr class="memitem:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable" id="r_a809b6e4ade7ae32f6d248f2a3b783d45"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a809b6e4ade7ae32f6d248f2a3b783d45">NonCopyable</a> ()=default</td></tr>
<tr class="separator:a809b6e4ade7ae32f6d248f2a3b783d45 inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable" id="r_a501d34ffcc34b30de6d541887a901057"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#a501d34ffcc34b30de6d541887a901057">NonCopyable</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
<tr class="separator:a501d34ffcc34b30de6d541887a901057 inherit pub_methods_class_non_copyable"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaf9b12dcaae80c9d304df7a941d4e21f inherit pub_methods_class_non_copyable" id="r_aaf9b12dcaae80c9d304df7a941d4e21f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_non_copyable.html#aaf9b12dcaae80c9d304df7a941d4e21f">operator=</a> (const <a class="el" href="class_non_copyable.html">NonCopyable</a> &amp;)=delete</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a8ef4e6dc7edda1ad1d6219b38c4a8e66" id="r_a8ef4e6dc7edda1ad1d6219b38c4a8e66"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a8ef4e6dc7edda1ad1d6219b38c4a8e66">PreCollide</a> (float inDeltaTime, <a class="el" href="class_physics_system.html">PhysicsSystem</a> &amp;inPhysicsSystem) override</td></tr>
<tr class="separator:a8ef4e6dc7edda1ad1d6219b38c4a8e66"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cbe39aef2e451e60fb0a021e8d31d92" id="r_a2cbe39aef2e451e60fb0a021e8d31d92"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2cbe39aef2e451e60fb0a021e8d31d92">SolveLongitudinalAndLateralConstraints</a> (float inDeltaTime) override</td></tr>
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<tr class="memitem:aaf36cea2087933532624f37c78052a93" id="r_aaf36cea2087933532624f37c78052a93"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#aaf36cea2087933532624f37c78052a93">SaveState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) const override</td></tr>
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<tr class="memitem:a6487c412c79e33f47863ab08f2b63935" id="r_a6487c412c79e33f47863ab08f2b63935"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a6487c412c79e33f47863ab08f2b63935">RestoreState</a> (<a class="el" href="class_state_recorder.html">StateRecorder</a> &amp;inStream) override</td></tr>
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<tr class="memitem:ad6cec4ca1b528d91c5ff6e5d6f225b2b" id="r_ad6cec4ca1b528d91c5ff6e5d6f225b2b"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad6cec4ca1b528d91c5ff6e5d6f225b2b">Draw</a> (<a class="el" href="class_debug_renderer.html">DebugRenderer</a> *inRenderer) const override</td></tr>
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<tr class="inherit_header pro_methods_class_wheeled_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pro_methods_class_wheeled_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></td></tr>
<tr class="memitem:a23e40d2b9285bbc085c14fd90f4b8673 inherit pro_methods_class_wheeled_vehicle_controller" id="r_a23e40d2b9285bbc085c14fd90f4b8673"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a23e40d2b9285bbc085c14fd90f4b8673">ToSettings</a> (<a class="el" href="class_wheeled_vehicle_controller_settings.html">WheeledVehicleControllerSettings</a> &amp;outSettings) const</td></tr>
<tr class="memdesc:a23e40d2b9285bbc085c14fd90f4b8673 inherit pro_methods_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Convert controller back to settings.  <br /></td></tr>
<tr class="separator:a23e40d2b9285bbc085c14fd90f4b8673 inherit pro_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a87526c2489ef5c417f2ef34a69d19cbb inherit pro_methods_class_wheeled_vehicle_controller" id="r_a87526c2489ef5c417f2ef34a69d19cbb"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="class_wheel.html">Wheel</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a87526c2489ef5c417f2ef34a69d19cbb">ConstructWheel</a> (const <a class="el" href="class_wheel_settings.html">WheelSettings</a> &amp;inWheel) const override</td></tr>
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<tr class="memitem:a93a56d516b3760052815ac323844d574 inherit pro_methods_class_wheeled_vehicle_controller" id="r_a93a56d516b3760052815ac323844d574"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a93a56d516b3760052815ac323844d574">AllowSleep</a> () const override</td></tr>
<tr class="separator:a93a56d516b3760052815ac323844d574 inherit pro_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad3bf9ef08870494a7bf762b67beea1ef inherit pro_methods_class_wheeled_vehicle_controller" id="r_ad3bf9ef08870494a7bf762b67beea1ef"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#ad3bf9ef08870494a7bf762b67beea1ef">PostCollide</a> (float inDeltaTime, <a class="el" href="class_physics_system.html">PhysicsSystem</a> &amp;inPhysicsSystem) override</td></tr>
<tr class="separator:ad3bf9ef08870494a7bf762b67beea1ef inherit pro_methods_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_class_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pro_methods_class_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="class_vehicle_controller.html">VehicleController</a></td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a2d5d508db4203835f4b683a1eea97615" id="r_a2d5d508db4203835f4b683a1eea97615"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a2d5d508db4203835f4b683a1eea97615">mEnableLeanController</a> = true</td></tr>
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<tr class="memitem:ad3494edd19039ec352b2454a9fc883e3" id="r_ad3494edd19039ec352b2454a9fc883e3"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad3494edd19039ec352b2454a9fc883e3">mEnableLeanSteeringLimit</a> = true</td></tr>
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<tr class="memitem:a55d13eac40efa2eef9a7d87f23c39405" id="r_a55d13eac40efa2eef9a7d87f23c39405"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a55d13eac40efa2eef9a7d87f23c39405">mMaxLeanAngle</a></td></tr>
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<tr class="memitem:a688718567a63ba567e52c13dab088373" id="r_a688718567a63ba567e52c13dab088373"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a688718567a63ba567e52c13dab088373">mLeanSpringConstant</a></td></tr>
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<tr class="memitem:a97fa55bb4283d82101118a7cb3c789b8" id="r_a97fa55bb4283d82101118a7cb3c789b8"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a97fa55bb4283d82101118a7cb3c789b8">mLeanSpringDamping</a></td></tr>
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<tr class="memitem:a159abc09d514573ce94519c424244a11" id="r_a159abc09d514573ce94519c424244a11"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a159abc09d514573ce94519c424244a11">mLeanSpringIntegrationCoefficient</a></td></tr>
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<tr class="memitem:a745a8a1838cf92a9bf7a993dc105e541" id="r_a745a8a1838cf92a9bf7a993dc105e541"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a745a8a1838cf92a9bf7a993dc105e541">mLeanSpringIntegrationCoefficientDecay</a></td></tr>
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<tr class="memitem:a7196a7d0932e3e537e39514385e7184c" id="r_a7196a7d0932e3e537e39514385e7184c"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a7196a7d0932e3e537e39514385e7184c">mLeanSmoothingFactor</a></td></tr>
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<tr class="memitem:a9b83a81c63978a8048d781e9dc4ceddb" id="r_a9b83a81c63978a8048d781e9dc4ceddb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a9b83a81c63978a8048d781e9dc4ceddb">mTargetLean</a> = <a class="el" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>()</td></tr>
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<tr class="memitem:a0fef8cc24d8f3afa9ec59a015fbd0639" id="r_a0fef8cc24d8f3afa9ec59a015fbd0639"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#a0fef8cc24d8f3afa9ec59a015fbd0639">mLeanSpringIntegratedDeltaAngle</a> = 0.0f</td></tr>
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<tr class="memitem:ad9e7a708da11a8da6e91bbb4c56b08d7" id="r_ad9e7a708da11a8da6e91bbb4c56b08d7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="#ad9e7a708da11a8da6e91bbb4c56b08d7">mAppliedImpulse</a> = 0.0f</td></tr>
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<tr class="inherit_header pro_attribs_class_wheeled_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pro_attribs_class_wheeled_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></td></tr>
<tr class="memitem:a0a8a164e3c506f3763973ac2ae4cc656 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a0a8a164e3c506f3763973ac2ae4cc656"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a0a8a164e3c506f3763973ac2ae4cc656">mForwardInput</a> = 0.0f</td></tr>
<tr class="memdesc:a0a8a164e3c506f3763973ac2ae4cc656 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">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.  <br /></td></tr>
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<tr class="memitem:a5138b0898fa52c09e75c3f583459c519 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a5138b0898fa52c09e75c3f583459c519"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a5138b0898fa52c09e75c3f583459c519">mRightInput</a> = 0.0f</td></tr>
<tr class="memdesc:a5138b0898fa52c09e75c3f583459c519 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between -1 and 1 indicating desired steering angle.  <br /></td></tr>
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<tr class="memitem:a88aa09d54f227962f6ccfb84f764e4c3 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a88aa09d54f227962f6ccfb84f764e4c3"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a88aa09d54f227962f6ccfb84f764e4c3">mBrakeInput</a> = 0.0f</td></tr>
<tr class="memdesc:a88aa09d54f227962f6ccfb84f764e4c3 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between 0 and 1 indicating how strong the brake pedal is pressed.  <br /></td></tr>
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<tr class="memitem:a064bc3d019a1997828bc46c9201a0283 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a064bc3d019a1997828bc46c9201a0283"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a064bc3d019a1997828bc46c9201a0283">mHandBrakeInput</a> = 0.0f</td></tr>
<tr class="memdesc:a064bc3d019a1997828bc46c9201a0283 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Value between 0 and 1 indicating how strong the hand brake is pulled.  <br /></td></tr>
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<tr class="memitem:a4f7bcd7200890610de12f3eb207541e5 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a4f7bcd7200890610de12f3eb207541e5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_engine.html">VehicleEngine</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a4f7bcd7200890610de12f3eb207541e5">mEngine</a></td></tr>
<tr class="memdesc:a4f7bcd7200890610de12f3eb207541e5 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Engine state of the vehicle.  <br /></td></tr>
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<tr class="memitem:a22bd29e8d76290ee6fbfb10b8c207f83 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a22bd29e8d76290ee6fbfb10b8c207f83"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_transmission.html">VehicleTransmission</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a22bd29e8d76290ee6fbfb10b8c207f83">mTransmission</a></td></tr>
<tr class="memdesc:a22bd29e8d76290ee6fbfb10b8c207f83 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Transmission state of the vehicle.  <br /></td></tr>
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<tr class="memitem:a3d1069e60f64ca74c667e120f06d34bf inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a3d1069e60f64ca74c667e120f06d34bf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_wheeled_vehicle_controller.html#ac37470c3ca61d99d2ab55e6c851410d0">Differentials</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a3d1069e60f64ca74c667e120f06d34bf">mDifferentials</a></td></tr>
<tr class="memdesc:a3d1069e60f64ca74c667e120f06d34bf inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Differential states of the vehicle.  <br /></td></tr>
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<tr class="memitem:aa389a6d0e57e4eb69c7d238be20c6575 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_aa389a6d0e57e4eb69c7d238be20c6575"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#aa389a6d0e57e4eb69c7d238be20c6575">mDifferentialLimitedSlipRatio</a></td></tr>
<tr class="memdesc:aa389a6d0e57e4eb69c7d238be20c6575 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Ratio max / min average wheel speed of each differential (measured at the clutch).  <br /></td></tr>
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<tr class="memitem:ae362fa84fc6185aca0663ed55835d477 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_ae362fa84fc6185aca0663ed55835d477"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#ae362fa84fc6185aca0663ed55835d477">mPreviousDeltaTime</a> = 0.0f</td></tr>
<tr class="memdesc:ae362fa84fc6185aca0663ed55835d477 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delta time of the last step.  <br /></td></tr>
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<tr class="memitem:a9bea13499ea34379be661071f6d3fa2a inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a9bea13499ea34379be661071f6d3fa2a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_wheeled_vehicle_controller.html#a0503d8b97090455578f6db2be92e980f">TireMaxImpulseCallback</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a9bea13499ea34379be661071f6d3fa2a">mTireMaxImpulseCallback</a></td></tr>
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<tr class="memitem:ae747e5529bef6e7f5d5c9ada5fa195b4 inherit pro_attribs_class_wheeled_vehicle_controller" id="r_ae747e5529bef6e7f5d5c9ada5fa195b4"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vec3.html">Vec3</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#ae747e5529bef6e7f5d5c9ada5fa195b4">mRPMMeterPosition</a> { 0, 1, 0 }</td></tr>
<tr class="memdesc:ae747e5529bef6e7f5d5c9ada5fa195b4 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Position (in local space of the body) of the RPM meter when drawing the constraint.  <br /></td></tr>
<tr class="separator:ae747e5529bef6e7f5d5c9ada5fa195b4 inherit pro_attribs_class_wheeled_vehicle_controller"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f88075b9e61d9a50c6edc663267f73b inherit pro_attribs_class_wheeled_vehicle_controller" id="r_a7f88075b9e61d9a50c6edc663267f73b"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a7f88075b9e61d9a50c6edc663267f73b">mRPMMeterSize</a> = 0.5f</td></tr>
<tr class="memdesc:a7f88075b9e61d9a50c6edc663267f73b inherit pro_attribs_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Size of the RPM meter when drawing the constraint.  <br /></td></tr>
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<tr class="inherit_header pro_attribs_class_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pro_attribs_class_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="class_vehicle_controller.html">VehicleController</a></td></tr>
<tr class="memitem:af93ef5080e32c5558d6b594da7080896 inherit pro_attribs_class_vehicle_controller" id="r_af93ef5080e32c5558d6b594da7080896"><td class="memItemLeft" align="right" valign="top"><a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_vehicle_controller.html#af93ef5080e32c5558d6b594da7080896">mConstraint</a></td></tr>
<tr class="memdesc:af93ef5080e32c5558d6b594da7080896 inherit pro_attribs_class_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">The vehicle constraint we belong to.  <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_types_class_wheeled_vehicle_controller"><td colspan="2" onclick="javascript:dynsection.toggleInherit('pub_types_class_wheeled_vehicle_controller')"><img src="closed.png" alt="-"/>&#160;Public Types inherited from <a class="el" href="class_wheeled_vehicle_controller.html">WheeledVehicleController</a></td></tr>
<tr class="memitem:ac37470c3ca61d99d2ab55e6c851410d0 inherit pub_types_class_wheeled_vehicle_controller" id="r_ac37470c3ca61d99d2ab55e6c851410d0"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#ac37470c3ca61d99d2ab55e6c851410d0">Differentials</a> = <a class="el" href="class_array.html">Array</a>&lt;<a class="el" href="class_vehicle_differential_settings.html">VehicleDifferentialSettings</a>&gt;</td></tr>
<tr class="memdesc:ac37470c3ca61d99d2ab55e6c851410d0 inherit pub_types_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">Typedefs.  <br /></td></tr>
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<tr class="memitem:a0503d8b97090455578f6db2be92e980f inherit pub_types_class_wheeled_vehicle_controller" id="r_a0503d8b97090455578f6db2be92e980f"><td class="memItemLeft" align="right" valign="top">using&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_wheeled_vehicle_controller.html#a0503d8b97090455578f6db2be92e980f">TireMaxImpulseCallback</a> = function&lt;void(<a class="el" href="_core_8h.html#a69aa29b598b851b0640aa225a9e5d61d">uint</a> inWheelIndex, float &amp;outLongitudinalImpulse, float &amp;outLateralImpulse, float inSuspensionImpulse, float inLongitudinalFriction, float inLateralFriction, float inLongitudinalSlip, float inLateralSlip, float inDeltaTime)&gt;</td></tr>
<tr class="memdesc:a0503d8b97090455578f6db2be92e980f inherit pub_types_class_wheeled_vehicle_controller"><td class="mdescLeft">&#160;</td><td class="mdescRight">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).  <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Runtime controller class. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#aed5939c4ba195b16de315229faa5d64f">&#9670;&#160;</a></span>MotorcycleController()</h2>

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          <td class="paramtype"><a class="el" href="class_vehicle_constraint.html">VehicleConstraint</a> &amp;</td>          <td class="paramname"><span class="paramname"><em>inConstraint</em></span>&#160;)</td>
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<p>Constructor. </p>

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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad6cec4ca1b528d91c5ff6e5d6f225b2b">&#9670;&#160;</a></span>Draw()</h2>

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<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#a254e0402efc01e79154b4bde178918a4">WheeledVehicleController</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ac0d6c78cc5ee2dd850f535a972875df8">&#9670;&#160;</a></span>EnableLeanController()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a70f9325f8dde2c3ef76148f45332fc1a">&#9670;&#160;</a></span>EnableLeanSteeringLimit()</h2>

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<p>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. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a9d7a05e2d9311d373f33354e4d75e543">&#9670;&#160;</a></span>GetLeanSmoothingFactor()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a7e63f90a4b0c4a787374c1724d3999d6">&#9670;&#160;</a></span>GetLeanSpringConstant()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#adfe9afcb3c52f6f6012f61e55cb9fc1d">&#9670;&#160;</a></span>GetLeanSpringDamping()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#ad4a48da07b7959ee53165b149d82c7e9">&#9670;&#160;</a></span>GetLeanSpringIntegrationCoefficient()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a52a7c8e605868fe0905235c8baa598b0">&#9670;&#160;</a></span>GetLeanSpringIntegrationCoefficientDecay()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#af197398dc8067edaf41287019f69c21b">&#9670;&#160;</a></span>GetSettings()</h2>

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          <td class="memname"><a class="el" href="class_ref.html">Ref</a>&lt; <a class="el" href="class_vehicle_controller_settings.html">VehicleControllerSettings</a> &gt; MotorcycleController::GetSettings </td>
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<p>Recreate the settings for this controller. </p>

<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#a4554df857005171ac1ee056e6624ec0d">WheeledVehicleController</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab3fdaf44396f6325dccb7cc1e8aab6a7">&#9670;&#160;</a></span>GetWheelBase()</h2>

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<p>Get the distance between the front and back wheels. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#a45023171410fa8b5abcdce36068dd10c">&#9670;&#160;</a></span>IsLeanControllerEnabled()</h2>

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<p>Check if the lean spring is enabled. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#ab992be424860c4da8e88968ca7cbe45b">&#9670;&#160;</a></span>IsLeanSteeringLimitEnabled()</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a8ef4e6dc7edda1ad1d6219b38c4a8e66">&#9670;&#160;</a></span>PreCollide()</h2>

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<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#a8b2dc5370272f15c968425a422ccaeff">WheeledVehicleController</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6487c412c79e33f47863ab08f2b63935">&#9670;&#160;</a></span>RestoreState()</h2>

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<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#a832989bb00f7c2577925f3bb978d116a">WheeledVehicleController</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaf36cea2087933532624f37c78052a93">&#9670;&#160;</a></span>SaveState()</h2>

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<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#ad625db11394127fd656e149e5131c10a">WheeledVehicleController</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a209159d85e6c261382551e7fe12afd18">&#9670;&#160;</a></span>SetLeanSmoothingFactor()</h2>

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<p>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 </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaa1568ff36c906b58c45ea69724bb67a">&#9670;&#160;</a></span>SetLeanSpringConstant()</h2>

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<p>Spring constant for the lean spring. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#aaf88f2fed53bad1a7fa94521097b68a5">&#9670;&#160;</a></span>SetLeanSpringDamping()</h2>

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<p>Spring damping constant for the lean spring. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#af2c273bd46e6a59e6b818949d294d4ef">&#9670;&#160;</a></span>SetLeanSpringIntegrationCoefficient()</h2>

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<p>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. </p>

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<h2 class="memtitle"><span class="permalink"><a href="#adc5db8e0b1290ccf6ea77676d129cb1a">&#9670;&#160;</a></span>SetLeanSpringIntegrationCoefficientDecay()</h2>

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

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<h2 class="memtitle"><span class="permalink"><a href="#a2cbe39aef2e451e60fb0a021e8d31d92">&#9670;&#160;</a></span>SolveLongitudinalAndLateralConstraints()</h2>

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<p>Reimplemented from <a class="el" href="class_wheeled_vehicle_controller.html#a00e70f705f6b7770e3e1e8461998e0bb">WheeledVehicleController</a>.</p>

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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ad9e7a708da11a8da6e91bbb4c56b08d7">&#9670;&#160;</a></span>mAppliedImpulse</h2>

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<h2 class="memtitle"><span class="permalink"><a href="#a2d5d508db4203835f4b683a1eea97615">&#9670;&#160;</a></span>mEnableLeanController</h2>

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          <td class="memname"><a class="el" href="class_vec3.html">Vec3</a> MotorcycleController::mTargetLean = <a class="el" href="class_vec3.html#ad03c52ab27761bc1e64e33c47632ba51">Vec3::sZero</a>()</td>
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<hr/>The documentation for this class was generated from the following files:<ul>
<li>Jolt/Physics/Vehicle/<a class="el" href="_motorcycle_controller_8h_source.html">MotorcycleController.h</a></li>
<li>Jolt/Physics/Vehicle/<a class="el" href="_motorcycle_controller_8cpp.html">MotorcycleController.cpp</a></li>
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