include/vehicle2/physxActor/PxVehiclePhysXActorHelpers.h

File members: include/vehicle2/physxActor/PxVehiclePhysXActorHelpers.h

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#pragma once

#include "PxFiltering.h"
#include "PxShape.h"

#if !PX_DOXYGEN
namespace physx
{

class PxGeometry;
class PxMaterial;
struct PxCookingParams;

namespace vehicle2
{
#endif

struct PxVehicleRigidBodyParams;
struct PxVehicleAxleDescription;
struct PxVehicleWheelParams;
struct PxVehiclePhysXActor;
struct PxVehicleFrame;
struct PxVehicleSuspensionParams;

class PxVehiclePhysXRigidActorParams
{
    PX_NOCOPY(PxVehiclePhysXRigidActorParams)

public:

    PxVehiclePhysXRigidActorParams(const PxVehicleRigidBodyParams& _physxActorRigidBodyParams, const char* _physxActorName)
        : rigidBodyParams(_physxActorRigidBodyParams),
          physxActorName(_physxActorName)
    {
    }

    const PxVehicleRigidBodyParams& rigidBodyParams;
    const char* physxActorName;
};

class PxVehiclePhysXRigidActorShapeParams
{
    PX_NOCOPY(PxVehiclePhysXRigidActorShapeParams)

public:

    PxVehiclePhysXRigidActorShapeParams
    (const PxGeometry& _geometry, const PxTransform& _localPose, const PxMaterial& _material,
     const PxShapeFlags _flags, const PxFilterData& _simulationFilterData, const PxFilterData& _queryFilterData)
        : geometry(_geometry),
          localPose(_localPose),
          material(_material),
          flags(_flags),
          simulationFilterData(_simulationFilterData),
          queryFilterData(_queryFilterData)
    {
    }

    const PxGeometry& geometry;
    const PxTransform& localPose;
    const PxMaterial& material;
    PxShapeFlags flags;
    PxFilterData simulationFilterData;
    PxFilterData queryFilterData;
};

class PxVehiclePhysXWheelParams
{
    PX_NOCOPY(PxVehiclePhysXWheelParams)

public:

    PxVehiclePhysXWheelParams(const PxVehicleAxleDescription& _axleDescription, const PxVehicleWheelParams* _wheelParams)
        : axleDescription(_axleDescription),
          wheelParams(_wheelParams)
    {
    }

    const PxVehicleAxleDescription& axleDescription;
    const PxVehicleWheelParams* wheelParams;
};

class PxVehiclePhysXWheelShapeParams
{
    PX_NOCOPY(PxVehiclePhysXWheelShapeParams)

public:

    PxVehiclePhysXWheelShapeParams(const PxMaterial& _material, const PxShapeFlags _flags, const PxFilterData _simulationFilterData, const PxFilterData _queryFilterData)
        : material(_material),
          flags(_flags),
          simulationFilterData(_simulationFilterData),
          queryFilterData(_queryFilterData)
    {
    }

    const PxMaterial& material;
    PxShapeFlags flags;
    PxFilterData simulationFilterData;
    PxFilterData queryFilterData;
};

void PxVehiclePhysXActorCreate
(const PxVehicleFrame& vehicleFrame,
 const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
 const PxVehiclePhysXRigidActorShapeParams& rigidActorShapeParams,
 const PxVehiclePhysXWheelParams& wheelParams, const PxVehiclePhysXWheelShapeParams& wheelShapeParams,
 PxPhysics& physics, const PxCookingParams& params,
 PxVehiclePhysXActor& vehiclePhysXActor);

void PxVehiclePhysXActorConfigure
(const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
 PxRigidBody& rigidBody);

void PxVehiclePhysXArticulationLinkCreate
(const PxVehicleFrame& vehicleFrame,
 const PxVehiclePhysXRigidActorParams& rigidActorParams, const PxTransform& rigidActorCmassLocalPose,
 const PxVehiclePhysXRigidActorShapeParams& rigidActorShapeParams,
 const PxVehiclePhysXWheelParams& wheelParams, const PxVehiclePhysXWheelShapeParams& wheelShapeParams,
 PxPhysics& physics, const PxCookingParams& params,
 PxVehiclePhysXActor& vehiclePhysXActor);

void PxVehiclePhysXActorDestroy(PxVehiclePhysXActor& vehiclePhysXActor);

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