PxVehicleBrakingParams.h

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#pragma once

#include "foundation/PxFoundation.h"

#include "vehicle2/PxVehicleParams.h"

#include "vehicle2/commands/PxVehicleCommandParams.h"

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

struct PxVehicleBrakeCommandResponseParams : public PxVehicleCommandResponseParams
{
    PX_FORCE_INLINE PxVehicleBrakeCommandResponseParams transformAndScale(
        const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
    {
        PX_UNUSED(srcFrame);
        PX_UNUSED(trgFrame);
        PxVehicleBrakeCommandResponseParams r = *this;
        const PxReal scale = trgScale.scale/srcScale.scale;
        r.maxResponse *= (scale*scale);     //maxResponse is a torque!
        return r;
    }

    PX_FORCE_INLINE bool isValid(const PxVehicleAxleDescription& axleDesc) const
    {
        if (!axleDesc.isValid())
            return false;
        PX_CHECK_AND_RETURN_VAL(maxResponse >= 0.0f, "PxVehicleBrakeCommandResponseParams.maxResponse must be greater than or equal to zero", false);
        for (PxU32 i = 0; i < axleDesc.nbWheels; i++)
        {
            PX_CHECK_AND_RETURN_VAL(wheelResponseMultipliers[axleDesc.wheelIdsInAxleOrder[i]] >= 0.0f, "PxVehicleBrakeCommandResponseParams.wheelResponseMultipliers[i] must be greater than or equal to zero.", false);
        }
        return true;
    }
};

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