PxVehicleRigidBodyComponents.h

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#pragma once

#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"

#include "PxVehicleRigidBodyFunctions.h"

#include "common/PxProfileZone.h"

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

class PxVehicleRigidBodyComponent : public PxVehicleComponent
{
public:

    PxVehicleRigidBodyComponent() : PxVehicleComponent() {}
    virtual ~PxVehicleRigidBodyComponent() {}

    virtual void getDataForRigidBodyComponent(
        const PxVehicleAxleDescription*& axleDescription,
        const PxVehicleRigidBodyParams*& rigidBodyParams,
        PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
        PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
        const PxVehicleAntiRollTorque*& antiRollTorque,
        PxVehicleRigidBodyState*& rigidBodyState) = 0;

    virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
    {
        PX_PROFILE_ZONE("PxVehicleRigidBodyComponent::update", 0);

        const PxVehicleAxleDescription* axleDescription;
        const PxVehicleRigidBodyParams* rigidBodyParams;
        PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
        PxVehicleArrayData<const PxVehicleTireForce> tireForces;
        const PxVehicleAntiRollTorque* antiRollTorque;
        PxVehicleRigidBodyState* rigidBodyState;

        getDataForRigidBodyComponent(axleDescription, rigidBodyParams,
            suspensionForces, tireForces,  antiRollTorque,
            rigidBodyState);

        PxVehicleRigidBodyUpdate(
            *axleDescription, *rigidBodyParams,
            suspensionForces, tireForces, antiRollTorque,
            dt, context.gravity,
            *rigidBodyState);

        return true;
    }
};

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