PxVehicleComponentSequence

Defined in include/vehicle2/PxVehicleComponentSequence.h

struct PxVehicleComponentSequence

Public Types

enum [anonymous]

Values:

enumerator eINVALID_SUBSTEP_GROUP

Public Functions

inline PxVehicleComponentSequence()

inline bool add(PxVehicleComponent *component)

Add a component to the sequence.

Parameters:

component – [in] The component to add to the sequence.

Returns:

True on success, else false (for example due to component count limit being reached).

inline PxU8 beginSubstepGroup(const PxU8 nbSubSteps = 1)

Start a substepping group.

See also

setSubsteps()

See also

endSubstepGroup()

Note

All components added using add() will be added to the new substepping group until either the group is marked as complete with a call to endSubstepGroup() or a subsequent substepping group is started with a call to beginSubstepGroup().

Note

Groups can be nested with stacked calls to beginSubstepGroup().

Note

Each group opened by beginSubstepGroup() must be closed with a complementary endSubstepGroup() prior to calling update().

Parameters:

nbSubSteps – [in] is the number of substeps for the group’s sequence. This can be changed with a call to setSubsteps().

Returns:

Handle for the substepping group on success, else eINVALID_SUBSTEP_GROUP

inline void endSubstepGroup()

End a substepping group.

See also

setSubsteps()

See also

beginSubstepGroup()

Note

The group most recently opened with beginSubstepGroup() will be closed by this call.

inline void setSubsteps(

const PxU8 subGroupHandle,

const PxU8 nbSteps,

)

Set the number of substeps to perform for a specific substepping group.

See also

beginSubstepGroup()

See also

endSubstepGroup()

Parameters:

• subGroupHandle – [in] specifies the substepping group

• nbSteps – [in] is the number of times to invoke the sequence of components and groups in the specified substepping group.

inline void update(

const PxReal dt,

const PxVehicleSimulationContext &context,

)

Update each component in the sequence.

Note

If the update method of a component in the sequence returns false, the update process gets aborted.

Parameters:

• dt – [in] is the timestep of the update. The provided value has to be positive.

• context – [in] specifies global quantities of the simulation such as gravitational acceleration.