PxVehicleUtilSetup.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_UTILSSETUP_H
#define PX_VEHICLE_UTILSSETUP_H

#include "foundation/PxSimpleTypes.h"
#include "vehicle/PxVehicleSDK.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxVehicleWheelsSimData;
class PxVehicleWheelsDynData;
class PxVehicleDriveSimData4W;
class PxVehicleWheels;


void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);

void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);

void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);


void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);

class PxVehicleCopyDynamicsMap
{
public:

    PxVehicleCopyDynamicsMap()
    {
        for(PxU32 i = 0; i < PX_MAX_NB_WHEELS; i++)
        {
            sourceWheelIds[i] = PX_MAX_U8;
            targetWheelIds[i] = PX_MAX_U8;
        }
    }

    PxU8 sourceWheelIds[PX_MAX_NB_WHEELS];
    PxU8 targetWheelIds[PX_MAX_NB_WHEELS];
};

void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);


#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif //PX_VEHICLE_UTILSSETUP_H