217 lines
8.4 KiB
C++
217 lines
8.4 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_VEHICLE_NO_DRIVE_H
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#define PX_VEHICLE_NO_DRIVE_H
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/** \addtogroup vehicle
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@{
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*/
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#include "vehicle/PxVehicleWheels.h"
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#include "vehicle/PxVehicleComponents.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxFilterData;
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class PxGeometry;
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class PxPhysics;
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class PxVehicleDrivableSurfaceToTireFrictionPairs;
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class PxShape;
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class PxMaterial;
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class PxRigidDynamic;
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/**
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\brief Data structure with instanced dynamics data and configuration data of a vehicle with no drive model.
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*/
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class PxVehicleNoDrive : public PxVehicleWheels
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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friend class PxVehicleUpdate;
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/**
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\brief Allocate a PxVehicleNoDrive instance for a vehicle without drive model and with nbWheels
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\param[in] nbWheels is the number of wheels on the vehicle.
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\return The instantiated vehicle.
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@see free, setup
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*/
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static PxVehicleNoDrive* allocate(const PxU32 nbWheels);
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/**
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\brief Deallocate a PxVehicleNoDrive instance.
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@see allocate
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*/
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void free();
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/**
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\brief Set up a vehicle using simulation data for the wheels.
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\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
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\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
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\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheels::setWheelShapeMapping.
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@see allocate, free, setToRestState, PxVehicleWheels::setWheelShapeMapping
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*/
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void setup
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(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);
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/**
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\brief Allocate and set up a vehicle using simulation data for the wheels.
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\param[in] physics is a PxPhysics instance that is needed to create special vehicle constraints that are maintained by the vehicle.
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\param[in] vehActor is a PxRigidDynamic instance that is used to represent the vehicle in the PhysX SDK.
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\param[in] wheelsData describes the configuration of all suspension/tires/wheels of the vehicle. The vehicle instance takes a copy of this data.
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\note It is assumed that the first shapes of the actor are the wheel shapes, followed by the chassis shapes. To break this assumption use PxVehicleWheels::setWheelShapeMapping.
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\return The instantiated vehicle.
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@see allocate, free, setToRestState, PxVehicleWheels::setWheelShapeMapping
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*/
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static PxVehicleNoDrive* create
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(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData);
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/**
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\brief Set a vehicle to its rest state. Aside from the rigid body transform, this will set the vehicle and rigid body
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to the state they were in immediately after setup or create.
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\note Calling setToRestState invalidates the cached raycast hit planes under each wheel meaning that suspension line
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raycasts need to be performed at least once with PxVehicleSuspensionRaycasts before calling PxVehicleUpdates.
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@see setup, create, PxVehicleSuspensionRaycasts, PxVehicleUpdates
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*/
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void setToRestState();
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/**
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\brief Set the brake torque to be applied to a specific wheel
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\note The applied brakeTorque persists until the next call to setBrakeTorque
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\note The brake torque is specified in Newton metres.
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\param[in] id is the wheel being given the brake torque
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\param[in] brakeTorque is the value of the brake torque
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*/
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void setBrakeTorque(const PxU32 id, const PxReal brakeTorque);
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/**
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\brief Set the drive torque to be applied to a specific wheel
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\note The applied driveTorque persists until the next call to setDriveTorque
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\note The brake torque is specified in Newton metres.
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\param[in] id is the wheel being given the brake torque
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\param[in] driveTorque is the value of the brake torque
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*/
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void setDriveTorque(const PxU32 id, const PxReal driveTorque);
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/**
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\brief Set the steer angle to be applied to a specific wheel
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\note The applied steerAngle persists until the next call to setSteerAngle
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\note The steer angle is specified in radians.
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\param[in] id is the wheel being given the steer angle
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\param[in] steerAngle is the value of the steer angle in radians.
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*/
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void setSteerAngle(const PxU32 id, const PxReal steerAngle);
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/**
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\brief Get the brake torque that has been applied to a specific wheel
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\param[in] id is the wheel being queried for its brake torque
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\return The brake torque applied to the queried wheel.
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*/
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PxReal getBrakeTorque(const PxU32 id) const;
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/**
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\brief Get the drive torque that has been applied to a specific wheel
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\param[in] id is the wheel being queried for its drive torque
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\return The drive torque applied to the queried wheel.
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*/
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PxReal getDriveTorque(const PxU32 id) const;
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/**
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\brief Get the steer angle that has been applied to a specific wheel
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\param[in] id is the wheel being queried for its steer angle
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\return The steer angle (in radians) applied to the queried wheel.
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*/
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PxReal getSteerAngle(const PxU32 id) const;
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private:
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PxReal* mSteerAngles;
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PxReal* mDriveTorques;
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PxReal* mBrakeTorques;
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#if PX_P64_FAMILY
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PxU32 mPad[2];
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#else
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PxU32 mPad[1];
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#endif
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/**
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\brief Test if the instanced dynamics and configuration data has legal values.
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*/
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bool isValid() const;
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//serialization
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public:
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PxVehicleNoDrive(PxBaseFlags baseFlags) : PxVehicleWheels(baseFlags) {}
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virtual void exportExtraData(PxSerializationContext&);
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void importExtraData(PxDeserializationContext&);
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static PxVehicleNoDrive* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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virtual const char* getConcreteTypeName() const { return "PxVehicleNoDrive"; }
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxVehicleNoDrive", name) || PxBase::isKindOf(name); }
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PxU32 getNbSteerAngle() const { return mWheelsSimData.getNbWheels(); }
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PxU32 getNbDriveTorque() const { return mWheelsSimData.getNbWheels(); }
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PxU32 getNbBrakeTorque() const { return mWheelsSimData.getNbWheels(); }
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protected:
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PxVehicleNoDrive();
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~PxVehicleNoDrive() {}
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//~serialization
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};
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PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleNoDrive) & 15));
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif //PX_VEHICLE_NO_DRIVE_H
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