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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#pragma once

/** \addtogroup vehicle2
  @{
*/

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

#include "vehicle2/PxVehicleParams.h"
#include "PxVehicleSteeringParams.h"

#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif

struct PxVehicleCommandState;

/**
\brief Compute the yaw angle response to a steer command.
\param[in] steer is the input steer command value.
\param[in] longitudinalSpeed is the longitudinal speed of the vehicle.
\param[in] wheelId specifies the wheel to have its steer response computed.
\param[in] steerResponseParmas specifies the per wheel yaw angle response to the steer command as a nonlinear function of steer command and longitudinal speed.
\param[out] steerResponseState is the yaw angle response to the input steer command.
*/
void PxVehicleSteerCommandResponseUpdate
(const PxReal steer, const PxReal longitudinalSpeed,
 const PxU32 wheelId, const PxVehicleSteerCommandResponseParams& steerResponseParmas,
 PxReal& steerResponseState);

/**
\brief Account for Ackermann correction by modifying the per wheel steer response multipliers to engineer an asymmetric steer response across axles.
\param[in] steer is the input steer command value.
\param[in] steerResponseParmas describes the maximum response and a response multiplier per axle.
\param[in] ackermannParams is an array that describes the wheels affected by Ackerman steer correction.
\param[in,out] steerResponseStates contains the corrected per wheel steer response multipliers that take account of Ackermann steer correction.
*/
void  PxVehicleAckermannSteerUpdate
(const PxReal steer, const PxVehicleSteerCommandResponseParams& steerResponseParmas,
 const PxVehicleSizedArrayData<const PxVehicleAckermannParams>& ackermannParams,
 PxVehicleArrayData<PxReal>& steerResponseStates);

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

/** @} */