Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 840 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleController.cpp b/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleController.cpp
new file mode 100644
index 00000000..469b824c
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+++ b/PhysX_3.4/Samples/SampleVehicle/SampleVehicle_VehicleController.cpp
@@ -0,0 +1,840 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#include "SampleVehicle_VehicleController.h"
+#include "PhysXSample.h"
+#include "vehicle/PxVehicleDrive4W.h"
+#include "vehicle/PxVehicleDriveNW.h"
+#include "vehicle/PxVehicleUtilControl.h"
+#include "vehicle/PxVehicleUtil.h"
+
+using namespace SampleRenderer;
+using namespace SampleFramework;
+
+PxVehicleKeySmoothingData gKeySmoothingData=
+{
+	{
+		3.0f,	//rise rate eANALOG_INPUT_ACCEL		
+		3.0f,	//rise rate eANALOG_INPUT_BRAKE		
+		10.0f,	//rise rate eANALOG_INPUT_HANDBRAKE	
+		2.5f,	//rise rate eANALOG_INPUT_STEER_LEFT	
+		2.5f,	//rise rate eANALOG_INPUT_STEER_RIGHT	
+	},
+	{
+		5.0f,	//fall rate eANALOG_INPUT__ACCEL		
+		5.0f,	//fall rate eANALOG_INPUT__BRAKE		
+		10.0f,	//fall rate eANALOG_INPUT__HANDBRAKE	
+		5.0f,	//fall rate eANALOG_INPUT_STEER_LEFT	
+		5.0f	//fall rate eANALOG_INPUT_STEER_RIGHT	
+	}
+};
+
+PxVehiclePadSmoothingData gCarPadSmoothingData=
+{
+	{
+		6.0f,	//rise rate eANALOG_INPUT_ACCEL		
+		6.0f,	//rise rate eANALOG_INPUT_BRAKE		
+		12.0f,	//rise rate eANALOG_INPUT_HANDBRAKE	
+		2.5f,	//rise rate eANALOG_INPUT_STEER_LEFT	
+		2.5f,	//rise rate eANALOG_INPUT_STEER_RIGHT	
+	},
+	{
+		10.0f,	//fall rate eANALOG_INPUT_ACCEL		
+		10.0f,	//fall rate eANALOG_INPUT_BRAKE		
+		12.0f,	//fall rate eANALOG_INPUT_HANDBRAKE	
+		5.0f,	//fall rate eANALOG_INPUT_STEER_LEFT	
+		5.0f	//fall rate eANALOG_INPUT_STEER_RIGHT	
+	}
+};
+
+PxF32 gSteerVsForwardSpeedData[2*8]=
+{
+	0.0f,		0.75f,
+	5.0f,		0.75f,
+	30.0f,		0.125f,
+	120.0f,		0.1f,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32,
+	PX_MAX_F32, PX_MAX_F32
+};
+PxFixedSizeLookupTable<8> gSteerVsForwardSpeedTable(gSteerVsForwardSpeedData,4);
+
+//Tank smoothing data.
+PxVehiclePadSmoothingData gTankPadSmoothingData=
+{
+	{
+		6.0f,		//rise rate eTANK_ANALOG_INPUT_ACCEL		
+		6.0f,		//rise rate eTANK_ANALOG_INPUT_BRAKE_LEFT		
+		6.0f,		//rise rate eTANK_ANALOG_INPUT_BRAKE_RIGHT	
+		2.5f,		//rise rate eTANK_ANALOG_INPUT_THRUST_LEFT	
+		2.5f,		//rise rate eTANK_ANALOG_INPUT_THRUST_RIGHT	
+	},
+	{
+		10.0f,		//fall rate eTANK_ANALOG_INPUT_ACCEL		
+		10.0f,		//fall rate eTANK_ANALOG_INPUT_BRAKE_LEFT		
+		10.0f,		//fall rate eTANK_ANALOG_INPUT_BRAKE_RIGHT	
+		5.0f,		//fall rate eTANK_ANALOG_INPUT_THRUST_LEFT	
+		5.0f		//fall rate eTANK_ANALOG_INPUT_THRUST_RIGHT		
+	}
+};
+
+			
+///////////////////////////////////////////////////////////////////////////////
+
+SampleVehicle_VehicleController::SampleVehicle_VehicleController()
+{
+	clear();
+}
+
+SampleVehicle_VehicleController::~SampleVehicle_VehicleController()
+{
+}
+
+void SampleVehicle_VehicleController::clear()
+{
+	mKeyPressedAccel					 = false;
+	mKeyPressedGearUp					 = false;
+	mKeyPressedGearDown					 = false;
+
+	mKeyPressedBrake					 = false;
+	mKeyPressedHandbrake				 = false;
+	mKeyPressedSteerLeft				 = false;
+	mKeyPressedSteerRight				 = false;
+
+	mKeyPressedThrustLeft				 = false;
+	mKeyPressedThrustRight				 = false;
+	mKeyPressedBrakeLeft				 = false;
+	mKeyPressedBrakeRight				 = false;
+
+	mGamepadAccel						 = 0.0f;
+	mGamepadGearup						 = false;			
+	mGamepadGeardown					 = false;
+
+	mGamepadCarBrake					 = 0.0f;
+	mGamepadCarSteer					 = 0.0f;
+	mGamepadCarHandbrake				 = false;
+
+	mTankThrustLeft						 = 0.0f;
+	mTankThrustRight					 = 0.0f;
+	mTankBrakeLeft						 = 0.0f;
+	mTankBrakeRight						 = 0.0f;
+
+	mRecord								 = false;
+	mReplay								 = false;
+	mNumSamples							 = 0;
+	mNumRecordedSamples					 = 0;
+	mUseKeyInputs						 = true;
+	mToggleAutoGears					 = false;
+	mIsMovingForwardSlowly				 = true;
+	mInReverseMode						 = false;
+}
+
+
+/*
+bool SampleVehicle_VehicleController::processAutoReverse
+(const PxF32 timestep, const bool isInAir, const PxF32 forwardSpeed, const PxF32 sidewaysSpeed, const PxVehicleDriveTankRawInputData& rawInputData)
+{
+	//Keyboard controls for tank not implemented yet.
+	bool brakeLeft,brakeRight,accelLeft,accelRight;
+	if(mUseKeyInputs)
+	{
+		//Keyboard controls for tank not implemented yet.
+		brakeLeft=false;
+		brakeRight=false;
+		accelLeft=false;
+		accelRight=false;
+	}
+	else if(PxVehicleDriveTank::eDRIVE_MODEL_STANDARD==rawInputData.getDriveModel())
+	{
+		brakeLeft = mInReverseMode ? rawInputData.getAnalogLeftThrust()  > 0 : rawInputData.getAnalogLeftBrake() > 0.0f;
+		brakeRight = mInReverseMode ? rawInputData.getAnalogRightThrust()  > 0 : rawInputData.getAnalogRightBrake() > 0.0f;
+		accelLeft = mInReverseMode ? rawInputData.getAnalogLeftBrake()  > 0 : rawInputData.getAnalogLeftThrust() > 0.0f;
+		accelRight = mInReverseMode ? rawInputData.getAnalogRightBrake()  > 0 : rawInputData.getAnalogRightThrust() > 0.0f;
+	}
+	else
+	{
+		//Not much point in auto-reverse for tanks that can just spin both wheels backwards.
+		return false;
+	}
+
+	//If the car has been brought to rest by pressing the brake then raise a flag.
+	bool justRaisedFlag=false;
+	if(brakeLeft && brakeRight && !mAtRestUnderBraking)
+	{
+		if(!isInAir && forwardSpeed < THRESHOLD_FORWARD_SPEED && sidewaysSpeed < THRESHOLD_SIDEWAYS_SPEED)
+		{
+			justRaisedFlag=true;
+			mAtRestUnderBraking = true;
+			mTimeElapsedSinceAtRestUnderBraking = 0.0f;
+		}
+	}
+
+	//If the flag is raised and the player pressed accelerate then lower the flag.
+	if(mAtRestUnderBraking && (accelLeft || accelRight))
+	{	
+		mAtRestUnderBraking = false;
+		mTimeElapsedSinceAtRestUnderBraking = 0.0f;
+	}
+
+	//If the flag is raised and the player doesn't press brake then increment the timer.
+	if(!brakeLeft && !brakeRight && mAtRestUnderBraking && !justRaisedFlag)
+	{
+		mTimeElapsedSinceAtRestUnderBraking += timestep;
+	}
+
+	//If the flag is raised and the player pressed brake again then switch auto-reverse.
+	if(brakeLeft && brakeRight && mAtRestUnderBraking && !justRaisedFlag && mTimeElapsedSinceAtRestUnderBraking > 0.0f)
+	{
+		mAtRestUnderBraking = false;
+		mTimeElapsedSinceAtRestUnderBraking = 0.0f;
+		return true;
+	}
+
+	return false;
+}
+*/
+
+void SampleVehicle_VehicleController::processRawInputs
+(const PxF32 dtime, const bool useAutoGears, PxVehicleDrive4WRawInputData& rawInputData)
+{
+	// Keyboard
+	{
+		if(mRecord)
+		{
+			if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
+			{
+				mKeyboardAccelValues[mNumSamples]		= mKeyPressedAccel;
+				mKeyboardBrakeValues[mNumSamples]		= mKeyPressedBrake;
+				mKeyboardHandbrakeValues[mNumSamples]	= mKeyPressedHandbrake;
+				mKeyboardSteerLeftValues[mNumSamples]	= mKeyPressedSteerLeft;
+				mKeyboardSteerRightValues[mNumSamples]	= mKeyPressedSteerRight;
+				mKeyboardGearupValues[mNumSamples]		= mKeyPressedGearUp;
+				mKeyboardGeardownValues[mNumSamples]	= mKeyPressedGearDown;
+			}
+		}
+		else if(mReplay)
+		{
+			if(mNumSamples<mNumRecordedSamples)
+			{
+				mKeyPressedAccel		= mKeyboardAccelValues[mNumSamples];		
+				mKeyPressedBrake		= mKeyboardBrakeValues[mNumSamples];		
+				mKeyPressedHandbrake	= mKeyboardHandbrakeValues[mNumSamples];	
+				mKeyPressedSteerLeft	= mKeyboardSteerLeftValues[mNumSamples];
+				mKeyPressedSteerRight	= mKeyboardSteerRightValues[mNumSamples];	
+				mKeyPressedGearUp		= mKeyboardGearupValues[mNumSamples];	
+				mKeyPressedGearDown		= mKeyboardGeardownValues[mNumSamples];
+			}
+		}
+
+		rawInputData.setDigitalAccel(mKeyPressedAccel);
+		rawInputData.setDigitalBrake(mKeyPressedBrake);
+		rawInputData.setDigitalHandbrake(mKeyPressedHandbrake);
+		rawInputData.setDigitalSteerLeft(mKeyPressedSteerLeft);
+		rawInputData.setDigitalSteerRight(mKeyPressedSteerRight);
+		rawInputData.setGearUp(mKeyPressedGearUp);
+		rawInputData.setGearDown(mKeyPressedGearDown);
+
+		mUseKeyInputs=
+			(mKeyPressedAccel || mKeyPressedBrake  || mKeyPressedHandbrake || 
+			 mKeyPressedSteerLeft || mKeyPressedSteerRight || 
+			 mKeyPressedGearUp || mKeyPressedGearDown);
+	}
+
+	// Gamepad
+	{
+		if(mRecord)
+		{
+			if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
+			{
+				mGamepadAccelValues[mNumSamples]		= mGamepadAccel;
+				mGamepadCarBrakeValues[mNumSamples]		= mGamepadCarBrake;
+				mGamepadCarSteerValues[mNumSamples]		= mGamepadCarSteer;
+				mGamepadGearupValues[mNumSamples]		= mGamepadGearup;
+				mGamepadGeardownValues[mNumSamples]		= mGamepadGeardown;
+				mGamepadCarHandbrakeValues[mNumSamples]	= mGamepadCarHandbrake;
+			}
+		}
+		else if(mReplay)
+		{
+			if(mNumSamples<mNumRecordedSamples)
+			{
+				mGamepadAccel		= mGamepadAccelValues[mNumSamples];		
+				mGamepadCarBrake		= mGamepadCarBrakeValues[mNumSamples];		
+				mGamepadCarSteer		= mGamepadCarSteerValues[mNumSamples];		
+				mGamepadGearup		= mGamepadGearupValues[mNumSamples];	
+				mGamepadGeardown	= mGamepadGeardownValues[mNumSamples];	
+				mGamepadCarHandbrake	= mGamepadCarHandbrakeValues[mNumSamples];	
+			}
+		}
+
+		if(mGamepadAccel<0.0f || mGamepadAccel>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal accel value from gamepad", __FILE__, __LINE__);
+
+		if(mGamepadCarBrake<0.0f || mGamepadCarBrake>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal brake value from gamepad", __FILE__, __LINE__);
+
+		if(PxAbs(mGamepadCarSteer)>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal steer value from gamepad", __FILE__, __LINE__);
+
+		if(mUseKeyInputs && ((mGamepadAccel+mGamepadCarBrake+mGamepadCarSteer)!=0.0f ||  mGamepadGearup || mGamepadGeardown || mGamepadCarHandbrake))
+		{
+			mUseKeyInputs=false;
+		}
+
+		if(!mUseKeyInputs)
+		{
+			rawInputData.setAnalogAccel(mGamepadAccel);
+			rawInputData.setAnalogBrake(mGamepadCarBrake);
+			rawInputData.setAnalogHandbrake(mGamepadCarHandbrake ? 1.0f : 0.0f);
+			rawInputData.setAnalogSteer(mGamepadCarSteer);
+			rawInputData.setGearUp(mGamepadGearup);
+			rawInputData.setGearDown(mGamepadGeardown);
+		}
+	}
+
+	if(useAutoGears && (rawInputData.getGearDown() || rawInputData.getGearUp()))
+	{
+		rawInputData.setGearDown(false);
+		rawInputData.setGearUp(false);
+	}
+
+	mNumSamples++;
+}
+
+void SampleVehicle_VehicleController::processRawInputs
+(const PxF32 dtime, const bool useAutoGears, PxVehicleDriveTankRawInputData& rawInputData)
+{
+	// Keyboard
+	//Keyboard controls for tank not implemented yet.
+	{
+		/*
+		if(mRecord)
+		{
+			if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
+			{
+				mKeyboardAccelValues[mNumSamples]		= mAccelKeyPressed;
+				mKeyboardBrakeValues[mNumSamples]		= mBrakeKeyPressed;
+				mKeyboardHandbrakeValues[mNumSamples]	= mHandbrakeKeyPressed;
+				mKeyboardSteerLeftValues[mNumSamples]	= mSteerLeftKeyPressed;
+				mKeyboardSteerRightValues[mNumSamples]	= mSteerRightKeyPressed;
+				mKeyboardGearupValues[mNumSamples]		= mGearUpKeyPressed;
+				mKeyboardGeardownValues[mNumSamples]	= mGearDownKeyPressed;
+			}
+		}
+		else if(mReplay)
+		{
+			if(mNumSamples<mNumRecordedSamples)
+			{
+				mAccelKeyPressed		= mKeyboardAccelValues[mNumSamples];		
+				mBrakeKeyPressed		= mKeyboardBrakeValues[mNumSamples];		
+				mHandbrakeKeyPressed	= mKeyboardHandbrakeValues[mNumSamples];	
+				mSteerLeftKeyPressed	= mKeyboardSteerLeftValues[mNumSamples];
+				mSteerRightKeyPressed	= mKeyboardSteerRightValues[mNumSamples];	
+				mGearUpKeyPressed		= mKeyboardGearupValues[mNumSamples];	
+				mGearDownKeyPressed		= mKeyboardGeardownValues[mNumSamples];
+			}
+		}
+		*/
+
+		rawInputData.setDigitalAccel(mKeyPressedAccel);
+		rawInputData.setDigitalLeftThrust(mKeyPressedThrustLeft);
+		rawInputData.setDigitalRightThrust(mKeyPressedThrustRight);
+		rawInputData.setDigitalLeftBrake(mKeyPressedBrakeLeft);
+		rawInputData.setDigitalRightBrake(mKeyPressedBrakeRight);
+		rawInputData.setGearUp(mKeyPressedGearUp);
+		rawInputData.setGearDown(mKeyPressedGearDown);
+
+		mUseKeyInputs=
+			(mKeyPressedAccel || mKeyPressedThrustLeft  || mKeyPressedThrustRight || 
+			mKeyPressedBrakeLeft || mKeyPressedBrakeRight || 
+			mKeyPressedGearUp || mKeyPressedGearDown);
+	}
+
+
+	// Gamepad
+	{
+		if(mRecord)
+		{
+			if(mNumSamples<MAX_NUM_RECORD_REPLAY_SAMPLES)
+			{
+				mGamepadAccelValues[mNumSamples]			= mGamepadAccel;
+				mGamepadTankThrustLeftValues[mNumSamples]	= mTankThrustLeft;
+				mGamepadTankThrustRightValues[mNumSamples]	= mTankThrustRight;
+				mGamepadGearupValues[mNumSamples]			= mGamepadGearup;
+				mGamepadGeardownValues[mNumSamples]			= mGamepadGeardown;
+			}
+		}
+		else if(mReplay)
+		{
+			if(mNumSamples<mNumRecordedSamples)
+			{
+				mGamepadAccel		= mGamepadAccelValues[mNumSamples];		
+				mTankThrustLeft	= mGamepadTankThrustLeftValues[mNumSamples];		
+				mTankThrustRight= mGamepadTankThrustRightValues[mNumSamples];		
+				mGamepadGearup		= mGamepadGearupValues[mNumSamples];	
+				mGamepadGeardown	= mGamepadGeardownValues[mNumSamples];	
+			}
+		}
+
+		if(mGamepadAccel<0.0f || mGamepadAccel>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal accel value from gamepad", __FILE__, __LINE__);
+
+		if(mTankThrustLeft<-1.01f || mTankThrustLeft>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal brake value from gamepad", __FILE__, __LINE__);
+
+		if(mTankThrustRight<-1.01f || mTankThrustRight>1.01f)
+			getSampleErrorCallback().reportError(PxErrorCode::eINTERNAL_ERROR, "Illegal steer value from gamepad", __FILE__, __LINE__);
+
+		if(mUseKeyInputs && ((mGamepadAccel+mTankThrustLeft+mTankThrustRight)!=0.0f ||  mGamepadGearup || mGamepadGeardown))
+		{
+			mUseKeyInputs=false;
+		}
+
+		if(!mUseKeyInputs)
+		{
+			rawInputData.setAnalogAccel(mGamepadAccel);
+			rawInputData.setAnalogLeftThrust(mTankThrustLeft);
+			rawInputData.setAnalogRightThrust(mTankThrustRight);
+			rawInputData.setAnalogLeftBrake(mTankBrakeLeft);
+			rawInputData.setAnalogRightBrake(mTankBrakeRight);
+			rawInputData.setGearUp(mGamepadGearup);
+			rawInputData.setGearDown(mGamepadGeardown);
+		}
+	}
+
+	if(useAutoGears && (rawInputData.getGearDown() || rawInputData.getGearUp()))
+	{
+		rawInputData.setGearDown(false);
+		rawInputData.setGearUp(false);
+	}
+
+	mNumSamples++;
+}
+
+#define THRESHOLD_FORWARD_SPEED (0.1f) 
+#define THRESHOLD_SIDEWAYS_SPEED (0.2f)
+#define THRESHOLD_ROLLING_BACKWARDS_SPEED (0.1f)
+
+void SampleVehicle_VehicleController::processAutoReverse
+(const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
+ const PxVehicleDrive4WRawInputData& carRawInputs,
+ bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const
+{
+	newIsMovingForwardSlowly = false;
+	toggleAutoReverse = false;
+
+	if(driveDynData.getUseAutoGears())
+	{
+		//If the car is travelling very slowly in forward gear without player input and the player subsequently presses the brake then we want the car to go into reverse gear
+		//If the car is travelling very slowly in reverse gear without player input and the player subsequently presses the accel then we want the car to go into forward gear
+		//If the car is in forward gear and is travelling backwards then we want to automatically put the car into reverse gear.
+		//If the car is in reverse gear and is travelling forwards then we want to automatically put the car into forward gear.
+		//(If the player brings the car to rest with the brake the player needs to release the brake then reapply it 
+		//to indicate they want to toggle between forward and reverse.)
+
+		const bool prevIsMovingForwardSlowly=mIsMovingForwardSlowly;
+		bool isMovingForwardSlowly=false;
+		bool isMovingBackwards=false;
+		const bool isInAir = PxVehicleIsInAir(vehicleWheelQueryResults);
+		if(!isInAir)
+		{
+			bool accelRaw,brakeRaw,handbrakeRaw;
+			if(mUseKeyInputs)
+			{
+				accelRaw=carRawInputs.getDigitalAccel();
+				brakeRaw=carRawInputs.getDigitalBrake();
+				handbrakeRaw=carRawInputs.getDigitalHandbrake();
+			}
+			else
+			{
+				accelRaw=carRawInputs.getAnalogAccel() > 0 ? true : false;
+				brakeRaw=carRawInputs.getAnalogBrake() > 0 ? true : false;
+				handbrakeRaw=carRawInputs.getAnalogHandbrake() > 0 ? true : false;
+			}
+
+			const PxF32 forwardSpeed = focusVehicle.computeForwardSpeed();
+			const PxF32 forwardSpeedAbs = PxAbs(forwardSpeed);
+			const PxF32 sidewaysSpeedAbs = PxAbs(focusVehicle.computeSidewaysSpeed());
+			const PxU32 currentGear = driveDynData.getCurrentGear();
+			const PxU32 targetGear = driveDynData.getTargetGear();
+
+			//Check if the car is rolling against the gear (backwards in forward gear or forwards in reverse gear).
+			if(PxVehicleGearsData::eFIRST == currentGear  && forwardSpeed < -THRESHOLD_ROLLING_BACKWARDS_SPEED)
+			{
+				isMovingBackwards = true;
+			}
+			else if(PxVehicleGearsData::eREVERSE == currentGear && forwardSpeed > THRESHOLD_ROLLING_BACKWARDS_SPEED)
+			{
+				isMovingBackwards = true;
+			}
+
+			//Check if the car is moving slowly.
+			if(forwardSpeedAbs < THRESHOLD_FORWARD_SPEED && sidewaysSpeedAbs < THRESHOLD_SIDEWAYS_SPEED)
+			{
+				isMovingForwardSlowly=true;
+			}
+
+			//Now work if we need to toggle from forwards gear to reverse gear or vice versa.
+			if(isMovingBackwards)
+			{
+				if(!accelRaw && !brakeRaw && !handbrakeRaw && (currentGear == targetGear))			
+				{
+					//The car is rolling against the gear and the player is doing nothing to stop this.
+					toggleAutoReverse = true;
+				}
+			}
+			else if(prevIsMovingForwardSlowly && isMovingForwardSlowly)
+			{
+				if((currentGear > PxVehicleGearsData::eNEUTRAL) && brakeRaw && !accelRaw && (currentGear == targetGear))
+				{
+					//The car was moving slowly in forward gear without player input and is now moving slowly with player input that indicates the 
+					//player wants to switch to reverse gear.
+					toggleAutoReverse = true;
+				}
+				else if(currentGear == PxVehicleGearsData::eREVERSE && accelRaw && !brakeRaw && (currentGear == targetGear))
+				{
+					//The car was moving slowly in reverse gear without player input and is now moving slowly with player input that indicates the 
+					//player wants to switch to forward gear.
+					toggleAutoReverse = true;
+				}
+			}
+
+			//If the car was brought to rest through braking then the player needs to release the brake then reapply
+			//to indicate that the gears should toggle between reverse and forward.
+			if(isMovingForwardSlowly && !brakeRaw && !accelRaw && !handbrakeRaw)
+			{
+				newIsMovingForwardSlowly = true;
+			}
+		}
+	}
+}
+
+void SampleVehicle_VehicleController::processAutoReverse
+(const PxVehicleWheels& focusVehicle, const PxVehicleDriveDynData& driveDynData, const PxVehicleWheelQueryResult& vehicleWheelQueryResults,
+ const PxVehicleDriveTankRawInputData& tankRawInputs,
+ bool& toggleAutoReverse, bool& newIsMovingForwardSlowly) const
+{
+	newIsMovingForwardSlowly = false;
+	toggleAutoReverse = false;
+
+	if(driveDynData.getUseAutoGears())
+	{
+		//If the car is travelling very slowly in forward gear without player input and the player subsequently presses the brake then we want the car to go into reverse gear
+		//If the car is travelling very slowly in reverse gear without player input and the player subsequently presses the accel then we want the car to go into forward gear
+		//If the car is in forward gear and is travelling backwards then we want to automatically put the car into reverse gear.
+		//If the car is in reverse gear and is travelling forwards then we want to automatically put the car into forward gear.
+		//(If the player brings the car to rest with the brake the player needs to release the brake then reapply it 
+		//to indicate they want to toggle between forward and reverse.)
+
+		const bool prevIsMovingForwardSlowly=mIsMovingForwardSlowly;
+		bool isMovingForwardSlowly=false;
+		bool isMovingBackwards=false;
+		const bool isInAir = PxVehicleIsInAir(vehicleWheelQueryResults);
+		if(!isInAir)
+		{
+			bool accelLeft,accelRight,brakeLeft,brakeRight;
+			if(mUseKeyInputs)
+			{
+				accelLeft=tankRawInputs.getDigitalLeftThrust();
+				accelRight=tankRawInputs.getDigitalRightThrust();
+				brakeLeft=tankRawInputs.getDigitalLeftBrake();
+				brakeRight=tankRawInputs.getDigitalRightBrake();
+			}
+			else
+			{
+				accelLeft = tankRawInputs.getAnalogLeftThrust() > 0 ? true : false;
+				accelRight = tankRawInputs.getAnalogRightThrust() > 0 ? true : false; 
+				brakeLeft = tankRawInputs.getAnalogLeftBrake() > 0 ? true : false;  
+				brakeRight = tankRawInputs.getAnalogRightBrake() > 0 ? true : false;
+
+				/*
+				if(accelLeft && accelLeft==accelRight && !brakeLeft && !brakeRight)
+				{
+					shdfnd::printFormatted("aligned accel\n");
+				}
+
+				if(brakeLeft && brakeLeft==brakeRight && !accelLeft && !accelRight)
+				{
+					shdfnd::printFormatted("aligned brake\n");
+				}
+				*/
+
+			}
+
+			const PxF32 forwardSpeed = focusVehicle.computeForwardSpeed();
+			const PxF32 forwardSpeedAbs = PxAbs(forwardSpeed);
+			const PxF32 sidewaysSpeedAbs = PxAbs(focusVehicle.computeSidewaysSpeed());
+			const PxU32 currentGear = driveDynData.getCurrentGear();
+			const PxU32 targetGear = driveDynData.getTargetGear();
+
+			//Check if the car is rolling against the gear (backwards in forward gear or forwards in reverse gear).
+			if(PxVehicleGearsData::eFIRST == currentGear  && forwardSpeed < -THRESHOLD_ROLLING_BACKWARDS_SPEED)
+			{
+				isMovingBackwards = true;
+			}
+			else if(PxVehicleGearsData::eREVERSE == currentGear && forwardSpeed > THRESHOLD_ROLLING_BACKWARDS_SPEED)
+			{
+				isMovingBackwards = true;
+			}
+
+			//Check if the car is moving slowly.
+			if(forwardSpeedAbs < THRESHOLD_FORWARD_SPEED && sidewaysSpeedAbs < THRESHOLD_SIDEWAYS_SPEED)
+			{
+				isMovingForwardSlowly=true;
+			}
+
+			//Now work if we need to toggle from forwards gear to reverse gear or vice versa.
+			if(isMovingBackwards)
+			{
+				if(!accelLeft && !accelRight && !brakeLeft && !brakeRight && (currentGear == targetGear))			
+				{
+					//The car is rolling against the gear and the player is doing nothing to stop this.
+					toggleAutoReverse = true;
+				}
+			}
+			else if(prevIsMovingForwardSlowly && isMovingForwardSlowly)
+			{
+				if((currentGear > PxVehicleGearsData::eNEUTRAL) && brakeLeft && brakeRight && !accelLeft && !accelRight && (currentGear == targetGear))
+				{
+					//The car was moving slowly in forward gear without player input and is now moving slowly with player input that indicates the 
+					//player wants to switch to reverse gear.
+					toggleAutoReverse = true;
+				}
+				else if(currentGear == PxVehicleGearsData::eREVERSE && accelLeft && accelRight && !brakeLeft && !brakeRight && (currentGear == targetGear))
+				{
+					//The car was moving slowly in reverse gear without player input and is now moving slowly with player input that indicates the 
+					//player wants to switch to forward gear.
+					toggleAutoReverse = true;
+				}
+			}
+
+			//If the car was brought to rest through braking then the player needs to release the brake then reapply
+			//to indicate that the gears should toggle between reverse and forward.
+			if(isMovingForwardSlowly && (!brakeLeft || !brakeRight) && (!accelLeft || !accelRight))
+			{
+				newIsMovingForwardSlowly = true;
+			}
+		}
+	}
+}
+
+void SampleVehicle_VehicleController::update(const PxF32 timestep, const PxVehicleWheelQueryResult& vehicleWheelQueryResults, PxVehicleWheels& focusVehicle)
+{
+	PxVehicleDriveDynData* driveDynData=NULL;
+	bool isTank=false;
+	PxVehicleDriveTankControlModel::Enum tankDriveModel=PxVehicleDriveTankControlModel::eSTANDARD;
+	switch(focusVehicle.getVehicleType())
+	{
+	case PxVehicleTypes::eDRIVE4W:
+		{
+			PxVehicleDrive4W& vehDrive4W=(PxVehicleDrive4W&)focusVehicle;
+			driveDynData=&vehDrive4W.mDriveDynData;
+			isTank=false;
+		}
+		break;
+	case PxVehicleTypes::eDRIVENW:
+		{
+			PxVehicleDriveNW& vehDriveNW=(PxVehicleDriveNW&)focusVehicle;
+			driveDynData=&vehDriveNW.mDriveDynData;
+			isTank=false;
+		}
+		break;
+	case PxVehicleTypes::eDRIVETANK:
+		{
+			PxVehicleDriveTank& vehDriveTank=(PxVehicleDriveTank&)focusVehicle;
+			driveDynData=&vehDriveTank.mDriveDynData;
+			isTank=true;
+			tankDriveModel=vehDriveTank.getDriveModel();
+		}
+		break;
+	default:
+		PX_ASSERT(false);
+		break;
+	}
+
+	//Toggle autogear flag
+	if(mToggleAutoGears)
+	{
+		driveDynData->toggleAutoGears();
+		mToggleAutoGears = false;
+	}
+
+	//Store raw inputs in replay stream if in recording mode.
+	//Set raw inputs from replay stream if in replay mode.
+	//Store raw inputs from active stream in handy arrays so we don't need to worry
+	//about which stream (live input or replay) is active.
+	//Work out if we are using keys or gamepad controls depending on which is being used
+	//(gamepad selected if both are being used).
+	PxVehicleDrive4WRawInputData carRawInputs;
+	PxVehicleDriveTankRawInputData tankRawInputs(tankDriveModel);
+	if(!isTank)
+	{
+		processRawInputs(timestep,driveDynData->getUseAutoGears(),carRawInputs);
+	}
+	else
+	{
+		processRawInputs(timestep,driveDynData->getUseAutoGears(),tankRawInputs);
+	}
+
+	//Work out if the car is to flip from reverse to forward gear or from forward gear to reverse.
+	bool toggleAutoReverse = false;
+	bool newIsMovingForwardSlowly = false;
+	if(!isTank)
+	{
+		processAutoReverse(focusVehicle, *driveDynData, vehicleWheelQueryResults, carRawInputs, toggleAutoReverse, newIsMovingForwardSlowly);
+	}
+	else
+	{
+		processAutoReverse(focusVehicle, *driveDynData, vehicleWheelQueryResults, tankRawInputs, toggleAutoReverse, newIsMovingForwardSlowly);
+	}
+	mIsMovingForwardSlowly = newIsMovingForwardSlowly;
+
+
+	//If the car is to flip gear direction then switch gear as appropriate.
+	if(toggleAutoReverse)
+	{
+		mInReverseMode = !mInReverseMode;
+		
+		if(mInReverseMode)
+		{
+			driveDynData->forceGearChange(PxVehicleGearsData::eREVERSE);
+		}
+		else
+		{
+			driveDynData->forceGearChange(PxVehicleGearsData::eFIRST);
+		}
+	}
+
+	//If in reverse mode then swap the accel and brake.
+	if(mInReverseMode)
+	{
+		if(mUseKeyInputs)
+		{
+			if(!isTank)
+			{
+				const bool accel=carRawInputs.getDigitalAccel();
+				const bool brake=carRawInputs.getDigitalBrake();
+				carRawInputs.setDigitalAccel(brake);
+				carRawInputs.setDigitalBrake(accel);
+			}
+			else
+			{
+				//Keyboard controls for tank not implemented yet.
+				const bool accelLeft=tankRawInputs.getDigitalLeftThrust();
+				const bool accelRight=tankRawInputs.getDigitalRightThrust();
+				const bool brakeLeft=tankRawInputs.getDigitalLeftBrake();
+				const bool brakeRight=tankRawInputs.getDigitalRightBrake();
+				tankRawInputs.setDigitalLeftThrust(brakeLeft);
+				tankRawInputs.setDigitalRightThrust(brakeRight);
+				tankRawInputs.setDigitalLeftBrake(accelLeft);
+				tankRawInputs.setDigitalRightBrake(accelRight);
+			}
+		}
+		else
+		{
+			if(!isTank)
+			{
+				const PxF32 accel=carRawInputs.getAnalogAccel();
+				const PxF32 brake=carRawInputs.getAnalogBrake();
+				carRawInputs.setAnalogAccel(brake);
+				carRawInputs.setAnalogBrake(accel);
+			}
+			else if(PxVehicleDriveTankControlModel::eSPECIAL==tankDriveModel)
+			{
+				const PxF32 thrustLeft=tankRawInputs.getAnalogLeftThrust();
+				const PxF32 thrustRight=tankRawInputs.getAnalogRightThrust();
+				tankRawInputs.setAnalogLeftThrust(-thrustLeft);
+				tankRawInputs.setAnalogRightThrust(-thrustRight);
+			}
+			else
+			{
+				const PxF32 thrustLeft=tankRawInputs.getAnalogLeftThrust();
+				const PxF32 thrustRight=tankRawInputs.getAnalogRightThrust();
+				const PxF32 brakeLeft=tankRawInputs.getAnalogLeftBrake();
+				const PxF32 brakeRight=tankRawInputs.getAnalogRightBrake();
+				tankRawInputs.setAnalogLeftThrust(brakeLeft);
+				tankRawInputs.setAnalogLeftBrake(thrustLeft);
+				tankRawInputs.setAnalogRightThrust(brakeRight);
+				tankRawInputs.setAnalogRightBrake(thrustRight);
+			}
+		}
+	}
+
+	// Now filter the raw input values and apply them to focus vehicle
+	// as floats for brake,accel,handbrake,steer and bools for gearup,geardown.
+	if(mUseKeyInputs)
+	{
+		if(!isTank)
+		{
+			const bool isInAir = PxVehicleIsInAir(vehicleWheelQueryResults);
+			PxVehicleDrive4WSmoothDigitalRawInputsAndSetAnalogInputs
+				(gKeySmoothingData,gSteerVsForwardSpeedTable,carRawInputs,timestep,isInAir,(PxVehicleDrive4W&)focusVehicle);
+		}
+		else
+		{
+			PxVehicleDriveTankSmoothDigitalRawInputsAndSetAnalogInputs
+				(gKeySmoothingData,tankRawInputs,timestep,(PxVehicleDriveTank&)focusVehicle);
+		}
+	}
+	else
+	{
+		if(!isTank)
+		{
+			const bool isInAir = PxVehicleIsInAir(vehicleWheelQueryResults);
+			PxVehicleDrive4WSmoothAnalogRawInputsAndSetAnalogInputs
+				(gCarPadSmoothingData,gSteerVsForwardSpeedTable,carRawInputs,timestep,isInAir,(PxVehicleDrive4W&)focusVehicle);
+		}
+		else
+		{
+			PxVehicleDriveTankSmoothAnalogRawInputsAndSetAnalogInputs
+				(gTankPadSmoothingData,tankRawInputs,timestep,(PxVehicleDriveTank&)focusVehicle);
+		}
+	}
+}
+
+void SampleVehicle_VehicleController::restart()
+{
+	const bool record=mRecord;
+	const bool replay=mReplay;
+	const PxU32 numSamples=mNumSamples;
+	const PxU32 numRecordedSamples=mNumRecordedSamples;
+	clear();
+	mRecord=record;
+	mReplay=replay;
+	mNumRecordedSamples=numRecordedSamples;
+
+	if(record)
+	{
+		PX_ASSERT(!replay);
+		mNumRecordedSamples	= numSamples;
+		mRecord				= false;
+		mReplay				= true;
+	}
+}