PxVehicleUpdate.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_UPDATE_H
#define PX_VEHICLE_UPDATE_H

#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleTireFriction.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxMemory.h"
#include "foundation/PxTransform.h"
#include "PxBatchQueryDesc.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

    class PxBatchQuery;
    class PxVehicleWheels;
    class PxVehicleDrivableSurfaceToTireFrictionPairs;
    class PxVehicleTelemetryData;

    struct PxWheelQueryResult
    {
        PxWheelQueryResult()
        {
            PxMemZero(this, sizeof(PxWheelQueryResult));
            isInAir=true;
            tireSurfaceType = (PxU32)PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN;
            localPose = PxTransform(PxIdentity);
        }

        PxVec3 suspLineStart;

        PxVec3 suspLineDir;

        PxReal suspLineLength;

        bool isInAir;

        PxActor* tireContactActor;

        PxShape* tireContactShape;

        const PxMaterial* tireSurfaceMaterial;

        PxU32 tireSurfaceType;

        PxVec3 tireContactPoint;

        PxVec3 tireContactNormal;

        PxReal tireFriction;

        PxReal suspJounce;

        PxReal suspSpringForce;

        PxVec3 tireLongitudinalDir;

        PxVec3 tireLateralDir;

        PxReal longitudinalSlip;

        PxReal lateralSlip;

        PxReal steerAngle;

        PxTransform localPose;
    };

    struct PxVehicleWheelQueryResult
    {
        PxWheelQueryResult* wheelQueryResults;

        PxU32 nbWheelQueryResults;
    };

    struct PxVehicleWheelConcurrentUpdateData
    {
        friend class PxVehicleUpdate;

        PxVehicleWheelConcurrentUpdateData()
            : localPose(PxTransform(PxIdentity)),
              hitActor(NULL),
              hitActorForce(PxVec3(0,0,0)),
              hitActorForcePosition(PxVec3(0,0,0))
        {
        }

    private:

        PxTransform localPose;
        PxRigidDynamic* hitActor;
        PxVec3 hitActorForce;
        PxVec3 hitActorForcePosition;
    };

    struct PxVehicleConcurrentUpdateData
    {
        friend class PxVehicleUpdate;

        PxVehicleConcurrentUpdateData()
            : concurrentWheelUpdates(NULL),
              nbConcurrentWheelUpdates(0),
              linearMomentumChange(PxVec3(0,0,0)),
              angularMomentumChange(PxVec3(0,0,0)),
              staySleeping(false),
              wakeup(false)
        {
        }

        PxVehicleWheelConcurrentUpdateData* concurrentWheelUpdates;

        PxU32 nbConcurrentWheelUpdates;

    private:

        PxVec3 linearMomentumChange;
        PxVec3 angularMomentumChange;
        bool staySleeping;
        bool wakeup;
    };

    void PxVehicleSuspensionRaycasts
        (PxBatchQuery* batchQuery, const PxU32 nbVehicles, PxVehicleWheels** vehicles, const PxU32 nbSceneQueryResults, PxRaycastQueryResult* sceneQueryResults, const bool* vehiclesToRaycast = NULL);


    void PxVehicleUpdates(
        const PxReal timestep, const PxVec3& gravity, 
        const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
        const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL);


    void PxVehiclePostUpdates(
        const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles);


    void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles);

#if PX_DEBUG_VEHICLE_ON

    void PxVehicleUpdateSingleVehicleAndStoreTelemetryData
        (const PxReal timestep, const PxVec3& gravity, 
         const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
         PxVehicleWheels* focusVehicle, PxVehicleWheelQueryResult* vehicleWheelQueryResults, 
         PxVehicleTelemetryData& telemetryData);
#endif

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_UPDATE_H