PxVehicleRigidBodyParams.h

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#pragma once

#include "foundation/PxFoundation.h"
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleFunctions.h"

#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif

struct PxVehicleRigidBodyParams
{
    PxReal mass;

    PxVec3 moi;

    PX_FORCE_INLINE PxVehicleRigidBodyParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PxVehicleRigidBodyParams r = *this;
        r.moi = PxVehicleTransformFrameToFrame(srcFrame, trgFrame, moi).abs();
        const PxReal scale = trgScale.scale/srcScale.scale;
        r.moi *= (scale*scale);
        return r;
    }

    PX_FORCE_INLINE bool isValid() const
    {
        PX_CHECK_AND_RETURN_VAL(mass > 0.0f, "PxVehicleRigidBodyParams.mass must be greater than zero", false);
        PX_CHECK_AND_RETURN_VAL(moi.x > 0.0f && moi.y > 0.0f && moi.z> 0.0f, "PxVehicleRigidBodyParams.moi must be greater than zero", false);
        return true;
    }
};

#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif