PxVehicleWheelParams.h

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#pragma once
 
#include "foundation/PxFoundation.h"
 
#include "vehicle2/PxVehicleParams.h"
 
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
 
struct PxVehicleWheelParams
{
    PxReal radius;
 
    PxReal halfWidth;
 
    PxReal mass;
 
    PxReal moi;
 
    PxReal dampingRate;
 
    PX_FORCE_INLINE PxVehicleWheelParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PxVehicleWheelParams r = *this;
        const PxReal scale = trgScale.scale/srcScale.scale;
        r.radius *= scale;
        r.halfWidth *= scale;
        r.moi *= (scale*scale);
        r.dampingRate *= (scale*scale);
        return r;
    }
 
    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(radius > 0.0f, "PxVehicleWheelParams.radius must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(halfWidth > 0.0f, "PxVehicleWheelParams.halfWidth must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(mass > 0.0f, "PxVehicleWheelParams.mass must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(moi > 0.0f, "PxVehicleWheelParams.moi must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(dampingRate >= 0.0f, "PxVehicleWheelParams.dampingRate must be greater than or equal to zero", false);
        return true;
    }
};
 
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif