Program Listing for include/vehicle2/rigidBody/PxVehicleRigidBodyStates.h

↰ Return to documentation for include/vehicle2/rigidBody/PxVehicleRigidBodyStates.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#pragma once

#include "foundation/PxTransform.h"
#include "foundation/PxVec3.h"
#include "vehicle2/PxVehicleParams.h"

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

struct PxVehicleRigidBodyState
{
    PxTransform pose;
    PxVec3 linearVelocity;
    PxVec3 angularVelocity;
    PxVec3 previousLinearVelocity;
    PxVec3 previousAngularVelocity;
    PxVec3 externalForce;
    PxVec3 externalTorque;

    PX_FORCE_INLINE void setToDefault()
    {
        pose = PxTransform(PxIdentity);
        linearVelocity = PxVec3(PxZero);
        angularVelocity = PxVec3(PxZero);
        externalForce = PxVec3(PxZero);
        externalTorque = PxVec3(PxZero);
    }

    PX_FORCE_INLINE PxReal getVerticalSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getVrtAxis()));
    }

    PX_FORCE_INLINE PxReal getLateralSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getLatAxis()));
    }

    PX_FORCE_INLINE PxReal getLongitudinalSpeed(const PxVehicleFrame& frame) const
    {
        return linearVelocity.dot(pose.q.rotate(frame.getLngAxis()));
    }
};

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