93 lines
3.4 KiB
C
93 lines
3.4 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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#include "foundation/PxPreprocessor.h"
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/** \addtogroup vehicle2
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@{
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*/
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#if !PX_DOXYGEN
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namespace physx
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{
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class PxPhysics;
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class PxRigidBody;
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namespace vehicle2
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{
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#endif
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struct PxVehicleAxleDescription;
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struct PxVehiclePhysXConstraints;
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/**
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\brief Instantiate the PhysX custom constraints.
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Custom constraints will resolve excess suspension compression and velocity constraints that serve as
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a replacement low speed tire model.
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\param[in] axleDescription describes the axles of the vehicle and the wheels on each axle.
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\param[in] physics is a PxPhysics instance.
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\param[in] physxActor is the vehicle's PhysX representation as a PxRigidBody
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\param[in] vehicleConstraints is a wrapper class that holds pointers to PhysX objects required to implement the custom constraint.
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*/
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void PxVehicleConstraintsCreate
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(const PxVehicleAxleDescription& axleDescription,
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PxPhysics& physics, PxRigidBody& physxActor,
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PxVehiclePhysXConstraints& vehicleConstraints);
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/**
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\brief To ensure the constraints are processed by the PhysX scene they are marked as dirty prior to each simulate step.
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\param[in] vehicleConstraints is a wrapper class that holds pointers to PhysX objects required to implement the custom constraint.
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@see PxVehicleConstraintsCreate
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*/
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void PxVehicleConstraintsDirtyStateUpdate
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(PxVehiclePhysXConstraints& vehicleConstraints);
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/**
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\brief Destroy the PhysX custom constraints.
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\param[in,out] vehicleConstraints describes the PhysX custom constraints to be released.
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@see PxVehicleConstraintsCreate
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*/
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void PxVehicleConstraintsDestroy
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(PxVehiclePhysXConstraints& vehicleConstraints);
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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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