Bullet Collision Detection & Physics Library
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btRaycastVehicle Class Reference

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

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:
Inheritance graph
Collaboration diagram for btRaycastVehicle:
Collaboration graph


class  btVehicleTuning

Public Member Functions

 btRaycastVehicle (const btVehicleTuning &tuning, btRigidBody *chassis, btVehicleRaycaster *raycaster)
virtual ~btRaycastVehicle ()
virtual void updateAction (btCollisionWorld *collisionWorld, btScalar step)
 btActionInterface interface More...
void debugDraw (btIDebugDraw *debugDrawer)
 btActionInterface interface More...
const btTransformgetChassisWorldTransform () 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 btTransformgetWheelTransformWS (int wheelIndex) const
void updateWheelTransform (int wheelIndex, bool interpolatedTransform=true)
btWheelInfoaddWheel (const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
int getNumWheels () const
const btWheelInfogetWheelInfo (int index) const
btWheelInfogetWheelInfo (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)
btRigidBodygetRigidBody ()
const btRigidBodygetRigidBody () const
int getRightAxis () const
int getUpAxis () const
int getForwardAxis () const
btVector3 getForwardVector () const
 Worldspace forward vector. More...
btScalar getCurrentSpeedKmHour () const
 Velocity of vehicle (positive if velocity vector has same direction as foward vector) More...
virtual void setCoordinateSystem (int rightIndex, int upIndex, int forwardIndex)
int getUserConstraintType () const
 backwards compatibility More...
void setUserConstraintType (int userConstraintType)
void setUserConstraintId (int uid)
int getUserConstraintId () const
- Public Member Functions inherited from btActionInterface
virtual ~btActionInterface ()

Public Attributes

btAlignedObjectArray< btWheelInfom_wheelInfo

Private Member Functions

void defaultInit (const btVehicleTuning &tuning)

Private Attributes

btAlignedObjectArray< btVector3m_forwardWS
btAlignedObjectArray< btVector3m_axle
btAlignedObjectArray< btScalarm_forwardImpulse
btAlignedObjectArray< btScalarm_sideImpulse
int m_userConstraintType
 backwards compatibility More...
int m_userConstraintId
btScalar m_tau
btScalar m_damping
btScalar m_pitchControl
btScalar m_steeringValue
btScalar m_currentVehicleSpeedKmHour
int m_indexRightAxis
int m_indexUpAxis
int m_indexForwardAxis

Additional Inherited Members

- Static Protected Member Functions inherited from btActionInterface
static btRigidBodygetFixedBody ()

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 35 of file btRaycastVehicle.cpp.

btRaycastVehicle::~btRaycastVehicle ( )

Definition at line 57 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 65 of file btRaycastVehicle.cpp.

void btRaycastVehicle::applyEngineForce ( btScalar  force,
int  wheel 

Definition at line 382 of file btRaycastVehicle.cpp.

void btRaycastVehicle::debugDraw ( btIDebugDraw debugDrawer)

btActionInterface interface

Implements btActionInterface.

Definition at line 719 of file btRaycastVehicle.cpp.

void btRaycastVehicle::defaultInit ( const btVehicleTuning tuning)

Definition at line 47 of file btRaycastVehicle.cpp.

const btTransform & btRaycastVehicle::getChassisWorldTransform ( ) const

Definition at line 253 of file btRaycastVehicle.cpp.

btScalar btRaycastVehicle::getCurrentSpeedKmHour ( ) const

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

Definition at line 185 of file btRaycastVehicle.h.

int btRaycastVehicle::getForwardAxis ( ) const

Definition at line 165 of file btRaycastVehicle.h.

btVector3 btRaycastVehicle::getForwardVector ( ) const

Worldspace forward vector.

Definition at line 172 of file btRaycastVehicle.h.

int btRaycastVehicle::getNumWheels ( ) const

Definition at line 119 of file btRaycastVehicle.h.

int btRaycastVehicle::getRightAxis ( ) const

Definition at line 156 of file btRaycastVehicle.h.

btRigidBody* btRaycastVehicle::getRigidBody ( )

Definition at line 146 of file btRaycastVehicle.h.

const btRigidBody* btRaycastVehicle::getRigidBody ( ) const

Definition at line 151 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::getSteeringValue ( int  wheel) const

Definition at line 376 of file btRaycastVehicle.cpp.

int btRaycastVehicle::getUpAxis ( ) const

Definition at line 160 of file btRaycastVehicle.h.

int btRaycastVehicle::getUserConstraintId ( ) const

Definition at line 214 of file btRaycastVehicle.h.

int btRaycastVehicle::getUserConstraintType ( ) const

backwards compatibility

Definition at line 199 of file btRaycastVehicle.h.

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

Definition at line 390 of file btRaycastVehicle.cpp.

btWheelInfo & btRaycastVehicle::getWheelInfo ( int  index)

Definition at line 397 of file btRaycastVehicle.cpp.

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

Definition at line 95 of file btRaycastVehicle.cpp.

btScalar btRaycastVehicle::rayCast ( btWheelInfo wheel)

Definition at line 167 of file btRaycastVehicle.cpp.

void btRaycastVehicle::resetSuspension ( )

Definition at line 136 of file btRaycastVehicle.cpp.

void btRaycastVehicle::setBrake ( btScalar  brake,
int  wheelIndex 

Definition at line 404 of file btRaycastVehicle.cpp.

virtual void btRaycastVehicle::setCoordinateSystem ( int  rightIndex,
int  upIndex,
int  forwardIndex 

Definition at line 190 of file btRaycastVehicle.h.

void btRaycastVehicle::setPitchControl ( btScalar  pitch)

Definition at line 135 of file btRaycastVehicle.h.

void btRaycastVehicle::setSteeringValue ( btScalar  steering,
int  wheel 

Definition at line 366 of file btRaycastVehicle.cpp.

void btRaycastVehicle::setUserConstraintId ( int  uid)

Definition at line 209 of file btRaycastVehicle.h.

void btRaycastVehicle::setUserConstraintType ( int  userConstraintType)

Definition at line 204 of file btRaycastVehicle.h.

virtual void btRaycastVehicle::updateAction ( btCollisionWorld collisionWorld,
btScalar  step 

btActionInterface interface

Implements btActionInterface.

Definition at line 85 of file btRaycastVehicle.h.

void btRaycastVehicle::updateFriction ( btScalar  timeStep)

Definition at line 526 of file btRaycastVehicle.cpp.

void btRaycastVehicle::updateSuspension ( btScalar  deltaTime)

Definition at line 411 of file btRaycastVehicle.cpp.

void btRaycastVehicle::updateVehicle ( btScalar  step)

Definition at line 268 of file btRaycastVehicle.cpp.

void btRaycastVehicle::updateWheelTransform ( int  wheelIndex,
bool  interpolatedTransform = true 

Definition at line 103 of file btRaycastVehicle.cpp.

void btRaycastVehicle::updateWheelTransformsWS ( btWheelInfo wheel,
bool  interpolatedTransform = true 

Definition at line 152 of file btRaycastVehicle.cpp.

Member Data Documentation

btAlignedObjectArray<btVector3> btRaycastVehicle::m_axle

Definition at line 29 of file btRaycastVehicle.h.

btRigidBody* btRaycastVehicle::m_chassisBody

Definition at line 68 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::m_currentVehicleSpeedKmHour

Definition at line 66 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::m_damping

Definition at line 62 of file btRaycastVehicle.h.

btAlignedObjectArray<btScalar> btRaycastVehicle::m_forwardImpulse

Definition at line 30 of file btRaycastVehicle.h.

btAlignedObjectArray<btVector3> btRaycastVehicle::m_forwardWS

Definition at line 28 of file btRaycastVehicle.h.

int btRaycastVehicle::m_indexForwardAxis

Definition at line 72 of file btRaycastVehicle.h.

int btRaycastVehicle::m_indexRightAxis

Definition at line 70 of file btRaycastVehicle.h.

int btRaycastVehicle::m_indexUpAxis

Definition at line 71 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::m_pitchControl

Definition at line 64 of file btRaycastVehicle.h.

btAlignedObjectArray<btScalar> btRaycastVehicle::m_sideImpulse

Definition at line 31 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::m_steeringValue

Definition at line 65 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::m_tau

Definition at line 61 of file btRaycastVehicle.h.

int btRaycastVehicle::m_userConstraintId

Definition at line 35 of file btRaycastVehicle.h.

int btRaycastVehicle::m_userConstraintType

backwards compatibility

Definition at line 34 of file btRaycastVehicle.h.

btVehicleRaycaster* btRaycastVehicle::m_vehicleRaycaster

Definition at line 63 of file btRaycastVehicle.h.

btAlignedObjectArray<btWheelInfo> btRaycastVehicle::m_wheelInfo

Definition at line 123 of file btRaycastVehicle.h.

The documentation for this class was generated from the following files: