btRaycastVehicle Class Reference

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. More...

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:

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Collaboration diagram for btRaycastVehicle:

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List of all members.

Classes
class	btVehicleTuning
Public Member Functions
	btRaycastVehicle (const btVehicleTuning &tuning, btRigidBody chassis, btVehicleRaycaster raycaster)
virtual	~btRaycastVehicle ()
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar step)
	btActionInterface interface
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
const btTransform &	getChassisWorldTransform () const
btScalar	rayCast (btWheelInfo &wheel)
virtual void	updateVehicle (btScalar step)
void	resetSuspension ()
btScalar	getSteeringValue (int wheel) const
void	setSteeringValue (btScalar steering, int wheel)
void	applyEngineForce (btScalar force, int wheel)
const btTransform &	getWheelTransformWS (int wheelIndex) const
void	updateWheelTransform (int wheelIndex, bool interpolatedTransform=true)
void	setRaycastWheelInfo (int wheelIndex, bool isInContact, const btVector3 &hitPoint, const btVector3 &hitNormal, btScalar depth)
btWheelInfo &	addWheel (const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
int	getNumWheels () const
const btWheelInfo &	getWheelInfo (int index) const
btWheelInfo &	getWheelInfo (int index)
void	updateWheelTransformsWS (btWheelInfo &wheel, bool interpolatedTransform=true)
void	setBrake (btScalar brake, int wheelIndex)
void	setPitchControl (btScalar pitch)
void	updateSuspension (btScalar deltaTime)
virtual void	updateFriction (btScalar timeStep)
btRigidBody *	getRigidBody ()
const btRigidBody *	getRigidBody () const
int	getRightAxis () const
int	getUpAxis () const
int	getForwardAxis () const
btVector3	getForwardVector () const
	Worldspace forward vector.
btScalar	getCurrentSpeedKmHour () const
	Velocity of vehicle (positive if velocity vector has same direction as foward vector).
virtual void	setCoordinateSystem (int rightIndex, int upIndex, int forwardIndex)
Public Attributes
btAlignedObjectArray< btWheelInfo >	m_wheelInfo
Private Member Functions
void	defaultInit (const btVehicleTuning &tuning)
Private Attributes
btAlignedObjectArray< btVector3 >	m_forwardWS
btAlignedObjectArray< btVector3 >	m_axle
btAlignedObjectArray< btScalar >	m_forwardImpulse
btAlignedObjectArray< btScalar >	m_sideImpulse
btScalar	m_tau
btScalar	m_damping
btVehicleRaycaster *	m_vehicleRaycaster
btScalar	m_pitchControl
btScalar	m_steeringValue
btScalar	m_currentVehicleSpeedKmHour
btRigidBody *	m_chassisBody
int	m_indexRightAxis
int	m_indexUpAxis
int	m_indexForwardAxis

Detailed Description

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.

Definition at line 25 of file btRaycastVehicle.h.

Constructor & Destructor Documentation

btRaycastVehicle::btRaycastVehicle	(	const btVehicleTuning &	tuning,
		btRigidBody *	chassis,
		btVehicleRaycaster *	raycaster
	)

Definition at line 27 of file btRaycastVehicle.cpp.

btRaycastVehicle::~btRaycastVehicle ( ) [virtual]

Definition at line 49 of file btRaycastVehicle.cpp.

Member Function Documentation

btWheelInfo & btRaycastVehicle::addWheel	(	const btVector3 &	connectionPointCS0,
		const btVector3 &	wheelDirectionCS0,
		const btVector3 &	wheelAxleCS,
		btScalar	suspensionRestLength,
		btScalar	wheelRadius,
		const btVehicleTuning &	tuning,
		bool	isFrontWheel
	)

Definition at line 57 of file btRaycastVehicle.cpp.

void btRaycastVehicle::applyEngineForce	(	btScalar	force,
		int	wheel
	)

Definition at line 374 of file btRaycastVehicle.cpp.

void btRaycastVehicle::debugDraw ( btIDebugDraw * debugDrawer ) [virtual]

btActionInterface interface

Implements btActionInterface.

Definition at line 706 of file btRaycastVehicle.cpp.

void btRaycastVehicle::defaultInit ( const btVehicleTuning & tuning ) [private]

Definition at line 39 of file btRaycastVehicle.cpp.

const btTransform & btRaycastVehicle::getChassisWorldTransform ( ) const

Definition at line 245 of file btRaycastVehicle.cpp.

btScalar btRaycastVehicle::getCurrentSpeedKmHour ( ) const [inline]

Velocity of vehicle (positive if velocity vector has same direction as foward vector).

Definition at line 181 of file btRaycastVehicle.h.

int btRaycastVehicle::getForwardAxis ( ) const [inline]

Definition at line 161 of file btRaycastVehicle.h.

btVector3 btRaycastVehicle::getForwardVector ( ) const [inline]

Worldspace forward vector.

Definition at line 168 of file btRaycastVehicle.h.

int btRaycastVehicle::getNumWheels ( ) const [inline]

Definition at line 115 of file btRaycastVehicle.h.

int btRaycastVehicle::getRightAxis ( ) const [inline]

Definition at line 152 of file btRaycastVehicle.h.

const btRigidBody* btRaycastVehicle::getRigidBody ( ) const [inline]

Definition at line 147 of file btRaycastVehicle.h.

btRigidBody* btRaycastVehicle::getRigidBody ( ) [inline]

Definition at line 142 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::getSteeringValue ( int wheel ) const

Definition at line 368 of file btRaycastVehicle.cpp.

int btRaycastVehicle::getUpAxis ( ) const [inline]

Definition at line 156 of file btRaycastVehicle.h.

btWheelInfo & btRaycastVehicle::getWheelInfo ( int index )

Definition at line 389 of file btRaycastVehicle.cpp.

const btWheelInfo & btRaycastVehicle::getWheelInfo ( int index ) const

Definition at line 382 of file btRaycastVehicle.cpp.

const btTransform & btRaycastVehicle::getWheelTransformWS ( int wheelIndex ) const

Definition at line 87 of file btRaycastVehicle.cpp.

btScalar btRaycastVehicle::rayCast ( btWheelInfo & wheel )

Definition at line 159 of file btRaycastVehicle.cpp.

void btRaycastVehicle::resetSuspension ( )

Definition at line 128 of file btRaycastVehicle.cpp.

void btRaycastVehicle::setBrake	(	btScalar	brake,
		int	wheelIndex
	)

Definition at line 396 of file btRaycastVehicle.cpp.

virtual void btRaycastVehicle::setCoordinateSystem	(	int	rightIndex,
		int	upIndex,
		int	forwardIndex
	)			`[inline, virtual]`

Definition at line 186 of file btRaycastVehicle.h.

void btRaycastVehicle::setPitchControl ( btScalar pitch ) [inline]

Definition at line 131 of file btRaycastVehicle.h.

void btRaycastVehicle::setRaycastWheelInfo	(	int	wheelIndex,
		bool	isInContact,
		const btVector3 &	hitPoint,
		const btVector3 &	hitNormal,
		btScalar	depth
	)