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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

/** \addtogroup vehicle2
  @{
*/

#include "foundation/PxFoundation.h"

#include "PxQueryFiltering.h"

#if !PX_DOXYGEN
namespace physx
{
class PxMaterial;

namespace vehicle2
{
#endif

struct PxVehicleFrame;
struct PxVehicleScale;

/**
\brief PhysX scene queries may be raycasts or sweeps.
\note eNONE will result in no PhysX scene query. This option will not overwrite the associated PxVehicleRoadGeometryState.
*/
struct PxVehiclePhysXRoadGeometryQueryType
{
	enum Enum
	{
		eNONE = 0,  //!< Info about the road geometry below the wheel is provided by the user
		eRAYCAST,   //!< The road geometry below the wheel is analyzed using a raycast query
		eSWEEP,     //!< The road geometry below the wheel is analyzed using a sweep query
		eMAX_NB
	};
};

/**
\brief A description of type of PhysX scene query and the filter data to apply to the query.
*/
struct PxVehiclePhysXRoadGeometryQueryParams
{
	/**
	\brief The default filter data to use for the physx scene query.

	If per wheel filter data is provided in #filterDataEntries, then this member
	will be ignored.

	@see PxSceneQuerySystemBase::raycast
	@see PxSceneQuerySystemBase::sweep
	*/
	PxQueryFilterData defaultFilterData;

	/**
	\brief Array of filter data entries (one per wheel) to use for the physx scene query.

	A null pointer is allowed in which case #defaultFilterData will be used for all wheels.

	@see PxSceneQuerySystemBase::raycast
	@see PxSceneQuerySystemBase::sweep
	*/
	PxQueryFilterData* filterDataEntries;

	/**
	\brief A filter callback to be used by the physx scene query
	\note A null pointer is allowed.
	@see PxSceneQuerySystemBase::raycast
	@see PxSceneQuerySystemBase::sweep
	*/
	PxQueryFilterCallback* filterCallback;

	/**
	\brief A description of the type of physx scene query to employ.
	@see PxSceneQuerySystemBase::raycast
	@see PxSceneQuerySystemBase::sweep
	*/
	PxVehiclePhysXRoadGeometryQueryType::Enum roadGeometryQueryType;

	PX_FORCE_INLINE PxVehiclePhysXRoadGeometryQueryParams transformAndScale(
		const PxVehicleFrame& srcFrame, const PxVehicleFrame& trgFrame, const PxVehicleScale& srcScale, const PxVehicleScale& trgScale) const
	{
		PX_UNUSED(srcFrame);
		PX_UNUSED(trgFrame);
		PX_UNUSED(srcScale);
		PX_UNUSED(trgScale);
		return *this;
	}

	PX_FORCE_INLINE bool isValid() const
	{
		PX_CHECK_AND_RETURN_VAL(roadGeometryQueryType < PxVehiclePhysXRoadGeometryQueryType::eMAX_NB, "PxVehiclePhysXRoadGeometryQueryParams.roadGeometryQueryType has illegal value", false);
		return true;
	}
};

/**
A mapping between PxMaterial and a friction value to be used by the tire model.
@see PxVehiclePhysXMaterialFrictionParams
*/
struct PxVehiclePhysXMaterialFriction
{
	/**
	\brief A PxMaterial instance that is to be mapped to a friction value. 
	*/
	const PxMaterial* material;

	/**
	\brief A friction value that is to be mapped to a PxMaterial instance.
	\note friction must have value greater than or equal to zero.

	<b>Range:</b> [0, inf)<br>

	@see PxVehicleTireGripState::friction
	*/
	PxReal friction;

	PX_FORCE_INLINE bool isValid() const
	{
		PX_CHECK_AND_RETURN_VAL(friction >= 0.0f, "PxVehiclePhysXMaterialFriction.friction must be greater than or equal to zero", false);
		return true;
	}
};

/**
\brief A mappping between PxMaterial instance and friction for multiple PxMaterial intances.
*/
struct PxVehiclePhysXMaterialFrictionParams
{
	PxVehiclePhysXMaterialFriction* materialFrictions; //!< An array of mappings between PxMaterial and friction.
	PxU32 nbMaterialFrictions; //!< The number of mappings between PxMaterial and friction.
	PxReal defaultFriction; //!< A default friction value to be used in the event that the PxMaterial under the tire is not found in the array #materialFrictions.

	PX_FORCE_INLINE bool isValid() const
	{
		for (PxU32 i = 0; i < nbMaterialFrictions; i++)
		{
			if (!materialFrictions[i].isValid())
				return false;
		}
		PX_CHECK_AND_RETURN_VAL(defaultFriction >= 0.0f, "PxVehiclePhysXMaterialFrictionParams.defaultFriction must be greater than or equal to zero", false);
		return true;
	}
};

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

/** @} */