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00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
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00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 #ifndef PX_VEHICLE_UTILSSETUP_H
00031 #define PX_VEHICLE_UTILSSETUP_H
00032 
00035 #include "foundation/PxSimpleTypes.h"
00036 #include "vehicle/PxVehicleSDK.h"
00037 
00038 #if !PX_DOXYGEN
00039 namespace physx
00040 {
00041 #endif
00042 
00043 class PxVehicleWheelsSimData;
00044 class PxVehicleWheelsDynData;
00045 class PxVehicleDriveSimData4W;
00046 class PxVehicleWheels;
00047 
00048 
00059 void PxVehicle4WEnable3WTadpoleMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
00060 
00071 void PxVehicle4WEnable3WDeltaMode(PxVehicleWheelsSimData& wheelsSimData, PxVehicleWheelsDynData& wheelsDynData, PxVehicleDriveSimData4W& driveSimData);
00072 
00090 void PxVehicleComputeSprungMasses(const PxU32 nbSprungMasses, const PxVec3* sprungMassCoordinates, const PxVec3& centreOfMass, const PxReal totalMass, const PxU32 gravityDirection, PxReal* sprungMasses);
00091 
00092 
00109 void PxVehicleUpdateCMassLocalPose(const PxTransform& oldCMassLocalPose, const PxTransform& newCMassLocalPose, const PxU32 gravityDirection, PxVehicleWheels* vehicle);
00110 
00115 class PxVehicleCopyDynamicsMap
00116 {
00117 public:
00118 
00119     PxVehicleCopyDynamicsMap()
00120     {
00121         for(PxU32 i = 0; i < PX_MAX_NB_WHEELS; i++)
00122         {
00123             sourceWheelIds[i] = PX_MAX_U8;
00124             targetWheelIds[i] = PX_MAX_U8;
00125         }
00126     }
00127 
00128     PxU8 sourceWheelIds[PX_MAX_NB_WHEELS];
00129     PxU8 targetWheelIds[PX_MAX_NB_WHEELS];
00130 };
00131 
00152 void PxVehicleCopyDynamicsData(const PxVehicleCopyDynamicsMap& wheelMap, const PxVehicleWheels& src, PxVehicleWheels* trg);
00153 
00154 
00155 #if !PX_DOXYGEN
00156 } // namespace physx
00157 #endif
00158 
00160 #endif //PX_VEHICLE_UTILSSETUP_H