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#pragma once

#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"

#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"

#include "PxVehiclePhysXConstraintFunctions.h"
#include "PxVehiclePhysXConstraintHelpers.h"
#include "PxVehiclePhysXConstraintStates.h"
#include "PxVehiclePhysXConstraintParams.h"

#include "common/PxProfileZone.h"

#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif

class PxVehiclePhysXConstraintComponent : public PxVehicleComponent
{
public:
    PxVehiclePhysXConstraintComponent() : PxVehicleComponent() {}
    virtual ~PxVehiclePhysXConstraintComponent() {}

    virtual void getDataForPhysXConstraintComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& suspensionLimitParams,
        PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<const PxVehicleRoadGeometryState>& wheelRoadGeomStates,
        PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
        PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
        PxVehiclePhysXConstraints*& constraints) = 0;

    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_UNUSED(dt);
        PX_UNUSED(context);

        PX_PROFILE_ZONE("PxVehiclePhysXConstraintComponent::update", 0);

        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleRigidBodyState* rigidBodyState;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams> suspensionLimitParams;
        PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<const PxVehicleRoadGeometryState> wheelRoadGeomStates;
        PxVehicleArrayData<const PxVehicleTireDirectionState> tireDirectionStates;
        PxVehicleArrayData<const PxVehicleTireStickyState> tireStickyStates;
        PxVehiclePhysXConstraints* constraints;

        getDataForPhysXConstraintComponent(axleDescription, rigidBodyState,
            suspensionParams, suspensionLimitParams, suspensionStates, suspensionComplianceStates,
            wheelRoadGeomStates, tireDirectionStates, tireStickyStates,
            constraints);

        PxVehicleConstraintsDirtyStateUpdate(*constraints);

        for (PxU32 i = 0; i < axleDescription->nbWheels; i++)
        {
            const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];

            PxVehiclePhysXConstraintStatesUpdate(
                suspensionParams[wheelId], suspensionLimitParams[wheelId],
                suspensionStates[wheelId], suspensionComplianceStates[wheelId],
                wheelRoadGeomStates[wheelId].plane.n,
                context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLONGITUDINAL].damping,
                context.tireStickyParams.stickyParams[PxVehicleTireDirectionModes::eLATERAL].damping,
                tireDirectionStates[wheelId], tireStickyStates[wheelId],
                *rigidBodyState,
                constraints->constraintStates[wheelId]);
        }

        return true;
    }
};

#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif