Method updateDriveNW

physx/source/physxvehicle/src/PxVehicleUpdate.cpp:5371–5887

}

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

	START_TIMER(TIMER_ADMIN);

	PX_CHECK_AND_RETURN(
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_ACCEL]>-0.01f && 
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_ACCEL]<1.01f, 
		"Illegal vehicle control value - accel must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_BRAKE]>-0.01f && 
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_BRAKE]<1.01f, 
		"Illegal vehicle control value - brake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_HANDBRAKE]>-0.01f && 
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_HANDBRAKE]<1.01f, 
		"Illegal vehicle control value - handbrake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_STEER_LEFT]>-1.01f && 
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_STEER_LEFT]<1.01f, 
		"Illegal vehicle control value - left steer must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_STEER_RIGHT]>-1.01f && 
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_STEER_RIGHT]<1.01f, 
		"Illegal vehicle control value - right steer must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		PxAbs(vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::eANALOG_INPUT_STEER_RIGHT]-
		vehDriveNW->mDriveDynData.mControlAnalogVals[PxVehicleDriveNWControl::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(
		!(vehDriveNW->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 >= vehDriveNW->mWheelsSimData.getNbWheels(), 
		"nbWheelQueryResults must always be greater than or equal to number of wheels in corresponding vehicle");

#if PX_CHECKED
	for(PxU32 i=0;i<vehDriveNW->mWheelsSimData.getNbWheels();i++)
	{
		PX_CHECK_AND_RETURN(!vehDriveNW->mWheelsSimData.getIsWheelDisabled(i) || !vehDriveNW->mDriveSimData.getDiffData().getIsDrivenWheel(i), 
			"PxVehicleDifferentialNWData must be configured so that no torque is delivered to a disabled wheel");
	}
#endif

	END_TIMER(TIMER_ADMIN);
	START_TIMER(TIMER_GRAPHS);

#if PX_DEBUG_VEHICLE_ON
	for(PxU32 i=0;i<vehDriveNW->mWheelsSimData.mNbWheels4;i++)
	{
		updateGraphDataInternalWheelDynamics(4*i,vehDriveNW->mWheelsDynData.mWheels4DynData[i].mWheelSpeeds);
	}
	updateGraphDataInternalEngineDynamics(vehDriveNW->mDriveDynData.getEngineRotationSpeed());