Program Listing for include/vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryComponents.h
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// Copyright (c) 2008-2023 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 "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
#include "vehicle2/commands/PxVehicleCommandHelpers.h"
#include "vehicle2/roadGeometry/PxVehicleRoadGeometryState.h"
#include "vehicle2/suspension/PxVehicleSuspensionParams.h"
#include "vehicle2/wheel/PxVehicleWheelParams.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryFunctions.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryParams.h"
#include "vehicle2/physxRoadGeometry/PxVehiclePhysXRoadGeometryState.h"
#include "common/PxProfileZone.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
class PxVehiclePhysXRoadGeometrySceneQueryComponent : public PxVehicleComponent
{
public:
PxVehiclePhysXRoadGeometrySceneQueryComponent() : PxVehicleComponent() {}
virtual ~PxVehiclePhysXRoadGeometrySceneQueryComponent() {}
virtual void getDataForPhysXRoadGeometrySceneQueryComponent(
const PxVehicleAxleDescription*& axleDescription,
const PxVehiclePhysXRoadGeometryQueryParams*& roadGeomParams,
PxVehicleArrayData<const PxReal>& steerResponseStates,
const PxVehicleRigidBodyState*& rigidBodyState,
PxVehicleArrayData<const PxVehicleWheelParams>& wheelParams,
PxVehicleArrayData<const PxVehicleSuspensionParams>& suspensionParams,
PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams>& materialFrictionParams,
PxVehicleArrayData<PxVehicleRoadGeometryState>& roadGeometryStates,
PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState>& physxRoadGeometryStates) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_UNUSED(dt);
PX_PROFILE_ZONE("PxVehiclePhysXRoadGeometrySceneQueryComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
const PxVehiclePhysXRoadGeometryQueryParams* roadGeomParams;
PxVehicleArrayData<const PxReal> steerResponseStates;
const PxVehicleRigidBodyState* rigidBodyState;
PxVehicleArrayData<const PxVehicleWheelParams> wheelParams;
PxVehicleArrayData<const PxVehicleSuspensionParams> suspensionParams;
PxVehicleArrayData<const PxVehiclePhysXMaterialFrictionParams> materialFrictionParams;
PxVehicleArrayData<PxVehicleRoadGeometryState> roadGeometryStates;
PxVehicleArrayData<PxVehiclePhysXRoadGeometryQueryState> physxRoadGeometryStates;
getDataForPhysXRoadGeometrySceneQueryComponent(axleDescription,
roadGeomParams, steerResponseStates, rigidBodyState,
wheelParams, suspensionParams, materialFrictionParams,
roadGeometryStates, physxRoadGeometryStates);
if (context.getType() == PxVehicleSimulationContextType::ePHYSX)
{
const PxVehiclePhysXSimulationContext& physxContext = static_cast<const PxVehiclePhysXSimulationContext&>(context);
for(PxU32 i = 0; i < axleDescription->nbWheels; i++)
{
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
PxVehiclePhysXRoadGeometryQueryUpdate(
wheelParams[wheelId], suspensionParams[wheelId],
*roadGeomParams, materialFrictionParams[wheelId],
steerResponseStates[wheelId], *rigidBodyState,
*physxContext.physxScene, physxContext.physxUnitCylinderSweepMesh, context.frame,
roadGeometryStates[wheelId],
!physxRoadGeometryStates.isEmpty() ? &physxRoadGeometryStates[wheelId] : NULL);
}
}
else
{
PX_ALWAYS_ASSERT();
for(PxU32 i = 0; i < axleDescription->nbWheels; i++)
{
const PxU32 wheelId = axleDescription->wheelIdsInAxleOrder[i];
roadGeometryStates[wheelId].setToDefault();
}
}
return true;
}
};
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif