Method updateTank

physx/source/physxvehicle/src/PxVehicleUpdate.cpp:5889–6391

}

void PxVehicleUpdate::updateTank
(const PxF32 timestep, 
 const PxVec3& gravity, const PxF32 gravityMagnitude, const PxF32 recipGravityMagnitude, 
 const PxVehicleDrivableSurfaceToTireFrictionPairs& drivableSurfaceToTireFrictionPairs,
 PxVehicleDriveTank* vehDriveTank, PxVehicleWheelQueryResult* vehWheelQueryResults, PxVehicleConcurrentUpdateData* vehConcurrentUpdates)
{
	PX_SIMD_GUARD; // denorm exception in transformInertiaTensor()
	
	PX_CHECK_AND_RETURN(
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL]>-0.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_ACCEL]<1.01f, 
		"Illegal tank control value - accel must be in range (0,1)" );
	PX_CHECK_AND_RETURN(
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT]>-0.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT]<1.01f, 
		"Illegal tank control value - left brake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT]>-0.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT]<1.01f, 
		"Illegal tank control right value - right brake must be in range (0,1)");
	PX_CHECK_AND_RETURN(
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]>-1.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]<1.01f, 
		"Illegal tank control value - left thrust must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]>-1.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]<1.01f, 
		"Illegal tank control value - right thrust must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		PxVehicleDriveTankControlModel::eSPECIAL==vehDriveTank->mDriveModel ||
		(vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]>-0.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]<1.01f), 
		"Illegal tank control value - left thrust must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		PxVehicleDriveTankControlModel::eSPECIAL==vehDriveTank->mDriveModel ||
		(vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]>-0.01f && 
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]<1.01f), 
		"Illegal tank control value - right thrust must be in range (-1,1)");
	PX_CHECK_AND_RETURN(
		PxVehicleDriveTankControlModel::eSPECIAL==vehDriveTank->mDriveModel ||
		0.0f==
			vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_LEFT]*
			vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_LEFT],
		"Illegal tank control value - thrust left and brake left simultaneously non-zero in standard drive mode");
	PX_CHECK_AND_RETURN(
		PxVehicleDriveTankControlModel::eSPECIAL==vehDriveTank->mDriveModel ||
		0.0f==
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_THRUST_RIGHT]*
		vehDriveTank->mDriveDynData.mControlAnalogVals[PxVehicleDriveTankControl::eANALOG_INPUT_BRAKE_RIGHT],
		"Illegal tank control value - thrust right and brake right simultaneously non-zero in standard drive mode");
	PX_CHECK_AND_RETURN(
		!(vehDriveTank->getRigidDynamicActor()->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC),
		"Attempting to update a tank with a kinematic actor - this isn't allowed");
	PX_CHECK_AND_RETURN(
		NULL==vehWheelQueryResults || vehWheelQueryResults->nbWheelQueryResults >= vehDriveTank->mWheelsSimData.getNbWheels(), 
		"nbWheelQueryResults must always be greater than or equal to number of wheels in corresponding vehicle");

#if PX_CHECKED