PxVehicleUpdate.h

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#ifndef PX_VEHICLE_UPDATE_H
#define PX_VEHICLE_UPDATE_H
 
#include "vehicle/PxVehicleSDK.h"
#include "vehicle/PxVehicleTireFriction.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxMemory.h"
#include "foundation/PxTransform.h"
#include "PxQueryFiltering.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
    class PxContactModifyPair;
    class PxVehicleWheels;
    class PxVehicleDrivableSurfaceToTireFrictionPairs;
    class PxVehicleTelemetryData;
    class PxBatchQueryExt;
 
    struct PX_DEPRECATED PxWheelQueryResult
    {
        PxWheelQueryResult()
        {
            PxMemZero(this, sizeof(PxWheelQueryResult));
            isInAir=true;
            tireSurfaceType = PxU32(PxVehicleDrivableSurfaceType::eSURFACE_TYPE_UNKNOWN);
            localPose = PxTransform(PxIdentity);
        }
 
        PxVec3 suspLineStart;
 
        PxVec3 suspLineDir;
 
        PxReal suspLineLength;
 
        bool isInAir;
 
        PxActor* tireContactActor;
 
        PxShape* tireContactShape;
 
        const PxMaterial* tireSurfaceMaterial;
 
        PxU32 tireSurfaceType;
 
        PxVec3 tireContactPoint;
 
        PxVec3 tireContactNormal;
 
        PxReal tireFriction;
 
        PxReal suspJounce;
 
        PxReal suspSpringForce;
 
        PxVec3 tireLongitudinalDir;
 
        PxVec3 tireLateralDir;
 
        PxReal longitudinalSlip;
 
        PxReal lateralSlip;
 
        PxReal steerAngle;
 
        PxTransform localPose;
    };
 
    struct PX_DEPRECATED PxVehicleWheelQueryResult
    {
        PxWheelQueryResult* wheelQueryResults;
 
        PxU32 nbWheelQueryResults;
    };
 
    struct PX_DEPRECATED PxVehicleWheelConcurrentUpdateData
    {
        friend class PxVehicleUpdate;
 
        PxVehicleWheelConcurrentUpdateData()
            : localPose(PxTransform(PxIdentity)),
              hitActor(NULL),
              hitActorForce(PxVec3(0,0,0)),
              hitActorForcePosition(PxVec3(0,0,0))
        {
        }
 
    private:
 
        PxTransform localPose;
        PxRigidDynamic* hitActor;
        PxVec3 hitActorForce;
        PxVec3 hitActorForcePosition;
    };
 
    struct PX_DEPRECATED PxVehicleConcurrentUpdateData
    {
        friend class PxVehicleUpdate;
 
        PxVehicleConcurrentUpdateData()
            : concurrentWheelUpdates(NULL),
              nbConcurrentWheelUpdates(0),
              linearMomentumChange(PxVec3(0,0,0)),
              angularMomentumChange(PxVec3(0,0,0)),
              staySleeping(false),
              wakeup(false)
        {
        }
 
        PxVehicleWheelConcurrentUpdateData* concurrentWheelUpdates;
 
        PxU32 nbConcurrentWheelUpdates;
 
    private:
 
        PxVec3 linearMomentumChange;
        PxVec3 angularMomentumChange;
        bool staySleeping;
        bool wakeup;
    };
 
    PX_DEPRECATED void PxVehicleSuspensionRaycasts( PxBatchQueryExt* batchQuery,
                                        const PxU32 nbVehicles, PxVehicleWheels** vehicles,
                                        const bool* vehiclesToRaycast = NULL,
                                        const PxQueryFlags queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER);
 
    PX_DEPRECATED void PxVehicleSuspensionSweeps(   PxBatchQueryExt* batchQuery,
                                    const PxU32 nbVehicles, PxVehicleWheels** vehicles, 
                                    const PxU16 nbHitsPerQuery, 
                                    const bool* vehiclesToSweep = NULL,
                                    const PxF32 sweepWidthScale = 1.0f, const PxF32 sweepRadiusScale = 1.0f, const PxF32 sweepInflation = 0.0f,
                                    const PxQueryFlags queryFlags = PxQueryFlag::eSTATIC | PxQueryFlag::eDYNAMIC | PxQueryFlag::ePREFILTER,
                                    const PxVehicleContext& context = PxVehicleGetDefaultContext());
 
    PX_DEPRECATED PxU32 PxVehicleModifyWheelContacts
        (const PxVehicleWheels& vehicle, const PxU32 wheelId,
        const PxF32 wheelTangentVelocityMultiplier, const PxReal maxImpulse,
        PxContactModifyPair& contactModifyPair,
        const PxVehicleContext& context = PxVehicleGetDefaultContext());
 
 
    PX_DEPRECATED void PxVehicleUpdates(
        const PxReal timestep, const PxVec3& gravity, 
        const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
        const PxU32 nbVehicles, PxVehicleWheels** vehicles, PxVehicleWheelQueryResult* vehicleWheelQueryResults, PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL,
        const PxVehicleContext& context = PxVehicleGetDefaultContext());
 
 
    PX_DEPRECATED void PxVehiclePostUpdates(
        const PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates, const PxU32 nbVehicles, PxVehicleWheels** vehicles,
        const PxVehicleContext& context = PxVehicleGetDefaultContext());
 
 
    PX_DEPRECATED void PxVehicleShiftOrigin(const PxVec3& shift, const PxU32 nbVehicles, PxVehicleWheels** vehicles);
 
#if PX_DEBUG_VEHICLE_ON
    PX_DEPRECATED void PxVehicleUpdateSingleVehicleAndStoreTelemetryData
        (const PxReal timestep, const PxVec3& gravity, 
         const PxVehicleDrivableSurfaceToTireFrictionPairs& vehicleDrivableSurfaceToTireFrictionPairs, 
         PxVehicleWheels* focusVehicle, PxVehicleWheelQueryResult* vehicleWheelQueryResults, 
         PxVehicleTelemetryData& telemetryData,
         PxVehicleConcurrentUpdateData* vehicleConcurrentUpdates = NULL,
         const PxVehicleContext& context = PxVehicleGetDefaultContext());
#endif
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif