PxVehicleNoDrive.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#ifndef PX_VEHICLE_NO_DRIVE_H
#define PX_VEHICLE_NO_DRIVE_H

#include "vehicle/PxVehicleWheels.h"
#include "vehicle/PxVehicleComponents.h"


#ifndef PX_DOXYGEN
namespace physx
{
#endif

struct PxFilterData;
class PxGeometry;
class PxPhysics;
class PxBatchQuery;
class PxVehicleDrivableSurfaceToTireFrictionPairs;
class PxShape;
class PxMaterial;
class PxRigidDynamic;

class PxVehicleNoDrive : public PxVehicleWheels
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:

    friend class PxVehicleUpdate;

    static PxVehicleNoDrive* allocate(const PxU32 nbWheels);

    void free();

    void setup
        (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);

    static PxVehicleNoDrive* create
        (PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);

    void setToRestState();

    void setBrakeTorque(const PxU32 id, const PxReal brakeTorque);

    void setDriveTorque(const PxU32 id, const PxReal driveTorque);

    void setSteerAngle(const PxU32 id, const PxReal steerAngle);

    PxReal getBrakeTorque(const PxU32 id) const;

    PxReal getDriveTorque(const PxU32 id) const;

    PxReal getSteerAngle(const PxU32 id) const;
        
private:

    PxReal* mSteerAngles;
    PxReal* mDriveTorques;
    PxReal* mBrakeTorques;

#if defined(PX_P64)
    PxU32 mPad[2];
#else 
    PxU32 mPad[1];
#endif

    bool isValid() const;


//serialization
public:
                                    PxVehicleNoDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags) {} 
    virtual     void                exportExtraData(PxSerializationContext&);
                void                importExtraData(PxDeserializationContext&);
    static      PxVehicleNoDrive*   createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                getBinaryMetaData(PxOutputStream& stream);
    virtual     const char*         getConcreteTypeName() const         { return "PxVehicleNoDrive";    }
    virtual     bool                isKindOf(const char* name)  const   { return !strcmp("PxVehicleNoDrive", name) || PxBase::isKindOf(name); }
                PxU32               getNbSteerAngle() const { return mWheelsSimData.getNbWheels();  }
                PxU32               getNbDriveTorque() const    { return mWheelsSimData.getNbWheels();  }
                PxU32               getNbBrakeTorque() const    { return mWheelsSimData.getNbWheels();  }
protected:
                                    PxVehicleNoDrive();
                                    ~PxVehicleNoDrive() {}
//~serialization
};
PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleNoDrive) & 15));

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_NO_DRIVE_H