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#pragma once
/** \addtogroup vehicle2
  @{
*/

#include "foundation/PxPreprocessor.h"
#include "foundation/PxMemory.h"

#include "PxRigidBody.h"

#include "vehicle2/PxVehicleLimits.h"

#if !PX_DOXYGEN
namespace physx
{

class PxShape;

namespace vehicle2
{
#endif

/**
\brief A description of the PhysX actor and shapes that represent the vehicle in an associated PxScene.
*/
struct PxVehiclePhysXActor
{
	/**
	\brief The PhysX rigid body that represents the vehcle in the associated PhysX scene. 
	\note PxActorFlag::eDISABLE_GRAVITY must be set true on the PxRigidBody
	*/
	PxRigidBody* rigidBody;

	/**
	\brief An array of shapes with one shape pointer (or NULL) for each wheel.
	*/
	PxShape* wheelShapes[PxVehicleLimits::eMAX_NB_WHEELS];	

	PX_FORCE_INLINE void setToDefault()
	{
		PxMemZero(this, sizeof(PxVehiclePhysXActor));
	}
};


#define PX_VEHICLE_UNSPECIFIED_STEER_STATE PX_MAX_F32

/**
\brief A description of the previous steer command applied to the vehicle.
*/
struct PxVehiclePhysXSteerState
{

	/**
	\brief The steer command that was most previously applied to the vehicle.
	*/
	PxReal previousSteerCommand;

	PX_FORCE_INLINE void setToDefault()
	{
		previousSteerCommand = PX_VEHICLE_UNSPECIFIED_STEER_STATE;
	}
};

#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif

/** @} */