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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 "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