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feat(physics): wire physx sdk into build

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2026-04-15 12:22:15 +08:00
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engine/third_party/physx/include/vehicle2/rigidBody/PxVehicleRigidBodyComponents.h vendored Normal file
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// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2025 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
#include "vehicle2/PxVehicleParams.h"
#include "vehicle2/PxVehicleComponent.h"
#include "PxVehicleRigidBodyFunctions.h"
#include "common/PxProfileZone.h"
#if !PX_DOXYGEN
namespace physx
{
namespace vehicle2
{
#endif
/**
\brief Forward integrate the momentum and pose of the vehicle's rigid body after applying forces and torques
from the suspension, tires and anti-roll bars.
*/
class PxVehicleRigidBodyComponent : public PxVehicleComponent
{
public:
PxVehicleRigidBodyComponent() : PxVehicleComponent() {}
virtual ~PxVehicleRigidBodyComponent() {}
/**
\brief Retrieve pointers to the parameter and state data required to update the dynamic state of a rigid body.
\param[out] axleDescription must be returned as a non-null pointer to a single PxVehicleAxleDescription instance that describes the wheels and axles
of the vehicle.
\param[out] rigidBodyParams must be returned as a non-null pointer to a single PxVehicleRigidBodyParams instance that describes the mass and moment of
inertia of the rigid body.
\param[out] suspensionForces must be returned as a non-null pointer to an array of suspension forces and torques in the world frame.
The suspension forces and torques will be applied to the rigid body to update *rigidBodyState*.
\param[out] tireForces must be returned as a non-null pointer to an array of tire forces and torques in the world frame.
The tire forces and torques will be applied to the rigid body to update *rigidBodyState*.
\param[out] antiRollTorque may be returned an optionally non-null pointer to a single PxVehicleAntiRollTorque instance that contains the accumulated anti-roll
torque to apply to the rigid body.
\param[out] rigidBodyState imust be returned as a non-null pointer to a single PxVehicleRigidBodyState instance that is to be forward integrated.
\note The suspensionForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
\note The tireForces array must contain an entry for each wheel listed as an active wheel in axleDescription.
\note If antiRollTorque is returned as a null pointer then zero anti-roll torque will be applied to the rigid body.
*/
virtual void getDataForRigidBodyComponent(
const PxVehicleAxleDescription*& axleDescription,
const PxVehicleRigidBodyParams*& rigidBodyParams,
PxVehicleArrayData<const PxVehicleSuspensionForce>& suspensionForces,
PxVehicleArrayData<const PxVehicleTireForce>& tireForces,
const PxVehicleAntiRollTorque*& antiRollTorque,
PxVehicleRigidBodyState*& rigidBodyState) = 0;
virtual bool update(const PxReal dt, const PxVehicleSimulationContext& context)
{
PX_PROFILE_ZONE("PxVehicleRigidBodyComponent::update", 0);
const PxVehicleAxleDescription* axleDescription;
const PxVehicleRigidBodyParams* rigidBodyParams;
PxVehicleArrayData<const PxVehicleSuspensionForce> suspensionForces;
PxVehicleArrayData<const PxVehicleTireForce> tireForces;
const PxVehicleAntiRollTorque* antiRollTorque;
PxVehicleRigidBodyState* rigidBodyState;
getDataForRigidBodyComponent(axleDescription, rigidBodyParams,
suspensionForces, tireForces, antiRollTorque,
rigidBodyState);
PxVehicleRigidBodyUpdate(
*axleDescription, *rigidBodyParams,
suspensionForces, tireForces, antiRollTorque,
dt, context.gravity,
*rigidBodyState);
return true;
}
};
#if !PX_DOXYGEN
} // namespace vehicle2
} // namespace physx
#endif