PxVehiclePhysXRoadGeometryComponents.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#pragma once
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
 
#include "vehicle2/commands/PxVehicleCommandHelpers.h"
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
 
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryFunctions.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
class PxVehiclePhysXRoadGeometrySceneQueryComponent : public PxVehicleComponent
{
public:
    PxVehiclePhysXRoadGeometrySceneQueryComponent() : PxVehicleComponent() {}
    virtual ~PxVehiclePhysXRoadGeometrySceneQueryComponent() {}
 
    virtual void getDataForPhysXRoadGeometrySceneQueryComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehiclePhysXRoadGeometryQueryParams*& roadGeomParams,
        PxVehicleArrayData<const PxReal>& steerResponseStates,
        const PxVehicleRigidBodyState*& rigidBodyState,
        PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
        PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
        PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& materialFrictionParams,
        PxVehicleArrayData<PxVehicleRoadGeometryState>& roadGeometryStates,
        PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeometryStates) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_UNUSED(dt);
 
        PX_PROFILE_ZONE("PxVehiclePhysXRoadGeometrySceneQueryComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        const PxVehiclePhysXRoadGeometryQueryParams* roadGeomParams;
        PxVehicleArrayData<const PxReal> steerResponseStates;
        const PxVehicleRigidBodyState* rigidBodyState;
        PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
        PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
        PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams> materialFrictionParams;
        PxVehicleArrayData<PxVehicleRoadGeometryState> roadGeometryStates;
        PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState> physxRoadGeometryStates;
 
        getDataForPhysXRoadGeometrySceneQueryComponent(axleDescription, 
            roadGeomParams, steerResponseStates, rigidBodyState,
            wheelParams, suspensionParams, materialFrictionParams,
            roadGeometryStates, physxRoadGeometryStates);
 
        if (context.getType() == PxVehicleSimulationContextType::ePHYSX)
        {
            const PxVehiclePhysXSimulationContext& physxContext = static_cast<const PxVehiclePhysXSimulationContext&>(context);
 
            for(PxU32 i = 0; i < axleDescription->nbWheels; i++)
            {
                const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
                PxVehiclePhysXRoadGeometryQueryUpdate(
                    wheelParams[wheelId], suspensionParams[wheelId], 
                    *roadGeomParams, materialFrictionParams[wheelId],
                    steerResponseStates[wheelId], *rigidBodyState,
                    *physxContext.physxScene, physxContext.physxUnitCylinderSweepMesh, context.frame,
                    roadGeometryStates[wheelId], 
                    !physxRoadGeometryStates.isEmpty() ? &physxRoadGeometryStates[wheelId] : NULL);
            }
        }
        else
        {
            PX_ALWAYS_ASSERT();
 
            for(PxU32 i = 0; i < axleDescription->nbWheels; i++)
            {
                const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
 
                roadGeometryStates[wheelId].setToDefault();
            }
        }
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif