Bullet Collision Detection & Physics Library
btRaycastVehicle.h
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1 /*
2  * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
3  *
4  * Permission to use, copy, modify, distribute and sell this software
5  * and its documentation for any purpose is hereby granted without fee,
6  * provided that the above copyright notice appear in all copies.
7  * Erwin Coumans makes no representations about the suitability
8  * of this software for any purpose.
9  * It is provided "as is" without express or implied warranty.
10 */
11 #ifndef BT_RAYCASTVEHICLE_H
12 #define BT_RAYCASTVEHICLE_H
13 
16 #include "btVehicleRaycaster.h"
17 class btDynamicsWorld;
19 #include "btWheelInfo.h"
21 
22 //class btVehicleTuning;
23 
26 {
27 
32 
36 
37 public:
39  {
40  public:
41 
47  m_frictionSlip(btScalar(10.5)),
49  {
50  }
57 
58  };
59 private:
60 
65 
67 
71 
72  void defaultInit(const btVehicleTuning& tuning);
73 
74 public:
75 
76  //constructor to create a car from an existing rigidbody
77  btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
78 
79  virtual ~btRaycastVehicle() ;
80 
81 
83  virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
84  {
85  (void) collisionWorld;
86  updateVehicle(step);
87  }
88 
89 
91  void debugDraw(btIDebugDraw* debugDrawer);
92 
94 
96 
97  virtual void updateVehicle(btScalar step);
98 
99 
100  void resetSuspension();
101 
102  btScalar getSteeringValue(int wheel) const;
103 
104  void setSteeringValue(btScalar steering,int wheel);
105 
106 
107  void applyEngineForce(btScalar force, int wheel);
108 
109  const btTransform& getWheelTransformWS( int wheelIndex ) const;
110 
111  void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
112 
113 // void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
114 
115  btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
116 
117  inline int getNumWheels() const {
118  return int (m_wheelInfo.size());
119  }
120 
122 
123 
124  const btWheelInfo& getWheelInfo(int index) const;
125 
126  btWheelInfo& getWheelInfo(int index);
127 
128  void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
129 
130 
131  void setBrake(btScalar brake,int wheelIndex);
132 
134  {
135  m_pitchControl = pitch;
136  }
137 
138  void updateSuspension(btScalar deltaTime);
139 
140  virtual void updateFriction(btScalar timeStep);
141 
142 
143 
145  {
146  return m_chassisBody;
147  }
148 
149  const btRigidBody* getRigidBody() const
150  {
151  return m_chassisBody;
152  }
153 
154  inline int getRightAxis() const
155  {
156  return m_indexRightAxis;
157  }
158  inline int getUpAxis() const
159  {
160  return m_indexUpAxis;
161  }
162 
163  inline int getForwardAxis() const
164  {
165  return m_indexForwardAxis;
166  }
167 
168 
171  {
172  const btTransform& chassisTrans = getChassisWorldTransform();
173 
174  btVector3 forwardW (
175  chassisTrans.getBasis()[0][m_indexForwardAxis],
176  chassisTrans.getBasis()[1][m_indexForwardAxis],
177  chassisTrans.getBasis()[2][m_indexForwardAxis]);
178 
179  return forwardW;
180  }
181 
184  {
186  }
187 
188  virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
189  {
190  m_indexRightAxis = rightIndex;
191  m_indexUpAxis = upIndex;
192  m_indexForwardAxis = forwardIndex;
193  }
194 
195 
198  {
199  return m_userConstraintType ;
200  }
201 
202  void setUserConstraintType(int userConstraintType)
203  {
204  m_userConstraintType = userConstraintType;
205  };
206 
207  void setUserConstraintId(int uid)
208  {
209  m_userConstraintId = uid;
210  }
211 
213  {
214  return m_userConstraintId;
215  }
216 
217 };
218 
220 {
222 public:
224  :m_dynamicsWorld(world)
225  {
226  }
227 
228  virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
229 
230 };
231 
232 
233 #endif //BT_RAYCASTVEHICLE_H
234 
virtual ~btRaycastVehicle()
void setSteeringValue(btScalar steering, int wheel)
int getUserConstraintId() const
const btTransform & getWheelTransformWS(int wheelIndex) const
btAlignedObjectArray< btScalar > m_sideImpulse
int m_userConstraintType
backwards compatibility
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar step)
btActionInterface interface
btVector3 getForwardVector() const
Worldspace forward vector.
void defaultInit(const btVehicleTuning &tuning)
void setUserConstraintId(int uid)
void setPitchControl(btScalar pitch)
btScalar getCurrentSpeedKmHour() const
Velocity of vehicle (positive if velocity vector has same direction as foward vector) ...
btScalar m_currentVehicleSpeedKmHour
btAlignedObjectArray< btWheelInfo > m_wheelInfo
The btDynamicsWorld is the interface class for several dynamics implementation, basic, discrete, parallel, and continuous etc.
btVehicleRaycaster * m_vehicleRaycaster
void applyEngineForce(btScalar force, int wheel)
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
void debugDraw(btIDebugDraw *debugDrawer)
btActionInterface interface
btWheelInfo contains information per wheel about friction and suspension.
Definition: btWheelInfo.h:38
virtual void updateVehicle(btScalar step)
const btTransform & getChassisWorldTransform() const
const btWheelInfo & getWheelInfo(int index) const
int size() const
return the number of elements in the array
btScalar rayCast(btWheelInfo &wheel)
const btRigidBody * getRigidBody() const
int getUpAxis() const
void updateWheelTransformsWS(btWheelInfo &wheel, bool interpolatedTransform=true)
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:112
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations...
Definition: btIDebugDraw.h:29
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
void updateWheelTransform(int wheelIndex, bool interpolatedTransform=true)
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btRigidBody * getRigidBody()
btScalar m_steeringValue
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
int getNumWheels() const
CollisionWorld is interface and container for the collision detection.
void updateSuspension(btScalar deltaTime)
btRaycastVehicle(const btVehicleTuning &tuning, btRigidBody *chassis, btVehicleRaycaster *raycaster)
void setUserConstraintType(int userConstraintType)
btVehicleRaycaster is provides interface for between vehicle simulation and raycasting ...
btRigidBody * m_chassisBody
btDynamicsWorld * m_dynamicsWorld
int getForwardAxis() const
int getUserConstraintType() const
backwards compatibility
int getRightAxis() const
btAlignedObjectArray< btScalar > m_forwardImpulse
btAlignedObjectArray< btVector3 > m_axle
void setBrake(btScalar brake, int wheelIndex)
virtual void updateFriction(btScalar timeStep)
btDefaultVehicleRaycaster(btDynamicsWorld *world)
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
btWheelInfo & addWheel(const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
btAlignedObjectArray< btVector3 > m_forwardWS
btScalar getSteeringValue(int wheel) const