99 lines
3.0 KiB
C
99 lines
3.0 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#pragma once
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/** \addtogroup vehicle2
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@{
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*/
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxMemory.h"
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#include "PxRigidBody.h"
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#include "vehicle2/PxVehicleLimits.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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class PxShape;
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namespace vehicle2
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{
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#endif
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/**
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\brief A description of the PhysX actor and shapes that represent the vehicle in an associated PxScene.
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*/
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struct PxVehiclePhysXActor
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{
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/**
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\brief The PhysX rigid body that represents the vehcle in the associated PhysX scene.
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\note PxActorFlag::eDISABLE_GRAVITY must be set true on the PxRigidBody
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*/
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PxRigidBody* rigidBody;
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/**
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\brief An array of shapes with one shape pointer (or NULL) for each wheel.
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*/
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PxShape* wheelShapes[PxVehicleLimits::eMAX_NB_WHEELS];
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PX_FORCE_INLINE void setToDefault()
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{
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PxMemZero(this, sizeof(PxVehiclePhysXActor));
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}
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};
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#define PX_VEHICLE_UNSPECIFIED_STEER_STATE PX_MAX_F32
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/**
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\brief A description of the previous steer command applied to the vehicle.
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*/
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struct PxVehiclePhysXSteerState
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{
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/**
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\brief The steer command that was most previously applied to the vehicle.
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*/
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PxReal previousSteerCommand;
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PX_FORCE_INLINE void setToDefault()
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{
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previousSteerCommand = PX_VEHICLE_UNSPECIFIED_STEER_STATE;
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}
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};
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#if !PX_DOXYGEN
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} // namespace vehicle2
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} // namespace physx
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#endif
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/** @} */
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