VhPvdWriter.h

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//  * Redistributions in binary form must reproduce the above copyright
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//    contributors may be used to endorse or promote products derived
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//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
 
#pragma once
 
#include "vehicle2/braking/PxVehicleBrakingParams.h"
#include "vehicle2/drivetrain/PxVehicleDrivetrainParams.h"
#include "vehicle2/drivetrain/PxVehicleDrivetrainStates.h"
#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintParams.h"
#include "vehicle2/physxConstraints/PxVehiclePhysXConstraintStates.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.h"
#include "vehicle2/rigidBody/PxVehicleRigidBodyParams.h"
#include "vehicle2/rigidBody/PxVehicleRigidBodyStates.h"
#include "vehicle2/steering/PxVehicleSteeringParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/suspension/PxVehicleSuspensionStates.h"
#include "vehicle2/tire/PxVehicleTireParams.h"
#include "vehicle2/tire/PxVehicleTireStates.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
#include "vehicle2/wheel/PxVehicleWheelStates.h"
 
#if PX_SUPPORT_OMNI_PVD
#include "OmniPvdWriter.h"
#endif
 
#if PX_SUPPORT_OMNI_PVD
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
//RIGID BODY
 
struct RigidBodyParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle moiAH;
    OmniPvdAttributeHandle massAH;
};
 
struct RigidBodyState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle posAH;               
    OmniPvdAttributeHandle quatAH;              
    OmniPvdAttributeHandle linearVelocityAH;            
    OmniPvdAttributeHandle angularVelocityAH;           
    OmniPvdAttributeHandle previousLinearVelocityAH;    
    OmniPvdAttributeHandle previousAngularVelocityAH;   
    OmniPvdAttributeHandle externalForceAH;         
    OmniPvdAttributeHandle externalTorqueAH;    
};
 
RigidBodyParams registerRigidBodyParams(OmniPvdWriter* omniWriter);
RigidBodyState registerRigidBodyState(OmniPvdWriter* omniWriter);
 
void writeRigidBodyParams
(const PxVehicleRigidBodyParams& rbodyParams,
 const OmniPvdObjectHandle oh, const RigidBodyParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeRigidBodyState
(const PxVehicleRigidBodyState& rbodyParams,
 const OmniPvdObjectHandle oh, const RigidBodyState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
 
//CONTROL
 
struct WheelResponseParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle responseMultipliers0To3AH;
    OmniPvdAttributeHandle responseMultipliers4To7AH;
    OmniPvdAttributeHandle responseMultipliers8To11AH;
    OmniPvdAttributeHandle responseMultipliers12To15AH;
    OmniPvdAttributeHandle responseMultipliers16To19AH;
    OmniPvdAttributeHandle maxResponseAH;
};
 
struct WheelResponseStates
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle responseStates0To3AH;
    OmniPvdAttributeHandle responseStates4To7AH;
    OmniPvdAttributeHandle responseStates8To11AH;
    OmniPvdAttributeHandle responseStates12To15AH;
    OmniPvdAttributeHandle responseStates16To19AH;
};
 
 
 
WheelResponseParams registerSteerResponseParams(OmniPvdWriter* omniWriter);
WheelResponseParams registerBrakeResponseParams(OmniPvdWriter* omniWriter);
WheelResponseStates registerSteerResponseStates(OmniPvdWriter* omniWriter);
WheelResponseStates registerBrakeResponseStates(OmniPvdWriter* omniWriter);
 
void writeSteerResponseParams
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleSteerCommandResponseParams& steerResponseParams, 
 const OmniPvdObjectHandle oh, const WheelResponseParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeBrakeResponseParams
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleBrakeCommandResponseParams& brakeResponseParams, 
 const OmniPvdObjectHandle oh, const WheelResponseParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSteerResponseStates
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<PxReal>& steerResponseStates, 
 const OmniPvdObjectHandle oh, const WheelResponseStates& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeBrakeResponseStates
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleArrayData<PxReal>& brakeResponseStates,
 const OmniPvdObjectHandle oh, const WheelResponseStates& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//WHEEL ATTACHMENTS
 
struct WheelParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle wheelRadiusAH;
    OmniPvdAttributeHandle halfWidthAH;
    OmniPvdAttributeHandle massAH;
    OmniPvdAttributeHandle moiAH;
    OmniPvdAttributeHandle dampingRateAH;
};
 
struct WheelActuationState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle isBrakeAppliedAH;
    OmniPvdAttributeHandle isDriveAppliedAH;
};
 
struct WheelRigidBody1dState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle rotationSpeedAH;
    OmniPvdAttributeHandle correctedRotationSpeedAH;
    OmniPvdAttributeHandle rotationAngleAH;
};
 
struct WheelLocalPoseState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle posAH;
    OmniPvdAttributeHandle quatAH;
};
 
struct RoadGeometryState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle planeAH;
    OmniPvdAttributeHandle frictionAH;
    OmniPvdAttributeHandle velocityAH;
    OmniPvdAttributeHandle hitStateAH;
};
 
struct SuspParams
{
    OmniPvdClassHandle CH;
 
    OmniPvdAttributeHandle suspAttachmentPosAH;
    OmniPvdAttributeHandle suspAttachmentQuatAH;
    OmniPvdAttributeHandle suspDirAH;
    OmniPvdAttributeHandle suspTravleDistAH;
    OmniPvdAttributeHandle wheelAttachmentPosAH;
    OmniPvdAttributeHandle wheelAttachmentQuatAH;
};
 
struct SuspCompParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle toeAngleAH;
    OmniPvdAttributeHandle camberAngleAH;
    OmniPvdAttributeHandle suspForceAppPointAH;
    OmniPvdAttributeHandle tireForceAppPointAH;
};
 
struct SuspForceParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle stiffnessAH;
    OmniPvdAttributeHandle dampingAH;
    OmniPvdAttributeHandle sprungMassAH;
};
 
struct SuspState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle jounceAH;
    OmniPvdAttributeHandle jounceSpeedAH;
    OmniPvdAttributeHandle separationAH;
};
 
struct SuspCompState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle toeAH;
    OmniPvdAttributeHandle camberAH;
    OmniPvdAttributeHandle tireForceAppPointAH;
    OmniPvdAttributeHandle suspForceAppPointAH;
};
 
struct SuspForce
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle forceAH;
    OmniPvdAttributeHandle torqueAH;
    OmniPvdAttributeHandle normalForceAH;
};
 
struct TireParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle latStiffXAH;
    OmniPvdAttributeHandle latStiffYAH;
    OmniPvdAttributeHandle longStiffAH;
    OmniPvdAttributeHandle camberStiffAH;
    OmniPvdAttributeHandle frictionVsSlipAH;
    OmniPvdAttributeHandle restLoadAH;
    OmniPvdAttributeHandle loadFilterAH;
};
 
struct TireDirectionState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle lngDirectionAH;
    OmniPvdAttributeHandle latDirectionAH;
};
 
struct TireSpeedState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle lngSpeedAH;
    OmniPvdAttributeHandle latSpeedAH;
 
};
 
struct TireSlipState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle lngSlipAH;
    OmniPvdAttributeHandle latSlipAH;
};
 
struct TireGripState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle loadAH;
    OmniPvdAttributeHandle frictionAH;
};
 
struct TireCamberState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle camberAngleAH;
};
 
struct TireStickyState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle lngStickyStateTimer;
    OmniPvdAttributeHandle lngStickyStateStatus;
    OmniPvdAttributeHandle latStickyStateTimer;
    OmniPvdAttributeHandle latStickyStateStatus;
};
 
struct TireForce
{
    OmniPvdClassHandle CH;
 
    OmniPvdAttributeHandle lngForceAH;
    OmniPvdAttributeHandle lngTorqueAH;
 
    OmniPvdAttributeHandle latForceAH;
    OmniPvdAttributeHandle latTorqueAH;
 
    OmniPvdAttributeHandle aligningMomentAH;
    OmniPvdAttributeHandle wheelTorqueAH;
};
 
struct WheelAttachment
{
    OmniPvdClassHandle CH;
 
    OmniPvdAttributeHandle wheelParamsAH;
    OmniPvdAttributeHandle wheelActuationStateAH;
    OmniPvdAttributeHandle wheelRigidBody1dStateAH;
    OmniPvdAttributeHandle wheelLocalPoseStateAH;
 
    OmniPvdAttributeHandle roadGeomStateAH;
 
    OmniPvdAttributeHandle suspParamsAH;
    OmniPvdAttributeHandle suspCompParamsAH;
    OmniPvdAttributeHandle suspForceParamsAH;
    OmniPvdAttributeHandle suspStateAH;
    OmniPvdAttributeHandle suspCompStateAH;
    OmniPvdAttributeHandle suspForceAH;
 
    OmniPvdAttributeHandle tireParamsAH;
    OmniPvdAttributeHandle tireDirectionStateAH;
    OmniPvdAttributeHandle tireSpeedStateAH;
    OmniPvdAttributeHandle tireSlipStateAH;
    OmniPvdAttributeHandle tireStickyStateAH;
    OmniPvdAttributeHandle tireGripStateAH;
    OmniPvdAttributeHandle tireCamberStateAH;
    OmniPvdAttributeHandle tireForceAH;
};
 
WheelParams registerWheelParams(OmniPvdWriter* omniWriter);
WheelActuationState registerWheelActuationState(OmniPvdWriter* omniWriter);
WheelRigidBody1dState registerWheelRigidBody1dState(OmniPvdWriter* omniWriter);
WheelLocalPoseState registerWheelLocalPoseState(OmniPvdWriter* omniWriter);
RoadGeometryState registerRoadGeomState(OmniPvdWriter* omniWriter);
SuspParams registerSuspParams(OmniPvdWriter* omniWriter);
SuspCompParams registerSuspComplianceParams(OmniPvdWriter* omniWriter);
SuspForceParams registerSuspForceParams(OmniPvdWriter* omniWriter);
SuspState registerSuspState(OmniPvdWriter* omniWriter);
SuspCompState registerSuspComplianceState(OmniPvdWriter* omniWriter);
SuspForce registerSuspForce(OmniPvdWriter* omniWriter);
TireParams registerTireParams(OmniPvdWriter* omniWriter);
TireDirectionState registerTireDirectionState(OmniPvdWriter* omniWriter);
TireSpeedState registerTireSpeedState(OmniPvdWriter* omniWriter);
TireSlipState registerTireSlipState(OmniPvdWriter* omniWriter);
TireStickyState registerTireStickyState(OmniPvdWriter* omniWriter);
TireGripState registerTireGripState(OmniPvdWriter* omniWriter);
TireCamberState registerTireCamberState(OmniPvdWriter* omniWriter);
TireForce registerTireForce(OmniPvdWriter* omniWriter);
WheelAttachment registerWheelAttachment(OmniPvdWriter* omniWriter);
 
void writeWheelParams
(const PxVehicleWheelParams& params, 
 const OmniPvdObjectHandle oh, const WheelParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeWheelActuationState
(const PxVehicleWheelActuationState& actState,
 const OmniPvdObjectHandle oh, const WheelActuationState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeWheelRigidBody1dState
(const PxVehicleWheelRigidBody1dState& rigidBodyState,
 const OmniPvdObjectHandle oh, const WheelRigidBody1dState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeWheelLocalPoseState
(const PxVehicleWheelLocalPose& pose,
 const OmniPvdObjectHandle oh, const WheelLocalPoseState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeRoadGeomState
(const PxVehicleRoadGeometryState& roadGeometryState,
 const OmniPvdObjectHandle oh, const RoadGeometryState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspParams
(const PxVehicleSuspensionParams& suspParams,
 const OmniPvdObjectHandle oh, const SuspParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspComplianceParams
(const PxVehicleSuspensionComplianceParams& compParams,
 const OmniPvdObjectHandle oh, const SuspCompParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspForceParams
(const PxVehicleSuspensionForceParams& forceParams, 
 const OmniPvdObjectHandle oh, const SuspForceParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspState
(const PxVehicleSuspensionState& suspState, 
 const OmniPvdObjectHandle oh, const SuspState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspComplianceState
(const PxVehicleSuspensionComplianceState& suspCompState,
 const OmniPvdObjectHandle oh, const SuspCompState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeSuspForce
(const PxVehicleSuspensionForce& suspForce, 
 const OmniPvdObjectHandle oh, const SuspForce& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireParams
(const PxVehicleTireForceParams& tireParams, 
 const OmniPvdObjectHandle oh, const TireParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireDirectionState
(const PxVehicleTireDirectionState& tireDirState,
 const OmniPvdObjectHandle oh, const TireDirectionState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireSpeedState
(const PxVehicleTireSpeedState& tireSpeedState,
 const OmniPvdObjectHandle oh, const TireSpeedState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireSlipState
(const PxVehicleTireSlipState& tireSlipState,
 const OmniPvdObjectHandle oh, const TireSlipState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireStickyState
(const PxVehicleTireStickyState& tireStickyState, 
 const OmniPvdObjectHandle oh, const TireStickyState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireGripState
(const PxVehicleTireGripState& tireGripState, 
 const OmniPvdObjectHandle oh, const TireGripState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireCamberState
(const PxVehicleTireCamberAngleState& tireCamberState,
 const OmniPvdObjectHandle oh, const TireCamberState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeTireForce
(const PxVehicleTireForce& tireForce,
 const OmniPvdObjectHandle oh, const TireForce& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//ANTIROLL
 
struct AntiRollParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle wheel0AH;
    OmniPvdAttributeHandle wheel1AH;
    OmniPvdAttributeHandle stiffnessAH;
};
 
struct AntiRollForce
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle torqueAH;
};
 
AntiRollParams registerAntiRollParams(OmniPvdWriter* omniWriter);
AntiRollForce registerAntiRollForce(OmniPvdWriter* omniWriter);
 
void writeAntiRollParams
(const PxVehicleAntiRollForceParams& antiRollParams,
 const OmniPvdObjectHandle oh, const AntiRollParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeAntiRollForce
(const PxVehicleAntiRollTorque& antiRollForce, 
 const OmniPvdObjectHandle oh, const AntiRollForce& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//SUSPENSION STATE CALCULATION
 
struct SuspStateCalcParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle calcTypeAH;
    OmniPvdAttributeHandle limitExpansionValAH;
};
 
SuspStateCalcParams registerSuspStateCalcParams(OmniPvdWriter* omniWriter);
 
void writeSuspStateCalcParams
(const PxVehicleSuspensionStateCalculationParams& suspStateCalcParams,
 const OmniPvdObjectHandle oh, const SuspStateCalcParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//DIRECT DRIVETRAIN
 
struct DirectDriveCommandState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle brakesAH;
    OmniPvdAttributeHandle throttleAH;
    OmniPvdAttributeHandle steerAH;
};
 
struct DirectDriveTransmissionCommandState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle gearAH;
};
 
struct DirectDriveThrottleResponseState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle states0To3AH;
    OmniPvdAttributeHandle states4To7AH;
    OmniPvdAttributeHandle states8To11AH;
    OmniPvdAttributeHandle states12To15AH;
    OmniPvdAttributeHandle states16To19AH;
};
 
struct DirectDrivetrain
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle throttleResponseParamsAH;
    OmniPvdAttributeHandle commandStateAH;
    OmniPvdAttributeHandle throttleResponseStateAH;
};
 
WheelResponseParams registerDirectDriveThrottleResponseParams(OmniPvdWriter* omniWriter);
DirectDriveCommandState registerDirectDriveCommandState(OmniPvdWriter* omniWriter);
DirectDriveTransmissionCommandState registerDirectDriveTransmissionCommandState(OmniPvdWriter* omniWriter);
DirectDriveThrottleResponseState registerDirectDriveThrottleResponseState(OmniPvdWriter* omniWriter);
DirectDrivetrain registerDirectDrivetrain(OmniPvdWriter* omniWriter);
 
void writeDirectDriveThrottleResponseParams
(const PxVehicleAxleDescription& axleDesc,
 const PxVehicleDirectDriveThrottleCommandResponseParams& directDriveThrottleResponseParams,
 const OmniPvdObjectHandle oh,  const WheelResponseParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeDirectDriveCommandState
(const PxVehicleCommandState& commands,
 const OmniPvdObjectHandle oh, const DirectDriveCommandState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeDirectDriveTransmissionCommandState
(const PxVehicleDirectDriveTransmissionCommandState& transmission,
 const OmniPvdObjectHandle oh, const DirectDriveTransmissionCommandState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeDirectDriveThrottleResponseState
(const PxVehicleAxleDescription& axleDesc, const PxVehicleArrayData<PxReal>& throttleResponseState,
 const OmniPvdObjectHandle oh, const DirectDriveThrottleResponseState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
 
//ENGINE DRIVETRAIN
 
struct EngineDriveCommandState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle brakes;
    OmniPvdAttributeHandle throttle;
    OmniPvdAttributeHandle steer;
};
 
struct EngineDriveTransmissionCommandState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle gearAH;
    OmniPvdAttributeHandle clutchAH;
};
 
struct ClutchResponseParams 
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle maxResponseAH;
};
 
struct ClutchParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle accuracyAH;
    OmniPvdAttributeHandle iterationsAH;
};
 
struct EngineParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle torqueCurveAH;
    OmniPvdAttributeHandle moiAH;
    OmniPvdAttributeHandle peakTorqueAH;
    OmniPvdAttributeHandle idleOmegaAH;
    OmniPvdAttributeHandle maxOmegaAH;
    OmniPvdAttributeHandle dampingRateFullThrottleAH;
    OmniPvdAttributeHandle dampingRateZeroThrottleClutchEngagedAH;
    OmniPvdAttributeHandle dampingRateZeroThrottleClutchDisengagedAH;   
};
 
struct GearboxParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle ratiosAH;
    OmniPvdAttributeHandle nbRatiosAH;
    OmniPvdAttributeHandle neutralGearAH;
    OmniPvdAttributeHandle finalRatioAH;
    OmniPvdAttributeHandle switchTimeAH;
};
 
struct AutoboxParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle upRatiosAH;
    OmniPvdAttributeHandle downRatiosAH;
    OmniPvdAttributeHandle latencyAH;
};
 
struct MultiWheelDiffParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle torqueRatios0To3AH;
    OmniPvdAttributeHandle torqueRatios4To7AH;
    OmniPvdAttributeHandle torqueRatios8To11AH;
    OmniPvdAttributeHandle torqueRatios12To15AH;
    OmniPvdAttributeHandle torqueRatios16To19AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios0To3AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios4To7AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios8To11AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios12To15AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios16To19AH;
};
 
struct FourWheelDiffParams : public MultiWheelDiffParams
{
    OmniPvdAttributeHandle frontWheelsAH;
    OmniPvdAttributeHandle rearWheelsAH;
    OmniPvdAttributeHandle frontBiasAH;
    OmniPvdAttributeHandle frontTargetAH;
    OmniPvdAttributeHandle rearBiasAH;
    OmniPvdAttributeHandle rearTargetAH;
    OmniPvdAttributeHandle centreBiasAH;
    OmniPvdAttributeHandle centreTargetAH;
};
 
struct ClutchResponseState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle normalisedResponseAH;
    OmniPvdAttributeHandle responseAH;
};
 
struct ThrottleResponseState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle responseAH;
};
 
struct EngineState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle rotationSpeedAH;
};
 
struct GearboxState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle currentGearAH;
    OmniPvdAttributeHandle targetGearAH;
    OmniPvdAttributeHandle switchTimeAH;
};
 
struct AutoboxState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle timeSinceLastShiftAH;
    OmniPvdAttributeHandle activeAutoboxGearShiftAH;
};
 
struct DiffState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle torqueRatios0To3AH;
    OmniPvdAttributeHandle torqueRatios4To7AH;
    OmniPvdAttributeHandle torqueRatios8To11AH;
    OmniPvdAttributeHandle torqueRatios12To15AH;
    OmniPvdAttributeHandle torqueRatios16To19AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios0To3AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios4To7AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios8To11AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios12To15AH;
    OmniPvdAttributeHandle aveWheelSpeedRatios16To19AH;
};
 
struct ClutchSlipState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle slipAH;
};
 
struct EngineDrivetrain
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle commandStateAH;
    OmniPvdAttributeHandle transmissionCommandStateAH;
    OmniPvdAttributeHandle clutchResponseParamsAH;
    OmniPvdAttributeHandle clutchParamsAH;
    OmniPvdAttributeHandle engineParamsAH;
    OmniPvdAttributeHandle gearboxParamsAH;
    OmniPvdAttributeHandle autoboxParamsAH;
    OmniPvdAttributeHandle multiWheelDiffParamsAH;
    OmniPvdAttributeHandle fourWheelDiffParamsAH;
    OmniPvdAttributeHandle clutchResponseStateAH;
    OmniPvdAttributeHandle throttleResponseStateAH;
    OmniPvdAttributeHandle engineStateAH;
    OmniPvdAttributeHandle gearboxStateAH;
    OmniPvdAttributeHandle autoboxStateAH;
    OmniPvdAttributeHandle diffStateAH;
    OmniPvdAttributeHandle clutchSlipStateAH;
};
 
EngineDriveCommandState registerEngineDriveCommandState(OmniPvdWriter* omniWriter);
EngineDriveTransmissionCommandState registerEngineDriveTransmissionCommandState(OmniPvdWriter* omniWriter);
ClutchResponseParams registerClutchResponseParams(OmniPvdWriter* omniWriter);
ClutchParams registerClutchParams(OmniPvdWriter* omniWriter);
EngineParams registerEngineParams(OmniPvdWriter* omniWriter);
GearboxParams registerGearboxParams(OmniPvdWriter* omniWriter);
AutoboxParams registerAutoboxParams(OmniPvdWriter* omniWriter);
MultiWheelDiffParams registerMultiWheelDiffParams(OmniPvdWriter* omniWriter);
FourWheelDiffParams registerFourWheelDiffParams(OmniPvdWriter* omniWriter);
//TankDiffParams registerTankDiffParams(OmniPvdWriter* omniWriter);
ClutchResponseState registerClutchResponseState(OmniPvdWriter* omniWriter);
ThrottleResponseState registerThrottleResponseState(OmniPvdWriter* omniWriter);
EngineState registerEngineState(OmniPvdWriter* omniWriter);
GearboxState registerGearboxState(OmniPvdWriter* omniWriter);
AutoboxState registerAutoboxState(OmniPvdWriter* omniWriter);
DiffState registerDiffState(OmniPvdWriter* omniWriter);
ClutchSlipState registerClutchSlipState(OmniPvdWriter* omniWriter);
EngineDrivetrain registerEngineDrivetrain(OmniPvdWriter* omniWriter);
 
void writeEngineDriveCommandState
(const PxVehicleCommandState& commandState, 
 const OmniPvdObjectHandle oh, const EngineDriveCommandState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeEngineDriveTransmissionCommandState
(const PxVehicleEngineDriveTransmissionCommandState& transmission,
 const OmniPvdObjectHandle oh, const EngineDriveTransmissionCommandState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeClutchResponseParams
(const PxVehicleClutchCommandResponseParams& clutchResponseParams, 
 const OmniPvdObjectHandle oh, const ClutchResponseParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeClutchParams
(const PxVehicleClutchParams& clutchParams, 
 const OmniPvdObjectHandle oh, const ClutchParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeEngineParams
(const PxVehicleEngineParams& engineParams, 
 const OmniPvdObjectHandle oh, const EngineParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeGearboxParams
(const PxVehicleGearboxParams& gearboxParams, 
 const OmniPvdObjectHandle oh, const GearboxParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeAutoboxParams
(const PxVehicleAutoboxParams& gearboxParams, 
 const OmniPvdObjectHandle oh, const AutoboxParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeMultiWheelDiffParams
(const PxVehicleMultiWheelDriveDifferentialParams& diffParams, 
 const OmniPvdObjectHandle oh, const MultiWheelDiffParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeFourWheelDiffParams
(const PxVehicleFourWheelDriveDifferentialParams& diffParams, 
 const OmniPvdObjectHandle oh, const FourWheelDiffParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeClutchResponseState
(const PxVehicleClutchCommandResponseState& clutchResponseState, 
 const OmniPvdObjectHandle oh, const ClutchResponseState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeThrottleResponseState
(const PxVehicleEngineDriveThrottleCommandResponseState& throttleResponseState, 
 const OmniPvdObjectHandle oh, const ThrottleResponseState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeEngineState
(const PxVehicleEngineState& engineState, 
 const OmniPvdObjectHandle oh, const EngineState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeGearboxState
(const PxVehicleGearboxState& gearboxState, 
 const OmniPvdObjectHandle oh, const GearboxState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeAutoboxState
(const PxVehicleAutoboxState& gearboxState, 
 const OmniPvdObjectHandle oh, const AutoboxState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeDiffState
(const PxVehicleDifferentialState& diffState, 
 const OmniPvdObjectHandle oh, const DiffState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writeClutchSlipState
(const PxVehicleClutchSlipState& clutchSlipState, 
 const OmniPvdObjectHandle oh, const ClutchSlipState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//WHEEL ATTACHMENT PHYSX INTEGRATION
 
struct PhysXSuspensionLimitConstraintParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle restitutionAH;
    OmniPvdAttributeHandle directionForSuspensionLimitConstraintAH;
};
 
struct PhysXWheelShape
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle shapePtrAH;
};
 
struct PhysXRoadGeomState
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle hitActorPtrAH;
    OmniPvdAttributeHandle hitShapePtrAH;
    OmniPvdAttributeHandle hitMaterialPtrAH;
    OmniPvdAttributeHandle hitPositionAH;
};
 
struct PhysXConstraintState
{
    OmniPvdClassHandle CH;
 
    OmniPvdAttributeHandle tireLongActiveStatusAH;
    OmniPvdAttributeHandle tireLongLinearAH;
    OmniPvdAttributeHandle tireLongAngularAH;
    OmniPvdAttributeHandle tireLongDampingAH;
 
    OmniPvdAttributeHandle tireLatActiveStatusAH;
    OmniPvdAttributeHandle tireLatLinearAH;
    OmniPvdAttributeHandle tireLatAngularAH;
    OmniPvdAttributeHandle tireLatDampingAH;
 
    OmniPvdAttributeHandle suspActiveStatusAH;
    OmniPvdAttributeHandle suspLinearAH;
    OmniPvdAttributeHandle suspAngularAH;
    OmniPvdAttributeHandle suspGeometricErrorAH;
    OmniPvdAttributeHandle suspRestitutionAH;
};
 
struct PhysXWheelAttachment
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle physxWeelShapeAH;
    OmniPvdAttributeHandle physxConstraintParamsAH;
    OmniPvdAttributeHandle physxRoadGeometryStateAH;
    OmniPvdAttributeHandle physxConstraintStateAH;
    OmniPvdAttributeHandle physxMaterialFrictionSetAH;
};
 
struct PhysXMaterialFriction
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle frictionAH;
    OmniPvdAttributeHandle materialPtrAH;
};
 
PhysXSuspensionLimitConstraintParams registerSuspLimitConstraintParams(OmniPvdWriter* omniWriter);
PhysXWheelShape registerPhysXWheelShape(OmniPvdWriter* omniWriter);
PhysXRoadGeomState registerPhysXRoadGeomState(OmniPvdWriter* omniWriter);
PhysXConstraintState registerPhysXConstraintState(OmniPvdWriter* omniWriter);
PhysXWheelAttachment registerPhysXWheelAttachment(OmniPvdWriter* omniWriter);
PhysXMaterialFriction registerPhysXMaterialFriction(OmniPvdWriter* omniWriter);
 
void writePhysXSuspLimitConstraintParams
(const PxVehiclePhysXSuspensionLimitConstraintParams& params,
 const OmniPvdObjectHandle oh, const PhysXSuspensionLimitConstraintParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writePhysXWheelShape
(const PxShape* wheelShape, 
 const OmniPvdObjectHandle oh, const PhysXWheelShape& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writePhysXRoadGeomState
(const PxVehiclePhysXRoadGeometryQueryState& roadGeomState,
const OmniPvdObjectHandle oh, const PhysXRoadGeomState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writePhysXConstraintState
(const PxVehiclePhysXConstraintState& roadGeomState,
 const OmniPvdObjectHandle oh, const PhysXConstraintState& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writePhysXMaterialFriction
(const PxVehiclePhysXMaterialFriction& materialFriction,
 const OmniPvdObjectHandle oh, const PhysXMaterialFriction& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//PHYSX RIGID ACTOR
 
struct PhysXRoadGeometryQueryParams
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle queryTypeAH;
};
 
struct PhysXRigidActor
{
    OmniPvdClassHandle CH;
    OmniPvdAttributeHandle rigidActorAH;
};
 
 
PhysXRoadGeometryQueryParams registerPhysXRoadGeometryQueryParams(OmniPvdWriter* omniWriter);
PhysXRigidActor registerPhysXRigidActor(OmniPvdWriter* omniWriter);
 
void writePhysXRigidActor
(const PxRigidActor* actor, 
 const OmniPvdObjectHandle oh, const PhysXRigidActor& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
void writePhysXRoadGeometryQueryParams
(const PxVehiclePhysXRoadGeometryQueryParams& actor, 
 const OmniPvdObjectHandle oh, const PhysXRoadGeometryQueryParams& ah, OmniPvdWriter* omniWriter, OmniPvdContextHandle ch);
 
//VEHICLE
 
struct Vehicle
{
    OmniPvdClassHandle CH;
 
    OmniPvdAttributeHandle rigidBodyParamsAH;
    OmniPvdAttributeHandle rigidBodyStateAH;
 
    OmniPvdAttributeHandle suspStateCalcParamsAH;
 
    OmniPvdAttributeHandle brakeResponseParamsSetAH;
    OmniPvdAttributeHandle steerResponseParamsAH;
    OmniPvdAttributeHandle brakeResponseStatesAH;
    OmniPvdAttributeHandle steerResponseStatesAH;
 
    OmniPvdAttributeHandle wheelAttachmentSetAH;
 
    OmniPvdAttributeHandle antiRollSetAH;
    OmniPvdAttributeHandle antiRollForceAH;
 
    OmniPvdAttributeHandle directDrivetrainAH;
    OmniPvdAttributeHandle engineDriveTrainAH;
 
    OmniPvdAttributeHandle physxWheelAttachmentSetAH;
 
    OmniPvdAttributeHandle physxRoadGeometryQueryParamsAH;
    OmniPvdAttributeHandle physxRigidActorAH;
};
 
Vehicle registerVehicle(OmniPvdWriter* omniWriter);
 
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif
 
#endif //PX_SUPPORT_OMNI_PVD