Program Listing for include/vehicle2/pvd/PxVehiclePvdFunctions.h

↰ Return to documentation for include/vehicle2/pvd/PxVehiclePvdFunctions.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#pragma once

#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/braking/PxVehicleBrakingParams.h"
#include "vehicle2/commands/PxVehicleCommandStates.h"
#include "vehicle2/drivetrain/PxVehicleDrivetrainParams.h"
#include "vehicle2/drivetrain/PxVehicleDrivetrainStates.h"
#include "vehicle2/physxActor/PxVehiclePhysXActorStates.h"
#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintParams.h"
#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.h"
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/steering/PxVehicleSteeringParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
#include "vehicle2/tire/PxVehicleTireParams.h"
#include "vehicle2/tire/PxVehicleTireStates.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
#include "vehicle2/wheel/PxVehicleWheelStates.h"

class OmniPvdWriter;
namespace physx
{
class PxAllocatorCallback;
namespace vehicle2
{
struct PxVehiclePvdAttributeHandles;
struct PxVehiclePvdObjectHandles;
} // namespace vehicle2
} // namespace physx

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

void PxVehiclePvdRigidBodyRegister
(const PxVehicleRigidBodyParams* rbodyParams, const PxVehicleRigidBodyState* rbodyState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdRigidBodyWrite
(const PxVehicleRigidBodyParams* rbodyParams, const PxVehicleRigidBodyState* rbodyState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdSuspensionStateCalculationParamsRegister
(const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdSuspensionStateCalculationParamsWrite
(const PxVehicleSuspensionStateCalculationParams* suspStateCalcParams,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdCommandResponseRegister
(const PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
 const PxVehicleSteerCommandResponseParams* steerResponseParams,
 const PxVehicleArrayData<PxReal>& brakeResponseStates,
 const PxVehicleArrayData<PxReal>& steerResponseStates,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdCommandResponseWrite
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleSizedArrayData<const PxVehicleBrakeCommandResponseParams>& brakeResponseParams,
 const PxVehicleSteerCommandResponseParams* steerResponseParams,
 const PxVehicleArrayData<PxReal>& brakeResponseStates,
 const PxVehicleArrayData<PxReal>& steerResponseStates,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdWheelAttachmentsRegister
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
 const PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
 const PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
 const PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeometryStates,
 const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
 const PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
 const PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
 const PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
 const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
 const PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
 const PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
 const PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
 const PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
 const PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
 const PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
 const PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
 const PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
 const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdWheelAttachmentsWrite
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
 const PxVehicleArrayData<const PxVehicleWheelActuationState>& wheelActuationStates,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
 const PxVehicleArrayData<const PxVehicleWheelLocalPose>& wheelLocalPoses,
 const PxVehicleArrayData<const PxVehicleRoadGeometryState>& roadGeometryStates,
 const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspParams,
 const PxVehicleArrayData<const PxVehicleSuspensionComplianceParams>& suspCompParams,
 const PxVehicleArrayData<const PxVehicleSuspensionForceParams>& suspForceParams,
 const PxVehicleArrayData<const PxVehicleSuspensionState>& suspStates,
 const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspCompStates,
 const PxVehicleArrayData<const PxVehicleSuspensionForce>& suspForces,
 const PxVehicleArrayData<const PxVehicleTireForceParams>& tireForceParams,
 const PxVehicleArrayData<const PxVehicleTireDirectionState>& tireDirectionStates,
 const PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
 const PxVehicleArrayData<const PxVehicleTireSlipState>& tireSlipStates,
 const PxVehicleArrayData<const PxVehicleTireStickyState>& tireStickyStates,
 const PxVehicleArrayData<const PxVehicleTireGripState>& tireGripStates,
 const PxVehicleArrayData<const PxVehicleTireCamberAngleState>& tireCamberStates,
 const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdAntiRollsRegister
(const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams, const PxVehicleAntiRollTorque* antiRollTorque,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdAntiRollsWrite
(const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollForceParams, const PxVehicleAntiRollTorque* antiRollTorque,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdDirectDrivetrainRegister
(const PxVehicleCommandState* commandState, const PxVehicleDirectDriveTransmissionCommandState* transmissionCommandState,
 const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams,
 const PxVehicleArrayData<PxReal>& directDriveThrottleResponseState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdDirectDrivetrainWrite
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleCommandState* commandState, const PxVehicleDirectDriveTransmissionCommandState* transmissionCommandState,
 const PxVehicleDirectDriveThrottleCommandResponseParams* directDriveThrottleResponseParams,
 const PxVehicleArrayData<PxReal>& directDriveThrottleResponseState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdEngineDrivetrainRegister
(const PxVehicleCommandState* commandState, const PxVehicleEngineDriveTransmissionCommandState* transmissionCommandState,
 const PxVehicleClutchCommandResponseParams* clutchResponseParams,
 const PxVehicleClutchParams* clutchParams,
 const PxVehicleEngineParams* engineParams,
 const PxVehicleGearboxParams* gearboxParams,
 const PxVehicleAutoboxParams* autoboxParams,
 const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams,
 const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffPrams,
 const PxVehicleClutchCommandResponseState* clutchResponseState,
 const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState,
 const PxVehicleEngineState* engineState,
 const PxVehicleGearboxState* gearboxState,
 const PxVehicleAutoboxState* autoboxState,
 const PxVehicleDifferentialState* diffState,
 const PxVehicleClutchSlipState* clutchSlipState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdEngineDrivetrainWrite
(const PxVehicleCommandState* commandState, const PxVehicleEngineDriveTransmissionCommandState* transmissionCommandState,
 const PxVehicleClutchCommandResponseParams* clutchResponseParams,
 const PxVehicleClutchParams* clutchParams,
 const PxVehicleEngineParams* engineParams,
 const PxVehicleGearboxParams* gearboxParams,
 const PxVehicleAutoboxParams* autoboxParams,
 const PxVehicleMultiWheelDriveDifferentialParams* multiWheelDiffParams,
 const PxVehicleFourWheelDriveDifferentialParams* fourWheelDiffPrams,
 const PxVehicleClutchCommandResponseState* clutchResponseState,
 const PxVehicleEngineDriveThrottleCommandResponseState* throttleResponseState,
 const PxVehicleEngineState* engineState,
 const PxVehicleGearboxState* gearboxState,
 const PxVehicleAutoboxState* autoboxState,
 const PxVehicleDifferentialState* diffState,
 const PxVehicleClutchSlipState* clutchSlipState,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdPhysXWheelAttachmentRegister
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxSuspLimitConstraintParams,
 const PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
 const PxVehiclePhysXActor* physxActor, const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeometryQueryParams,
 const PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>&  physxRoadGeomState,
 const PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdPhysXWheelAttachmentWrite
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<const PxVehiclePhysXSuspensionLimitConstraintParams>& physxSuspLimitConstraintParams,
 const PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& physxMaterialFrictionParams,
 const PxVehiclePhysXActor* physxActor, const PxVehiclePhysXRoadGeometryQueryParams* physxRoadGeometryQueryParams,
 const PxVehicleArrayData<const PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeomState,
 const PxVehicleArrayData<const PxVehiclePhysXConstraintState>& physxConstraintStates,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdPhysXRigidActorRegister
(const PxVehiclePhysXActor* physxActor,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 PxVehiclePvdObjectHandles* objectHandles, OmniPvdWriter* omniWriter);

void PxVehiclePvdPhysXRigidActorWrite
(const PxVehiclePhysXActor* physxActor,
 const PxVehiclePvdAttributeHandles& attributeHandles,
 const PxVehiclePvdObjectHandles& objectHandles, OmniPvdWriter* omniWriter);

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