Program Listing for include/vehicle2/wheel/PxVehicleWheelComponents.h

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#pragma once

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

#include "vehicle2/commands/PxVehicleCommandHelpers.h"
#include "vehicle2/tire/PxVehicleTireStates.h"

#include "PxVehicleWheelFunctions.h"
#include "PxVehicleWheelHelpers.h"

#include "common/PxProfileZone.h"

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

class PxVehicleWheelComponent : public PxVehicleComponent
{
public:

    PxVehicleWheelComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleWheelComponent() {}

    virtual void getDataForWheelComponent(
        const PxVehicleAxleDescription*& axleDescription,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
        PxVehicleArrayData<const PxVehicleSuspensionState>& suspensionStates,
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState>& suspensionComplianceStates,
        PxVehicleArrayData<const PxVehicleTireSpeedState>& tireSpeedStates,
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
        PxVehicleArrayData<PxVehicleWheelLocalPose>& wheelLocalPoses) = 0;

    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleWheelComponent::update", 0);

        const PxVehicleAxleDescription* axleDescription;
        PxVehicleArrayData<const PxReal> steerResponseStates;
        PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehicleWheelActuationState> actuationStates;
        PxVehicleArrayData<const PxVehicleSuspensionState> suspensionStates;
        PxVehicleArrayData<const PxVehicleSuspensionComplianceState> suspensionComplianceStates;
        PxVehicleArrayData<const PxVehicleTireSpeedState> tireSpeedStates;
        PxVehicleArrayData<PxVehicleWheelRigidBody1dState> wheelRigidBody1dStates;
        PxVehicleArrayData<PxVehicleWheelLocalPose> wheelLocalPoses;

        getDataForWheelComponent(axleDescription, steerResponseStates,
            wheelParams, suspensionParams, actuationStates, suspensionStates,
            suspensionComplianceStates, tireSpeedStates, wheelRigidBody1dStates,
            wheelLocalPoses);

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

            PxVehicleWheelRotationAngleUpdate(
                wheelParams[wheelId],
                actuationStates[wheelId], suspensionStates[wheelId],
                tireSpeedStates[wheelId],
                context.thresholdForwardSpeedForWheelAngleIntegration, dt,
                wheelRigidBody1dStates[wheelId]);

            wheelLocalPoses[wheelId].localPose = PxVehicleComputeWheelLocalPose(context.frame,
                suspensionParams[wheelId],
                suspensionStates[wheelId],
                suspensionComplianceStates[wheelId],
                steerResponseStates[wheelId],
                wheelRigidBody1dStates[wheelId]);
        }

        return true;
    }
};

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