Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 857 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleWheels.cpp b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleWheels.cpp
new file mode 100644
index 00000000..cb731d1a
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleWheels.cpp
@@ -0,0 +1,857 @@
+// 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 "PxVehicleWheels.h"
+#include "PxVehicleSuspWheelTire4.h"
+#include "PxVehicleSuspLimitConstraintShader.h"
+#include "PxVehicleDefaults.h"
+#include "PxRigidDynamic.h"
+#include "PxShape.h"
+#include "PsUtilities.h"
+#include "CmPhysXCommon.h"
+#include "CmBitMap.h"
+#include "PxPhysics.h"
+#include "PsIntrinsics.h"
+#include "PsFoundation.h"
+
+namespace physx
+{
+
+extern PxVec3 gRight;
+extern PxVec3 gUp;
+extern PxVec3 gForward;
+
+PxF32 gThresholdLongSpeed=5.0f;
+PxU32 gLowLongSpeedSubstepCount=3;
+PxU32 gHighLongSpeedSubstepCount=1;
+PxF32 gMinLongSlipDenominator=4.0f;
+
+extern PxF32 gToleranceScaleLength;
+
+
+PxU32 PxVehicleWheelsSimData::computeByteSize(const PxU32 numWheels)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+	const PxU32 byteSize = sizeof(PxVehicleWheels4SimData)*numWheels4 + sizeof(PxVehicleAntiRollBarData)*2*numWheels4;
+	return byteSize;
+}
+
+PxU8* PxVehicleWheelsSimData::patchUpPointers(const PxU32 numWheels, PxVehicleWheelsSimData* simData, PxU8* ptrIn)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+	PxU8* ptr = ptrIn;
+	simData->mWheels4SimData = reinterpret_cast<PxVehicleWheels4SimData*>(ptr);
+	ptr += sizeof(PxVehicleWheels4SimData)*numWheels4;
+	simData->mAntiRollBars = reinterpret_cast<PxVehicleAntiRollBarData*>(ptr);
+	ptr += sizeof(PxVehicleAntiRollBarData)*numWheels4*2;
+	PX_ASSERT((ptrIn + computeByteSize(numWheels)) == ptr);
+	return ptr;
+}
+
+PxVehicleWheelsSimData::PxVehicleWheelsSimData(const PxU32 numWheels)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+
+	//Set numWheels
+	mNbWheels4 = numWheels4;
+	mNbActiveWheels = numWheels;
+
+	//Set numAntiRollBars to zero.
+	mNbAntiRollBars4 = 2*numWheels4;
+	mNbActiveAntiRollBars = 0;
+
+	//Placement new for wheels4
+	for(PxU32 i=0;i<numWheels4;i++)
+	{
+		new(&mWheels4SimData[i]) PxVehicleWheels4SimData();
+	}
+
+	//Placement new for anti-roll bars
+	for(PxU32 i=0;i<numWheels4*2;i++)
+	{
+		new(&mAntiRollBars[i]) PxVehicleAntiRollBarData();
+	}
+
+	//Placement new for tire load filter data.
+	new(&mNormalisedLoadFilter) PxVehicleTireLoadFilterData();
+
+	//Enable used wheels, disabled unused wheels.
+	PxMemZero(mActiveWheelsBitmapBuffer, sizeof(PxU32) * (((PX_MAX_NB_WHEELS + 31) & ~31) >> 5));
+	for(PxU32 i=0;i<numWheels;i++)
+	{
+		//Enabled used wheel.
+		enableWheel(i);
+		setWheelShapeMapping(i,PxI32(i));
+		setSceneQueryFilterData(i, PxFilterData());
+	}
+	for(PxU32 i=numWheels;i<numWheels4*4;i++)
+	{
+		//Disable unused wheel.
+		disableWheel(i);
+		setWheelShapeMapping(i,-1);
+		setSceneQueryFilterData(i, PxFilterData());
+	}
+
+	//Default values for substep count computation.
+	mThresholdLongitudinalSpeed = gThresholdLongSpeed*gToleranceScaleLength;
+	mLowForwardSpeedSubStepCount = gLowLongSpeedSubstepCount;
+	mHighForwardSpeedSubStepCount = gHighLongSpeedSubstepCount;
+	mMinLongSlipDenominator = gMinLongSlipDenominator*gToleranceScaleLength;
+}
+
+PxVehicleWheelsSimData* PxVehicleWheelsSimData::allocate(const PxU32 numWheels)
+{
+	//Byte size
+	const PxU32 byteSize = sizeof(PxVehicleWheelsSimData) + computeByteSize(numWheels);
+
+	//Allocate
+	PxU8* ptrStart = static_cast<PxU8*>(PX_ALLOC(byteSize, "PxVehicleWheelsSimData"));
+
+	//Patchup pointers
+	PxU8* ptr = ptrStart;
+	PxVehicleWheelsSimData* simData = reinterpret_cast<PxVehicleWheelsSimData*>(ptr);
+	ptr += sizeof(PxVehicleWheelsSimData);
+	ptr = patchUpPointers(numWheels, simData, ptr);
+	PX_ASSERT((ptrStart+ byteSize) == ptr);
+
+	//Constructor.
+	new(simData) PxVehicleWheelsSimData(numWheels);
+
+	//Finished.
+	return simData;
+}
+
+void PxVehicleWheelsSimData::setChassisMass(const PxF32 chassisMass)
+{
+
+	//Target spring natural frequency = 9.66
+	//Target spring damping ratio = 0.62
+	const PxF32 mult=1.0f/(1.0f*mNbActiveWheels);
+	const PxF32 sprungMass=chassisMass*mult;
+	const PxF32 w0=9.66f;
+	const PxF32 r=0.62f;
+	for(PxU32 i=0;i<mNbActiveWheels;i++)
+	{
+		PxVehicleSuspensionData susp=getSuspensionData(i);
+		susp.mSprungMass=sprungMass;
+		susp.mSpringStrength=w0*w0*sprungMass;
+		susp.mSpringDamperRate=r*2*sprungMass*w0;
+		setSuspensionData(i,susp);
+	}
+}
+
+void PxVehicleWheelsSimData::free()
+{
+	for(PxU32 i=0;i<mNbWheels4;i++)
+	{
+		mWheels4SimData[i].~PxVehicleWheels4SimData();
+	}
+
+	PX_FREE(this);
+}
+
+PxVehicleWheelsSimData& PxVehicleWheelsSimData::operator=(const PxVehicleWheelsSimData& src)
+{
+	PX_CHECK_MSG(mNbActiveWheels == src.mNbActiveWheels, "target PxVehicleSuspWheelTireNSimData must match the number of wheels in src");
+
+	for(PxU32 i=0;i<src.mNbWheels4;i++)
+	{
+		mWheels4SimData[i] = src.mWheels4SimData[i];
+	}
+
+	mNbActiveAntiRollBars = src.mNbActiveAntiRollBars;
+	for(PxU32 i=0; i<src.mNbActiveAntiRollBars; i++)
+	{
+		mAntiRollBars[i] = src.mAntiRollBars[i];
+	}
+
+	mNormalisedLoadFilter = src.mNormalisedLoadFilter;
+
+	mThresholdLongitudinalSpeed = src.mThresholdLongitudinalSpeed;
+	mLowForwardSpeedSubStepCount = src.mLowForwardSpeedSubStepCount;
+	mHighForwardSpeedSubStepCount = src.mHighForwardSpeedSubStepCount;
+	mMinLongSlipDenominator = src.mMinLongSlipDenominator;
+
+	PxMemCopy(mActiveWheelsBitmapBuffer, src.mActiveWheelsBitmapBuffer, sizeof(PxU32)* (((PX_MAX_NB_WHEELS + 31) & ~31) >> 5));
+
+	return *this;
+}
+
+void PxVehicleWheelsSimData::copy(const PxVehicleWheelsSimData& src, const PxU32 srcWheel, const PxU32 wheel)
+{
+	PX_CHECK_AND_RETURN(srcWheel < src.mNbActiveWheels, "Illegal src wheel");
+	PX_CHECK_AND_RETURN(wheel < mNbActiveWheels, "Illegal target wheel");
+
+	setSuspensionData(wheel,src.getSuspensionData(srcWheel));
+	setWheelData(wheel,src.getWheelData(srcWheel));
+	setTireData(wheel,src.getTireData(srcWheel));
+	setSuspTravelDirection(wheel,src.getSuspTravelDirection(srcWheel));
+	setSuspForceAppPointOffset(wheel,src.getSuspForceAppPointOffset(srcWheel));
+	setTireForceAppPointOffset(wheel,src.getTireForceAppPointOffset(srcWheel));
+	setWheelCentreOffset(wheel,src.getWheelCentreOffset(srcWheel));
+	setWheelShapeMapping(wheel, src.getWheelShapeMapping(srcWheel));
+	setSceneQueryFilterData(wheel, src.getSceneQueryFilterData(srcWheel));
+	if(src.getIsWheelDisabled(srcWheel))
+		disableWheel(wheel);
+	else
+		enableWheel(wheel);
+}
+
+bool PxVehicleWheelsSimData::isValid() const
+{
+	for(PxU32 i=0;i<mNbWheels4-1;i++)
+	{
+		mWheels4SimData[i].isValid(0);
+		mWheels4SimData[i].isValid(1);
+		mWheels4SimData[i].isValid(2);
+		mWheels4SimData[i].isValid(3);
+	}
+	const PxU32 numInLastBlock = 4 - (4*mNbWheels4 - mNbActiveWheels);
+	for(PxU32 i=0;i<numInLastBlock;i++)
+	{
+		mWheels4SimData[mNbWheels4-1].isValid(i);
+	}
+
+	PX_CHECK_AND_RETURN_VAL(mNormalisedLoadFilter.isValid(), "Invalid PxVehicleWheelsSimData.mNormalisedLoadFilter", false);
+	return true;
+}
+
+void PxVehicleWheelsSimData::disableWheel(const PxU32 wheel)
+{
+	PX_CHECK_AND_RETURN(wheel < 4*mNbWheels4, "PxVehicleWheelsSimData::disableWheel - Illegal wheel");
+
+	Cm::BitMap bm;
+	bm.setWords(mActiveWheelsBitmapBuffer, ((PX_MAX_NB_WHEELS + 31) & ~31) >> 5);
+	bm.reset(wheel);
+}
+
+void PxVehicleWheelsSimData::enableWheel(const PxU32 wheel)
+{
+	PX_CHECK_AND_RETURN(wheel < 4*mNbWheels4, "PxVehicleWheelsSimData::disableWheel - Illegal wheel");
+
+	Cm::BitMap bm;
+	bm.setWords(mActiveWheelsBitmapBuffer, ((PX_MAX_NB_WHEELS + 31) & ~31) >> 5);
+	bm.set(wheel);
+}
+
+bool PxVehicleWheelsSimData::getIsWheelDisabled(const PxU32 wheel) const
+{
+	PX_CHECK_AND_RETURN_VAL(wheel < 4*mNbWheels4, "PxVehicleWheelsSimData::getIsWheelDisabled - Illegal wheel", false);
+	Cm::BitMap bm;
+	bm.setWords(const_cast<PxU32*>(mActiveWheelsBitmapBuffer), ((PX_MAX_NB_WHEELS + 31) & ~31) >> 5);
+	return (bm.test(wheel) ? false : true);
+}
+
+const PxVehicleSuspensionData& PxVehicleWheelsSimData::getSuspensionData(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getSuspensionData - Illegal wheel");
+	return mWheels4SimData[id>>2].getSuspensionData(id & 3);
+}
+
+const PxVehicleWheelData& PxVehicleWheelsSimData::getWheelData(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getWheelData - Illegal wheel");
+	return mWheels4SimData[id>>2].getWheelData(id & 3);
+}
+
+const PxVehicleTireData& PxVehicleWheelsSimData::getTireData(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getTireData - Illegal wheel");
+	return mWheels4SimData[id>>2].getTireData(id & 3);
+}
+
+const PxVec3& PxVehicleWheelsSimData::getSuspTravelDirection(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getSuspTravelDirection - Illegal wheel");
+	return mWheels4SimData[id>>2].getSuspTravelDirection(id & 3);
+}
+
+const PxVec3& PxVehicleWheelsSimData::getSuspForceAppPointOffset(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getSuspForceAppPointOffset - Illegal wheel");
+	return mWheels4SimData[id>>2].getSuspForceAppPointOffset(id & 3);
+}
+
+const PxVec3& PxVehicleWheelsSimData::getTireForceAppPointOffset(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getTireForceAppPointOffset - Illegal wheel");
+	return mWheels4SimData[id>>2].getTireForceAppPointOffset(id & 3);
+}
+
+const PxVec3& PxVehicleWheelsSimData::getWheelCentreOffset(const PxU32 id) const	
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getWheelCentreOffset - Illegal wheel");
+	return mWheels4SimData[id>>2].getWheelCentreOffset(id & 3);
+}
+
+PxI32 PxVehicleWheelsSimData::getWheelShapeMapping(const PxU32 id) const
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getWheelShapeMapping - Illegal wheel");
+	return mWheels4SimData[id>>2].getWheelShapeMapping(id & 3);
+}
+
+const PxFilterData& PxVehicleWheelsSimData::getSceneQueryFilterData(const PxU32 id) const
+{
+	PX_CHECK_MSG(id < 4*mNbWheels4, "PxVehicleWheelsSimData::getSceneQueryFilterData - Illegal wheel");
+	return mWheels4SimData[id>>2].getSceneQueryFilterData(id & 3);
+}
+
+const PxVehicleAntiRollBarData& PxVehicleWheelsSimData::getAntiRollBarData(const PxU32 antiRollId) const
+{
+	PX_CHECK_MSG(antiRollId < mNbActiveAntiRollBars, "PxVehicleWheelsSimData::getAntiRollBarData - Illegal anti-roll bar");
+	return mAntiRollBars[antiRollId];
+}
+
+void PxVehicleWheelsSimData::setSuspensionData(const PxU32 id, const PxVehicleSuspensionData& susp)
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setSuspensionData - Illegal wheel");
+	mWheels4SimData[id>>2].setSuspensionData(id & 3, susp);
+}
+
+void PxVehicleWheelsSimData::setWheelData(const PxU32 id, const PxVehicleWheelData& wheel)
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setWheelData - Illegal wheel");
+	mWheels4SimData[id>>2].setWheelData(id & 3, wheel);
+}
+
+void PxVehicleWheelsSimData::setTireData(const PxU32 id, const PxVehicleTireData& tire)
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setTireData - Illegal wheel");
+	mWheels4SimData[id>>2].setTireData(id & 3, tire);
+}
+
+void PxVehicleWheelsSimData::setSuspTravelDirection(const PxU32 id, const PxVec3& dir)										
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setSuspTravelDirection - Illegal wheel");
+	mWheels4SimData[id>>2].setSuspTravelDirection(id & 3, dir);
+}
+
+void PxVehicleWheelsSimData::setSuspForceAppPointOffset(const PxU32 id, const PxVec3& offset)									
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setSuspForceAppPointOffset - Illegal wheel");
+	mWheels4SimData[id>>2].setSuspForceAppPointOffset(id & 3, offset);
+}
+
+void PxVehicleWheelsSimData::setTireForceAppPointOffset(const PxU32 id, const PxVec3& offset)									
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setTireForceAppPointOffset - Illegal wheel");
+	mWheels4SimData[id>>2].setTireForceAppPointOffset(id & 3, offset);
+}
+
+void PxVehicleWheelsSimData::setWheelCentreOffset(const PxU32 id, const PxVec3& offset)									
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setWheelCentreOffset - Illegal wheel");
+	mWheels4SimData[id>>2].setWheelCentreOffset(id & 3, offset);
+}
+
+void PxVehicleWheelsSimData::setWheelShapeMapping(const PxU32 id, const PxI32 shapeId)
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setWheelShapeMapping - Illegal wheel");
+	mWheels4SimData[id>>2].setWheelShapeMapping(id & 3, shapeId);
+}
+
+void PxVehicleWheelsSimData::setSceneQueryFilterData(const PxU32 id, const PxFilterData& sqFilterData)
+{
+	PX_CHECK_AND_RETURN(id < 4*mNbWheels4, "PxVehicleWheelsSimData::setSceneQueryFilterData - Illegal wheel");
+	mWheels4SimData[id>>2].setSceneQueryFilterData(id & 3, sqFilterData);
+}
+
+void PxVehicleWheelsSimData::setTireLoadFilterData(const PxVehicleTireLoadFilterData& tireLoadFilter)
+{
+	PX_CHECK_AND_RETURN(tireLoadFilter.mMaxNormalisedLoad>tireLoadFilter.mMinNormalisedLoad, "Illegal graph points");
+	PX_CHECK_AND_RETURN(tireLoadFilter.mMaxFilteredNormalisedLoad>0, "Max filtered load must be greater than zero");
+	mNormalisedLoadFilter=tireLoadFilter;
+	mNormalisedLoadFilter.mDenominator=1.0f/(mNormalisedLoadFilter.mMaxNormalisedLoad-mNormalisedLoadFilter.mMinNormalisedLoad);
+}
+
+PxU32 PxVehicleWheelsSimData::addAntiRollBarData(const PxVehicleAntiRollBarData& antiRollBar)
+{
+	PX_CHECK_AND_RETURN_VAL(antiRollBar.isValid(), "Illegal antiRollBar", 0xffffffff)
+	PX_CHECK_AND_RETURN_VAL(antiRollBar.mWheel0 < mNbActiveWheels, "Illegal wheel0", 0xffffffff);
+	PX_CHECK_AND_RETURN_VAL(antiRollBar.mWheel1 < mNbActiveWheels, "Illegal wheel1", 0xffffffff);
+
+	//If the anti-roll pair already exists then modify it.
+	for(PxU32 i = 0; i < mNbActiveAntiRollBars; i++)
+	{
+		if( ((mAntiRollBars[i].mWheel0 == antiRollBar.mWheel0) && (mAntiRollBars[i].mWheel1 == antiRollBar.mWheel1)) || 
+			((mAntiRollBars[i].mWheel1 == antiRollBar.mWheel0) && (mAntiRollBars[i].mWheel0 == antiRollBar.mWheel1)) )
+		{
+			mAntiRollBars[i].mStiffness = antiRollBar.mStiffness;
+			return i;
+		}
+	}
+
+	//Check we have space for an extra anti-roll bar.
+	PX_CHECK_AND_RETURN_VAL(mNbActiveAntiRollBars <  2*mNbWheels4, "The buffer of anti-roll bars is full", 0xffffffff);
+
+	//Add a new anti-roll bar.
+	const PxU32 id = mNbActiveAntiRollBars;
+	mAntiRollBars[mNbActiveAntiRollBars] = antiRollBar;
+	mNbActiveAntiRollBars++;
+
+	//Finished.
+	return id;
+}
+
+//Only used for serialization.
+void PxVehicleWheelsSimData::setAntiRollBarData(const PxU32 id, const PxVehicleAntiRollBarData& antiRoll) 
+{
+	PX_UNUSED(id);
+	addAntiRollBarData(antiRoll);
+}
+
+void PxVehicleWheelsSimData::setSubStepCount(const PxReal thresholdLongitudinalSpeed, const PxU32 lowForwardSpeedSubStepCount, const PxU32 highForwardSpeedSubStepCount)
+{
+	PX_CHECK_AND_RETURN(thresholdLongitudinalSpeed>=0, "thresholdLongitudinalSpeed must be greater than or equal to zero.");
+	PX_CHECK_AND_RETURN(lowForwardSpeedSubStepCount>0, "lowForwardSpeedSubStepCount must be greater than zero.");
+	PX_CHECK_AND_RETURN(highForwardSpeedSubStepCount>0, "highForwardSpeedSubStepCount must be greater than zero.");
+
+	mThresholdLongitudinalSpeed=thresholdLongitudinalSpeed;
+	mLowForwardSpeedSubStepCount=lowForwardSpeedSubStepCount;
+	mHighForwardSpeedSubStepCount=highForwardSpeedSubStepCount;
+}
+
+void PxVehicleWheelsSimData::setMinLongSlipDenominator(const PxReal minLongSlipDenominator)
+{
+	PX_CHECK_AND_RETURN(minLongSlipDenominator>0, "minLongSlipDenominator must be greater than or equal to zero.");
+	mMinLongSlipDenominator=minLongSlipDenominator;
+}
+
+
+
+/////////////////////////////
+
+PxU32 PxVehicleWheelsDynData::computeByteSize(const PxU32 numWheels)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+	const PxU32 byteSize = 
+		sizeof(PxVehicleWheels4DynData)*numWheels4 +
+		sizeof(PxVehicleTireForceCalculator) + sizeof(void*)*4*numWheels4 +
+		sizeof(void*)*4*numWheels4 +
+		sizeof(PxVehicleConstraintShader)*numWheels4;
+	return byteSize;
+}
+
+PxU8* PxVehicleWheelsDynData::patchUpPointers(const PxU32 numWheels, PxVehicleWheelsDynData* dynData, PxU8* ptrIn)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+	PxU8* ptr = ptrIn;
+	dynData->mWheels4DynData = reinterpret_cast<PxVehicleWheels4DynData*>(ptr);
+	ptr += sizeof(PxVehicleWheels4DynData)*numWheels4;
+	dynData->mTireForceCalculators = reinterpret_cast<PxVehicleTireForceCalculator*>(ptr);
+	ptr += sizeof(PxVehicleTireForceCalculator);
+	dynData->mTireForceCalculators->mShaderData = reinterpret_cast<const void**>(ptr);
+	ptr += sizeof(void*)*4*numWheels4;
+	dynData->mUserDatas = reinterpret_cast<void**>(ptr);
+	ptr += sizeof(void*)*4*numWheels4;
+	for(PxU32 i=0;i<numWheels4;i++)
+	{
+		PxVehicleConstraintShader* shader = new(ptr) PxVehicleConstraintShader();
+		dynData->mWheels4DynData[i].setVehicleConstraintShader(shader);
+		ptr += sizeof(PxVehicleConstraintShader);
+	}
+
+	PX_ASSERT((ptrIn + computeByteSize(numWheels)) == ptr);
+	return ptr;
+}
+
+PxVehicleWheelsDynData::PxVehicleWheelsDynData(const PxU32 numWheels)
+{
+	const PxU32 numWheels4 =(((numWheels + 3) & ~3) >> 2);
+
+	mNbWheels4=numWheels4;
+	mNbActiveWheels=numWheels;
+
+	//Placement new for wheels4
+	for(PxU32 i=0;i<numWheels4;i++)
+	{
+		new(&mWheels4DynData[i]) PxVehicleWheels4DynData();
+	}
+
+	//Initialise tire calculator
+	for(PxU32 i=0;i<4*numWheels4;i++)
+	{
+		mTireForceCalculators->mShaderData[i]=NULL;
+	}
+	new(mTireForceCalculators) PxVehicleTireForceCalculator;
+
+	//Initialise user data
+	for(PxU32 i=0;i<4*numWheels4;i++)
+	{
+		mUserDatas[i]=NULL;
+	}
+}
+
+bool PxVehicleWheelsDynData::isValid() const
+{
+	for(PxU32 i=0;i<mNbWheels4;i++)
+	{
+		PX_CHECK_AND_RETURN_VAL(mWheels4DynData[i].isValid(), "Invalid PxVehicleSuspWheelTireNDynData.mSuspWheelTire4DynData[i]", false);
+	}
+	return true;
+}
+
+void PxVehicleWheelsDynData::setToRestState()
+{
+	//Set susp/wheel/tires to rest state.
+	const PxU32 numSuspWheelTire4=mNbWheels4;
+	for(PxU32 i=0;i<numSuspWheelTire4;i++)
+	{
+		mWheels4DynData[i].setToRestState();
+	}
+}
+
+void PxVehicleWheelsDynData::setTireForceShaderFunction(PxVehicleComputeTireForce tireForceShaderFn)
+{
+	mTireForceCalculators->mShader=tireForceShaderFn;
+}
+
+void PxVehicleWheelsDynData::setTireForceShaderData(const PxU32 tireId, const void* tireForceShaderData)
+{
+	PX_CHECK_AND_RETURN(tireId < mNbActiveWheels, "PxVehicleWheelsDynData::setTireForceShaderData - Illegal tire");
+	mTireForceCalculators->mShaderData[tireId]=tireForceShaderData;
+}
+
+const void* PxVehicleWheelsDynData::getTireForceShaderData(const PxU32 tireId) const
+{
+	PX_CHECK_AND_RETURN_VAL(tireId < mNbActiveWheels, "PxVehicleWheelsDynData::getTireForceShaderData - Illegal tire", NULL);
+	return mTireForceCalculators->mShaderData[tireId];
+}
+
+void PxVehicleWheelsDynData::setWheelRotationSpeed(const PxU32 wheelIdx, const PxReal speed)
+{
+	PX_CHECK_AND_RETURN(wheelIdx < mNbActiveWheels, "PxVehicleWheelsDynData::setWheelRotationSpeed - Illegal wheel");
+	PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
+	suspWheelTire4.mWheelSpeeds[wheelIdx & 3] = speed;
+	suspWheelTire4.mCorrectedWheelSpeeds[wheelIdx & 3] = speed;
+}
+
+PxReal PxVehicleWheelsDynData::getWheelRotationSpeed(const PxU32 wheelIdx) const
+{
+	PX_CHECK_AND_RETURN_VAL(wheelIdx < mNbActiveWheels, "PxVehicleWheelsDynData::getWheelRotationSpeed - Illegal wheel", 0.0f);
+	const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
+	return suspWheelTire4.mCorrectedWheelSpeeds[wheelIdx & 3];
+}
+
+void PxVehicleWheelsDynData::setWheelRotationAngle(const PxU32 wheelIdx, const PxReal angle)
+{
+	PX_CHECK_AND_RETURN(wheelIdx < mNbActiveWheels, "PxVehicleWheelsDynData::setWheelRotationAngle - Illegal wheel");
+	PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
+	suspWheelTire4.mWheelRotationAngles[wheelIdx & 3] = angle;
+}
+
+PxReal PxVehicleWheelsDynData::getWheelRotationAngle(const PxU32 wheelIdx) const
+{
+	PX_CHECK_AND_RETURN_VAL(wheelIdx < mNbActiveWheels, "PxVehicleWheelsDynData::getWheelRotationAngle - Illegal wheel", 0.0f);
+	const PxVehicleWheels4DynData& suspWheelTire4=mWheels4DynData[(wheelIdx>>2)];
+	return suspWheelTire4.mWheelRotationAngles[wheelIdx & 3];
+}
+
+void PxVehicleWheels::setToRestState()
+{
+	//Set the rigid body to rest and clear all the accumulated forces and impulses.
+	if(!(mActor->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC))
+	{
+		mActor->setLinearVelocity(PxVec3(0,0,0));
+		mActor->setAngularVelocity(PxVec3(0,0,0));
+		mActor->clearForce(PxForceMode::eACCELERATION);
+		mActor->clearForce(PxForceMode::eVELOCITY_CHANGE);
+		mActor->clearTorque(PxForceMode::eACCELERATION);
+		mActor->clearTorque(PxForceMode::eVELOCITY_CHANGE);
+	}
+
+	//Set the wheels to rest state.
+	mWheelsDynData.setToRestState();
+}
+
+bool PxVehicleWheels::isValid() const
+{
+	PX_CHECK_AND_RETURN_VAL(mWheelsSimData.isValid(), "invalid mWheelsSimData", false);
+	PX_CHECK_AND_RETURN_VAL(mWheelsDynData.isValid(), "invalid mWheelsDynData", false);
+	return true;
+}
+
+PxU32 PxVehicleWheels::computeByteSize(const PxU32 numWheels)
+{
+	const PxU32 byteSize = 
+		PxVehicleWheelsSimData::computeByteSize(numWheels) + 
+		PxVehicleWheelsDynData::computeByteSize(numWheels);
+	return byteSize;
+}
+
+PxU8* PxVehicleWheels::patchupPointers(const PxU32 numWheels, PxVehicleWheels* vehWheels, PxU8* ptrIn)
+{
+	PxU8* ptr = ptrIn;
+	ptr = PxVehicleWheelsSimData::patchUpPointers(numWheels, &vehWheels->mWheelsSimData, ptr);
+	ptr = PxVehicleWheelsDynData::patchUpPointers(numWheels, &vehWheels->mWheelsDynData, ptr);
+	PX_ASSERT((ptrIn + computeByteSize(numWheels)) == ptr);
+	return ptr;
+}
+
+void PxVehicleWheels::init(const PxU32 numWheels)
+{
+	new(&mWheelsSimData) PxVehicleWheelsSimData(numWheels);
+	new(&mWheelsDynData) PxVehicleWheelsDynData(numWheels);
+
+	for(PxU32 i = 0; i < mWheelsSimData.mNbWheels4; i++)
+	{
+		new(&mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader()) PxVehicleConstraintShader(this);
+	}
+
+	mOnConstraintReleaseCounter = Ps::to8(mWheelsSimData.mNbWheels4);
+}
+
+void PxVehicleWheels::free()
+{
+	PX_CHECK_AND_RETURN(mWheelsSimData.mNbWheels4>0, "Cars with zero wheels are illegal");
+
+	const PxU32 numSuspWheelTire4 = mWheelsSimData.mNbWheels4;
+
+	for(PxU32 i=0;i<numSuspWheelTire4;i++)
+	{
+		mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader().release();
+	}
+}
+
+static PxConstraintShaderTable t = 
+		{ 
+			PxVehicleConstraintShader::vehicleSuspLimitConstraintSolverPrep,
+			0,
+			PxVehicleConstraintShader::visualiseConstraint,
+			PxConstraintFlag::Enum(0)
+		};
+
+void PxVehicleWheels::setup
+(PxPhysics* physics, PxRigidDynamic* vehActor, 
+ const PxVehicleWheelsSimData& wheelsData,
+ const PxU32 numDrivenWheels, const PxU32 numNonDrivenWheels)
+{
+	mNbNonDrivenWheels = numNonDrivenWheels;
+
+	PX_CHECK_AND_RETURN(wheelsData.getNbWheels() == mWheelsSimData.getNbWheels(), "PxVehicleWheels::setup - vehicle must be setup with same number of wheels as wheelsData");
+	PX_CHECK_AND_RETURN(vehActor, "PxVehicleWheels::setup - vehActor is null ptr : you need to instantiate an empty PxRigidDynamic for the vehicle");
+	PX_CHECK_AND_RETURN(wheelsData.isValid(), "PxVehicleWheels::setup -invalid wheelsData");
+	PX_UNUSED(numDrivenWheels);
+	
+#if PX_CHECKED
+	PxF32 totalSprungMass=0.0f;
+	for(PxU32 i=0;i<(numDrivenWheels+numNonDrivenWheels);i++)
+	{
+		totalSprungMass+=wheelsData.getSuspensionData(i).mSprungMass;
+	}
+	PX_CHECK_MSG(PxAbs((vehActor->getMass()-totalSprungMass)/vehActor->getMass()) < 0.01f, "Sum of suspension sprung masses doesn't match actor mass");
+#endif
+
+	//Copy the simulation data.
+	mWheelsSimData=wheelsData;
+
+	//Set the actor pointer.
+	mActor=vehActor;
+
+	//Set all the sq result ptrs to null.
+	const PxU32 numSuspWheelTire4=wheelsData.mNbWheels4;
+	for(PxU32 i=0;i<numSuspWheelTire4;i++)
+	{
+		mWheelsDynData.mWheels4DynData[i].mRaycastResults=NULL;
+		mWheelsDynData.mWheels4DynData[i].mSweepResults=NULL;
+	}
+
+	//Set up the suspension limits constraints.
+	for(PxU32 i=0;i<numSuspWheelTire4;i++)
+	{
+		PxVehicleConstraintShader& shader=mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader();
+		for(PxU32 j=0;j<4;j++)
+		{
+			shader.mData.mSuspLimitData.mCMOffsets[j]=wheelsData.mWheels4SimData[i].getSuspForceAppPointOffset(j);
+			shader.mData.mSuspLimitData.mDirs[j]=wheelsData.mWheels4SimData[i].getSuspTravelDirection(j);
+			shader.mData.mSuspLimitData.mErrors[j]=0.0f;
+			shader.mData.mSuspLimitData.mActiveFlags[j]=false;
+
+			shader.mData.mStickyTireForwardData.mCMOffsets[j]=PxVec3(0,0,0);
+			shader.mData.mStickyTireForwardData.mDirs[j]=PxVec3(0,0,0);
+			shader.mData.mStickyTireForwardData.mTargetSpeeds[j]=0.0f;
+			shader.mData.mStickyTireForwardData.mActiveFlags[j]=false;
+
+			shader.mData.mStickyTireSideData.mCMOffsets[j]=PxVec3(0,0,0);
+			shader.mData.mStickyTireSideData.mDirs[j]=PxVec3(0,0,0);
+			shader.mData.mStickyTireSideData.mTargetSpeeds[j]=0.0f;
+			shader.mData.mStickyTireSideData.mActiveFlags[j]=false;
+		}
+
+
+		shader.mConstraint=physics->createConstraint(vehActor, NULL, shader, t, sizeof(PxVehicleConstraintShader::VehicleConstraintData));
+		shader.mConstraint->markDirty();
+	}
+
+	//Set up the shader data ptrs.
+	for(PxU32 i=0;i<wheelsData.mNbActiveWheels;i++)
+	{
+		mWheelsDynData.setTireForceShaderData(i,&mWheelsSimData.getTireData(i));
+	}
+
+	//Disable the unused wheels.
+	for(PxU32 i=wheelsData.mNbActiveWheels;i<4*mWheelsSimData.mNbWheels4;i++)
+	{
+		mWheelsSimData.disableWheel(i);
+	}
+
+	//Pose the wheels that are mapped to shapes so that all shapes are at the rest pose.
+	for(PxU32 i=0;i<wheelsData.mNbActiveWheels;i++)
+	{
+		const PxI32 shapeId = mWheelsSimData.getWheelShapeMapping(i);
+		if(-1!=shapeId)
+		{
+			PX_CHECK_AND_RETURN(PxU32(shapeId) < mActor->getNbShapes(), "Illegal wheel shape mapping, shape does not exist on actor");
+
+			//Compute the shape local pose
+			const PxTransform chassisCMOffset=mActor->getCMassLocalPose();
+			PxTransform wheelOffset=chassisCMOffset;
+			wheelOffset.p+=mWheelsSimData.getWheelCentreOffset(i);
+			//Pose the shape.
+			PxShape* shapeBuffer[1];
+			mActor->getShapes(shapeBuffer,1,PxU32(shapeId));
+			shapeBuffer[0]->setLocalPose(wheelOffset);
+		}
+	}
+}
+
+void	PxVehicleWheels::requires(PxProcessPxBaseCallback& c)
+{
+	c.process(*mActor);
+
+	for(PxU32 i=0;i<mWheelsSimData.mNbWheels4;i++)
+	{
+		c.process(*mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader().getPxConstraint());
+	}
+}
+
+static PxConstraint* resolveConstraintPtr(PxDeserializationContext& context,
+										  PxConstraint* old,
+										  PxConstraintConnector* connector,
+										  PxConstraintShaderTable &shaders)
+{
+	context.translatePxBase(old);
+	PxConstraint* new_nx = static_cast<PxConstraint*>(old);
+	new_nx->setConstraintFunctions(*connector, shaders);
+	return new_nx;
+}
+
+void PxVehicleWheels::resolveReferences(PxDeserializationContext& context)
+{	
+	context.translatePxBase(mActor);
+
+	for(PxU32 i=0;i<mWheelsSimData.mNbWheels4;i++)
+	{
+		PxVehicleConstraintShader& shader=mWheelsDynData.mWheels4DynData[i].getVehicletConstraintShader();
+		shader.setPxConstraint(resolveConstraintPtr(context,shader.getPxConstraint(), shader.getConnector(), t));
+	}
+
+	//Set up the shader data ptrs.
+	for(PxU32 i=0;i<mWheelsSimData.mNbActiveWheels;i++)
+	{
+		mWheelsDynData.setTireForceShaderData(i,&mWheelsSimData.getTireData(i));
+	}	
+}
+
+PxReal PxVehicleWheels::computeForwardSpeed() const
+{
+	const PxTransform vehicleChassisTrnsfm=mActor->getGlobalPose().transform(mActor->getCMassLocalPose());
+	return mActor->getLinearVelocity().dot(vehicleChassisTrnsfm.q.rotate(gForward));
+}
+
+PxReal PxVehicleWheels::computeSidewaysSpeed() const
+{
+	const PxTransform vehicleChassisTrnsfm=mActor->getGlobalPose().transform(mActor->getCMassLocalPose());
+	return mActor->getLinearVelocity().dot(vehicleChassisTrnsfm.q.rotate(gRight));
+}
+
+////////////////////////////////////////////////////////////////////////////
+
+void PxVehicleWheelsDynData::setUserData(const PxU32 tireIdx, void* userData)
+{
+	PX_CHECK_AND_RETURN(tireIdx < mNbActiveWheels, "PxVehicleWheelsDynData::setUserData - Illegal wheel");
+	mUserDatas[tireIdx]=userData;
+}
+
+void* PxVehicleWheelsDynData::getUserData(const PxU32 tireIdx) const
+{
+	PX_CHECK_AND_RETURN_VAL(tireIdx < mNbActiveWheels, "PxVehicleWheelsDynData::setUserData - Illegal wheel", NULL);
+	return mUserDatas[tireIdx];
+}
+
+
+////////////////////////////////////////////////////////////////////////////
+
+void PxVehicleWheelsDynData::copy(const PxVehicleWheelsDynData& src, const PxU32 srcWheel, const PxU32 trgWheel)
+{
+	PX_CHECK_AND_RETURN(srcWheel < src.mNbActiveWheels, "PxVehicleWheelsDynData::copy - Illegal src wheel");
+	PX_CHECK_AND_RETURN(trgWheel < mNbActiveWheels, "PxVehicleWheelsDynData::copy - Illegal trg wheel");
+
+	const PxVehicleWheels4DynData& src4 = src.mWheels4DynData[(srcWheel>>2)];
+	PxVehicleWheels4DynData& trg4 = mWheels4DynData[(trgWheel>>2)];
+
+	trg4.mWheelSpeeds[trgWheel & 3] = src4.mWheelSpeeds[srcWheel & 3];
+	trg4.mCorrectedWheelSpeeds[trgWheel & 3] = src4.mCorrectedWheelSpeeds[srcWheel & 3];
+	trg4.mTireLowForwardSpeedTimers[trgWheel & 3] = src4.mTireLowForwardSpeedTimers[srcWheel & 3];
+	trg4.mTireLowSideSpeedTimers[trgWheel & 3] = src4.mTireLowSideSpeedTimers[srcWheel & 3];
+	trg4.mWheelRotationAngles[trgWheel & 3] = src4.mWheelRotationAngles[srcWheel & 3];
+
+	if(src4.mRaycastResults)
+	{
+		const PxVehicleWheels4DynData::SuspLineRaycast& suspLineRaycastSrc = reinterpret_cast<const PxVehicleWheels4DynData::SuspLineRaycast&>(src4.mQueryOrCachedHitResults);
+		PxVehicleWheels4DynData::SuspLineRaycast& suspLineRaycastTrg = reinterpret_cast<PxVehicleWheels4DynData::SuspLineRaycast&>(trg4.mQueryOrCachedHitResults);
+
+		suspLineRaycastTrg.mStarts[trgWheel & 3] = suspLineRaycastSrc.mStarts[srcWheel & 3];
+		suspLineRaycastTrg.mDirs[trgWheel & 3] = suspLineRaycastSrc.mDirs[srcWheel & 3];
+		suspLineRaycastTrg.mLengths[trgWheel & 3] = suspLineRaycastSrc.mLengths[srcWheel & 3];
+	}
+	else if(src4.mSweepResults)
+	{
+		const PxVehicleWheels4DynData::SuspLineSweep& suspLineSweepSrc = reinterpret_cast<const PxVehicleWheels4DynData::SuspLineSweep&>(src4.mQueryOrCachedHitResults);
+		PxVehicleWheels4DynData::SuspLineSweep& suspLineSweepTrg = reinterpret_cast<PxVehicleWheels4DynData::SuspLineSweep&>(trg4.mQueryOrCachedHitResults);
+
+		suspLineSweepTrg.mStartPose[trgWheel & 3] = suspLineSweepSrc.mStartPose[srcWheel & 3];
+		suspLineSweepTrg.mDirs[trgWheel & 3] = suspLineSweepSrc.mDirs[srcWheel & 3];
+		suspLineSweepTrg.mLengths[trgWheel & 3] = suspLineSweepSrc.mLengths[srcWheel & 3];
+	}
+	else
+	{
+		const PxVehicleWheels4DynData::CachedSuspLineSceneQuerytHitResult& cachedHitResultSrc = reinterpret_cast<const PxVehicleWheels4DynData::CachedSuspLineSceneQuerytHitResult&>(src4.mQueryOrCachedHitResults);
+		PxVehicleWheels4DynData::CachedSuspLineSceneQuerytHitResult& cachedHitResultTrg = reinterpret_cast<PxVehicleWheels4DynData::CachedSuspLineSceneQuerytHitResult&>(trg4.mQueryOrCachedHitResults);
+
+		cachedHitResultTrg.mPlanes[trgWheel & 3] = cachedHitResultSrc.mPlanes[srcWheel & 3];
+		cachedHitResultTrg.mFrictionMultipliers[trgWheel & 3] = cachedHitResultSrc.mFrictionMultipliers[srcWheel & 3];
+		cachedHitResultTrg.mCounts[trgWheel & 3] = cachedHitResultSrc.mCounts[srcWheel & 3];
+		cachedHitResultTrg.mDistances[trgWheel & 3] = cachedHitResultSrc.mDistances[srcWheel & 3];
+	}
+}
+
+
+} //namespace physx
+