include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.h

File members: include/vehicle2/drivetrain/PxVehicleDrivetrainFunctions.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
{
namespace vehicle2
{
#endif

struct PxVehicleCommandState;
struct PxVehicleDirectDriveTransmissionCommandState;
struct PxVehicleEngineDriveTransmissionCommandState;
struct PxVehicleDirectDriveThrottleCommandResponseParams;
struct PxVehicleWheelActuationState;
struct PxVehicleWheelParams;
struct PxVehicleTireForce;
struct PxVehicleWheelRigidBody1dState;
struct PxVehicleEngineParams;
struct PxVehicleGearboxParams;
struct PxVehicleAutoboxParams;
struct PxVehicleEngineState;
struct PxVehicleGearboxState;
struct PxVehicleAutoboxState;
struct PxVehicleClutchCommandResponseParams;
struct PxVehicleClutchCommandResponseState;
struct PxVehicleEngineDriveThrottleCommandResponseState;
struct PxVehicleDifferentialState;
struct PxVehicleMultiWheelDriveDifferentialParams;
struct PxVehicleFourWheelDriveDifferentialParams;
struct PxVehicleTankDriveDifferentialParams;
struct PxVehicleFourWheelDriveDifferentialLegacyParams;
struct PxVehicleClutchParams;
struct PxVehicleWheelConstraintGroupState;
struct PxVehicleClutchSlipState;

void PxVehicleDirectDriveThrottleCommandResponseUpdate
(const PxReal throttle, const PxVehicleDirectDriveTransmissionCommandState& transmissionCommands, const PxReal longitudinalSpeed,
 const PxU32 wheelId, const PxVehicleDirectDriveThrottleCommandResponseParams& throttleResponseParams,
 PxReal& throttleResponseState);

void PxVehicleDirectDriveActuationStateUpdate
(const PxReal brakeTorque, const PxReal driveTorque,
 PxVehicleWheelActuationState& actuationState);

void PxVehicleDirectDriveUpdate
(const PxVehicleWheelParams& wheelParams,
 const PxVehicleWheelActuationState& actuationState,
 const PxReal brakeTorque, const PxReal driveTorque, const PxVehicleTireForce& tireForce,
 const PxF32 dt,
 PxVehicleWheelRigidBody1dState& wheelRigidBody1dState);

void PxVehicleAutoBoxUpdate
(const PxVehicleEngineParams& engineParams, const PxVehicleGearboxParams& gearboxParams, const PxVehicleAutoboxParams& autoboxParams,
 const PxVehicleEngineState& engineState, const PxVehicleGearboxState& gearboxState,
 const PxReal dt,
 PxU32& targetGearCommand, PxVehicleAutoboxState& autoboxState,
 PxReal& throttle);

void PxVehicleGearCommandResponseUpdate
(const PxU32 targetGearCommand,
    const PxVehicleGearboxParams& gearboxParams,
    PxVehicleGearboxState& gearboxState);

void PxVehicleClutchCommandResponseLinearUpdate
(const PxReal clutchCommand,
    const PxVehicleClutchCommandResponseParams& clutchResponseParams,
    PxVehicleClutchCommandResponseState& clutchResponse);

void PxVehicleEngineDriveThrottleCommandResponseLinearUpdate
(const PxVehicleCommandState& commands,
    PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse);

void PxVehicleEngineDriveActuationStateUpdate
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleGearboxParams& gearboxParams,
 const PxVehicleArrayData<const PxReal>& brakeResponseStates,
 const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState,
 const PxVehicleGearboxState& gearboxState, const PxVehicleDifferentialState& diffState, const PxVehicleClutchCommandResponseState& clutchResponseState,
 PxVehicleArrayData<PxVehicleWheelActuationState>& actuationStates);

void PX_DEPRECATED PxVehicleDifferentialStateUpdate
(const PxVehicleFourWheelDriveDifferentialLegacyParams& diffParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
 PxVehicleDifferentialState& diffState);

void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription, const PxVehicleFourWheelDriveDifferentialParams& diffParams,
 const PxVehicleArrayData<const PxVehicleWheelRigidBody1dState>& wheelStates,
 const PxReal dt,
 PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);

void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription, const PxVehicleMultiWheelDriveDifferentialParams& diffParams,
 PxVehicleDifferentialState& diffState);

void PxVehicleDifferentialStateUpdate
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams, const PxVehicleTankDriveDifferentialParams& diffParams,
 const PxReal thrustCommand0, PxReal thrustCommand1,
 PxVehicleDifferentialState& diffState, PxVehicleWheelConstraintGroupState& wheelConstraintGroupState);

void PxVehicleGearboxUpdate
(const PxVehicleGearboxParams& gearboxParams,
 const PxF32 dt,
 PxVehicleGearboxState& gearboxState);

void PxVehicleEngineDrivetrainUpdate
(const PxVehicleAxleDescription& axleDescription,
 const PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
 const PxVehicleEngineParams& engineParams, const PxVehicleClutchParams& clutchParams, const PxVehicleGearboxParams& gearboxParams,
 const PxVehicleArrayData<const PxReal>& brakeResponseStates,
 const PxVehicleArrayData<const PxVehicleWheelActuationState>& actuationStates,
 const PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
 const PxVehicleGearboxState& gearboxState, const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponse, const PxVehicleClutchCommandResponseState& clutchResponse,
 const PxVehicleDifferentialState& diffState, const PxVehicleWheelConstraintGroupState* constraintGroupState,
 const PxReal dt,
 PxVehicleArrayData<PxVehicleWheelRigidBody1dState>& wheelRigidbody1dStates,
 PxVehicleEngineState& engineState, PxVehicleClutchSlipState& clutchState);

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