PxVehiclePhysXActorFunctions.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/PxSimpleTypes.h"

#include "vehicle2/PxVehicleParams.h"

#if !PX_DOXYGEN
namespace physx
{

class PxRigidBody;
class PxShape;

namespace vehicle2
{
#endif

struct PxVehicleCommandState;
struct PxVehicleEngineDriveTransmissionCommandState;
struct PxVehicleEngineParams;
struct PxVehicleEngineState;
struct PxVehicleGearboxParams;
struct PxVehicleGearboxState;
struct PxVehicleRigidBodyState;
struct PxVehiclePhysXConstraints;
struct PxVehicleWheelLocalPose;
struct PxVehicleWheelParams;
struct PxVehicleWheelRigidBody1dState;
struct PxVehiclePhysXSteerState;

void PxVehiclePhysxActorWakeup(
 const PxVehicleCommandState& commands,
 const PxVehicleEngineDriveTransmissionCommandState* transmissionCommands,
 const PxVehicleGearboxParams* gearParams,
 const PxVehicleGearboxState* gearState,
 PxRigidBody& physxActor,
 PxVehiclePhysXSteerState& physxSteerState);

bool PxVehiclePhysxActorSleepCheck
(const PxVehicleAxleDescription& axleDescription,
 const PxRigidBody& physxActor,
 const PxVehicleEngineParams* engineParams,
 PxVehicleRigidBodyState& rigidBodyState,
 PxVehiclePhysXConstraints& physxConstraints,
 PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
 PxVehicleEngineState* engineState);

void PxVehiclePhysxActorKeepAwakeCheck
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelRigidBody1dStates,
 const PxReal wakeCounterThreshold,
 const PxReal wakeCounterResetValue,
 const PxVehicleGearboxState* gearState,
 PxRigidBody& physxActor);


void PxVehicleReadRigidBodyStateFromPhysXActor
(const PxRigidBody& physxActor,
 PxVehicleRigidBodyState& rigidBodyState);

void PxVehicleWriteWheelLocalPoseToPhysXWheelShape
(const PxTransform& wheelLocalPose, const PxTransform& wheelShapeLocalPose, PxShape* shape);

void PxVehicleWriteRigidBodyStateToPhysXActor
(const PxVehiclePhysXActorUpdateMode::Enum physxActorUpdateMode,
 const PxVehicleRigidBodyState& rigidBodyState,
 const PxReal dt,
 PxRigidBody& physXActor);



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