PxVehicleRigidBodyComponents.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 "PxVehicleRigidBodyFunctions.h"
 
#include "common/PxProfileZone.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
class PxVehicleRigidBodyComponent : public PxVehicleComponent
{
public:
 
    PxVehicleRigidBodyComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleRigidBodyComponent() {}
 
    virtual void getDataForRigidBodyComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyParams*& rigidBodyParams,
        PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
        PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
        const PxVehicleAntiRollTorque*& antiRollTorque,
        PxVehicleRigidBodyState*& rigidBodyState) = 0;
 
    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleRigidBodyComponent::update", 0);
 
        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleRigidBodyParams* rigidBodyParams;
        PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
        PxVehicleArrayData<const PxVehicleTireForce> tireForces;
        const PxVehicleAntiRollTorque* antiRollTorque;
        PxVehicleRigidBodyState* rigidBodyState;
 
        getDataForRigidBodyComponent(axleDescription, rigidBodyParams, 
            suspensionForces, tireForces,  antiRollTorque,
            rigidBodyState);
 
        PxVehicleRigidBodyUpdate(
            *axleDescription, *rigidBodyParams, 
            suspensionForces, tireForces, antiRollTorque,
            dt, context.gravity, 
            *rigidBodyState);
 
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif