PxVehicleSuspensionFunctions.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#pragma once

#include "foundation/PxVec3.h"
#include "foundation/PxSimpleTypes.h"
#include "vehicle2/PxVehicleParams.h"

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

struct PxVehicleWheelParams;
struct PxVehicleSuspensionParams;
struct PxVehicleSuspensionStateCalculationParams;
struct PxVehicleRoadGeometryState;
struct PxVehicleRigidBodyState;
struct PxVehicleSuspensionState;
struct PxVehicleSuspensionComplianceParams;
struct PxVehicleSuspensionComplianceState;
struct PxVehicleSuspensionForceParams;
struct PxVehicleSuspensionForce;
struct PxVehicleSuspensionForceLegacyParams;
struct PxVehicleAntiRollForceParams;
struct PxVehicleAntiRollTorque;

void PxVehicleSuspensionStateUpdate
(const PxVehicleWheelParams& wheelParams, const PxVehicleSuspensionParams& suspensionParams, const PxVehicleSuspensionStateCalculationParams& suspensionStateCalcParams,
 const PxReal suspensionStiffness, const PxReal suspensionDamping,
 const PxReal steerAngle, const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleRigidBodyState& rigidBodyState,
 const PxReal dt, const PxVehicleFrame& frame, const PxVec3& gravity,
 PxVehicleSuspensionState& suspState);

void PxVehicleSuspensionComplianceUpdate
(const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionComplianceParams& complianceParams,
 const PxVehicleSuspensionState& suspensionState,
 PxVehicleSuspensionComplianceState& complianceState);

void PxVehicleSuspensionForceUpdate
(const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionForceParams& suspensionForceParams,
 const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleSuspensionState& suspensionState,
 const PxVehicleSuspensionComplianceState& complianceState, const PxVehicleRigidBodyState& rigidBodyState,
 const PxVec3& gravity, const PxReal vehicleMass,
 PxVehicleSuspensionForce& suspensionForce);


PX_DEPRECATED void PxVehicleSuspensionLegacyForceUpdate
(const PxVehicleSuspensionParams& suspensionParams,
 const PxVehicleSuspensionForceLegacyParams& suspensionForceParams,
 const PxVehicleRoadGeometryState& roadGeometryState, const PxVehicleSuspensionState& suspensionState,
 const PxVehicleSuspensionComplianceState& complianceState, const PxVehicleRigidBodyState& rigidBodyState,
 const PxVec3& gravity,
 PxVehicleSuspensionForce& suspensionForce);

void PxVehicleAntiRollForceUpdate
(const PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
 const PxVehicleSizedArrayData<const PxVehicleAntiRollForceParams>& antiRollParams,
 const PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
 const PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& complianceStates,
 const PxVehicleRigidBodyState& rigidBodyState,
 PxVehicleAntiRollTorque& antiRollTorque);

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