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#include "DirectDrivetrain.h"
#include "../base/Base.h"

namespace snippetvehicle
{

DirectDrivetrainParams DirectDrivetrainParams::transformAndScale(
const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
{
	DirectDrivetrainParams r = *this;
	r.directDriveThrottleResponseParams = directDriveThrottleResponseParams.transformAndScale(srcFrame, trgFrame, srcScale, trgScale);
	return r;
}


bool DirectDriveVehicle::initialize(PxPhysics& physics, const PxCookingParams& params, PxMaterial& defaultMaterial, bool addPhysXBeginEndComponents)
{
	mTransmissionCommandState.setToDefault();

	if (!PhysXActorVehicle::initialize(physics, params, defaultMaterial))
		return false;

	if (!mDirectDriveParams.isValid(mBaseParams.axleDescription))
		return false;

	//Set the drivetrain state to default.
	mDirectDriveState.setToDefault();

	//Add all the components in sequence that will simulate a vehicle with a direct drive drivetrain.
	initComponentSequence(addPhysXBeginEndComponents);

	return true;
}

void DirectDriveVehicle::destroy()
{
	PhysXActorVehicle::destroy();
}

void DirectDriveVehicle::initComponentSequence(bool addPhysXBeginEndComponents)
{
	//Wake up the associated PxRigidBody if it is asleep and the vehicle commands signal an
	//intent to change state.
	//Read from the physx actor and write the state (position, velocity etc) to the vehicle.
	if(addPhysXBeginEndComponents)
		mComponentSequence.add(static_cast<PxVehiclePhysXActorBeginComponent*>(this));

	//Read the input commands (throttle, brake etc) and forward them as torques and angles to the wheels on each axle.
	mComponentSequence.add(static_cast<PxVehicleDirectDriveCommandResponseComponent*>(this));

	//Work out which wheels have a non-zero drive torque and non-zero brake torque.
	//This is used to determine if any tire is to enter the "sticky" regime that will bring the 
	//vehicle to rest.
	mComponentSequence.add(static_cast<PxVehicleDirectDriveActuationStateComponent*>(this));

	//Perform a scene query against the physx scene to determine the plane and friction under each wheel.
	mComponentSequence.add(static_cast<PxVehiclePhysXRoadGeometrySceneQueryComponent*>(this));

	//Start a substep group that can be ticked multiple times per update.
	//In this example, we update the suspensions, tires and wheels 3 times without recalculating 
	//the plane underneath the wheel.  This is useful for stability at low forward speeds and is
	//computationally cheaper than simulating the whole pipeline at a smaller timestep.
	mComponentSequenceSubstepGroupHandle = mComponentSequence.beginSubstepGroup(3);

		//Update the suspension compression given the plane under each wheel.
		//Update the kinematic compliance from the compression state of each suspension.
		//Convert suspension state to suspension force and torque.
		mComponentSequence.add(static_cast<PxVehicleSuspensionComponent*>(this));

		//Compute the load on the tire, the friction experienced by the tire 
		//and the lateral/longitudinal slip angles.
		//Convert load/friction/slip to tire force and torque.
		//If the vehicle is to come rest then compute the "sticky" velocity constraints to apply to the
		//vehicle.
		mComponentSequence.add(static_cast<PxVehicleTireComponent*>(this));

		//Apply any velocity constraints to a data buffer that will be consumed by the physx scene
		//during the next physx scene update.
		mComponentSequence.add(static_cast<PxVehiclePhysXConstraintComponent*>(this));

		//Apply the tire force, brake force and drive force to each wheel and
		//forward integrate the rotation speed of each wheel.
		mComponentSequence.add(static_cast<PxVehicleDirectDrivetrainComponent*>(this));

		//Apply the suspension and tire forces to the vehicle's rigid body and forward 
		//integrate the state of the rigid body.
		mComponentSequence.add(static_cast<PxVehicleRigidBodyComponent*>(this));

	//Mark the end of the substep group.
	mComponentSequence.endSubstepGroup();

	//Update the rotation angle of the wheel by forwarding integrating the rotational
	//speed of each wheel.
	//Compute the local pose of the wheel in the rigid body frame after accounting 
	//suspension compression and compliance.
	mComponentSequence.add(static_cast<PxVehicleWheelComponent*>(this));

	//Write the local poses of each wheel to the corresponding shapes on the physx actor.
	//Write the momentum change applied to the vehicle's rigid body to the physx actor.
	//The physx scene can now try to apply that change to the physx actor.
	//The physx scene will account for collisions and constraints to be applied to the vehicle 
	//that occur by applying the change.
	if (addPhysXBeginEndComponents)
		mComponentSequence.add(static_cast<PxVehiclePhysXActorEndComponent*>(this));
}

}//namespace snippetvehicle