Method updateDrive4W

physx/source/physxvehicle/src/PxVehicleUpdate.cpp:4782–5369

};

void PxVehicleUpdate::updateDrive4W(
const PxF32 timestep, 
const PxVec3& gravity, const PxF32 gravityMagnitude, const PxF32 recipGravityMagnitude, 
const PxVehicleDrivableSurfaceToTireFrictionPairs& drivableSurfaceToTireFrictionPairs,
PxVehicleDrive4W* vehDrive4W, PxVehicleWheelQueryResult* vehWheelQueryResults, PxVehicleConcurrentUpdateData* vehConcurrentUpdates)
{
	PX_SIMD_GUARD; // denorm exception in transformInertiaTensor() on osx

	START_TIMER(TIMER_ADMIN);

	PX_CHECK_AND_RETURN(
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL]>-0.01f && 
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_ACCEL]<1.01f, 
		"Illegal vehicle control value - accel must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE]>-0.01f && 
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_BRAKE]<1.01f, 
		"Illegal vehicle control value - brake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE]>-0.01f && 
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_HANDBRAKE]<1.01f, 
		"Illegal vehicle control value - handbrake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_LEFT]>-1.01f && 
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_LEFT]<1.01f, 
		"Illegal vehicle control value - left steer must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT]>-1.01f && 
		vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT]<1.01f, 
		"Illegal vehicle control value - right steer must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		PxAbs(vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_RIGHT]-
			  vehDrive4W->mDriveDynData.mControlAnalogVals[PxVehicleDrive4WControl::eANALOG_INPUT_STEER_LEFT])<1.01f, 
		"Illegal vehicle control value - right steer value minus left steer value must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		!(vehDrive4W->getRigidDynamicActor()->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC),
		"Attempting to update a drive4W with a kinematic actor - this isn't allowed");
	PX_CHECK_AND_RETURN(
		NULL==vehWheelQueryResults || vehWheelQueryResults->nbWheelQueryResults >= vehDrive4W->mWheelsSimData.getNbWheels(), 
		"nbWheelQueryResults must always be greater than or equal to number of wheels in corresponding vehicle");
	PX_CHECK_AND_RETURN(
		NULL==vehConcurrentUpdates || vehConcurrentUpdates->nbConcurrentWheelUpdates >= vehDrive4W->mWheelsSimData.getNbWheels(), 
		"vehConcurrentUpdates->nbConcurrentWheelUpdates must always be greater than or equal to number of wheels in corresponding vehicle");

#if PX_CHECKED
	{
		//Check that the sense of left/right and forward/rear is true.
		const PxVec3 fl=vehDrive4W->mWheelsSimData.mWheels4SimData[0].getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_LEFT);
		const PxVec3 fr=vehDrive4W->mWheelsSimData.mWheels4SimData[0].getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eFRONT_RIGHT);
		const PxVec3 rl=vehDrive4W->mWheelsSimData.mWheels4SimData[0].getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_LEFT);
		const PxVec3 rr=vehDrive4W->mWheelsSimData.mWheels4SimData[0].getWheelCentreOffset(PxVehicleDrive4WWheelOrder::eREAR_RIGHT);
		const PxVec3 right=gRight;
		const PxF32 s0=computeSign((fr-fl).dot(right));
		const PxF32 s1=computeSign((rr-rl).dot(right));
		PX_CHECK_AND_RETURN(0==s0 || 0==s1 || s0==s1, "PxVehicle4W does not obey the rule that the eFRONT_RIGHT/eREAR_RIGHT wheels are to the right of the eFRONT_LEFT/eREAR_LEFT wheels");
	}
#endif