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 {
31 
35 
36 public:
38  {
39  public:
45  m_frictionSlip(btScalar(10.5)),
47  {
48  }
55  };
56 
57 private:
62 
64 
68 
69  void defaultInit(const btVehicleTuning& tuning);
70 
71 public:
72  //constructor to create a car from an existing rigidbody
73  btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster);
74 
75  virtual ~btRaycastVehicle();
76 
78  virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step)
79  {
80  (void)collisionWorld;
81  updateVehicle(step);
82  }
83 
85  void debugDraw(btIDebugDraw* debugDrawer);
86 
88 
90 
91  virtual void updateVehicle(btScalar step);
92 
93  void resetSuspension();
94 
95  btScalar getSteeringValue(int wheel) const;
96 
97  void setSteeringValue(btScalar steering, int wheel);
98 
99  void applyEngineForce(btScalar force, int wheel);
100 
101  const btTransform& getWheelTransformWS(int wheelIndex) const;
102 
103  void updateWheelTransform(int wheelIndex, bool interpolatedTransform = true);
104 
105  // void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
106 
107  btWheelInfo& addWheel(const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel);
108 
109  inline int getNumWheels() const
110  {
111  return int(m_wheelInfo.size());
112  }
113 
115 
116  const btWheelInfo& getWheelInfo(int index) const;
117 
118  btWheelInfo& getWheelInfo(int index);
119 
120  void updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform = true);
121 
122  void setBrake(btScalar brake, int wheelIndex);
123 
125  {
126  m_pitchControl = pitch;
127  }
128 
129  void updateSuspension(btScalar deltaTime);
130 
131  virtual void updateFriction(btScalar timeStep);
132 
134  {
135  return m_chassisBody;
136  }
137 
138  const btRigidBody* getRigidBody() const
139  {
140  return m_chassisBody;
141  }
142 
143  inline int getRightAxis() const
144  {
145  return m_indexRightAxis;
146  }
147  inline int getUpAxis() const
148  {
149  return m_indexUpAxis;
150  }
151 
152  inline int getForwardAxis() const
153  {
154  return m_indexForwardAxis;
155  }
156 
159  {
160  const btTransform& chassisTrans = getChassisWorldTransform();
161 
162  btVector3 forwardW(
163  chassisTrans.getBasis()[0][m_indexForwardAxis],
164  chassisTrans.getBasis()[1][m_indexForwardAxis],
165  chassisTrans.getBasis()[2][m_indexForwardAxis]);
166 
167  return forwardW;
168  }
169 
172  {
174  }
175 
176  virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
177  {
178  m_indexRightAxis = rightIndex;
179  m_indexUpAxis = upIndex;
180  m_indexForwardAxis = forwardIndex;
181  }
182 
185  {
186  return m_userConstraintType;
187  }
188 
189  void setUserConstraintType(int userConstraintType)
190  {
191  m_userConstraintType = userConstraintType;
192  };
193 
194  void setUserConstraintId(int uid)
195  {
196  m_userConstraintId = uid;
197  }
198 
200  {
201  return m_userConstraintId;
202  }
203 };
204 
206 {
208 
209 public:
211  : m_dynamicsWorld(world)
212  {
213  }
214 
215  virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result);
216 };
217 
218 #endif //BT_RAYCASTVEHICLE_H
btRaycastVehicle::setPitchControl
void setPitchControl(btScalar pitch)
Definition: btRaycastVehicle.h:124
btWheelInfo.h
btRaycastVehicle::getNumWheels
int getNumWheels() const
Definition: btRaycastVehicle.h:109
btDefaultVehicleRaycaster::castRay
virtual void * castRay(const btVector3 &from, const btVector3 &to, btVehicleRaycasterResult &result)
Definition: btRaycastVehicle.cpp:687
btRaycastVehicle::m_wheelInfo
btAlignedObjectArray< btWheelInfo > m_wheelInfo
Definition: btRaycastVehicle.h:114
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btRaycastVehicle
rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
Definition: btRaycastVehicle.h:25
btRaycastVehicle::getUserConstraintType
int getUserConstraintType() const
backwards compatibility
Definition: btRaycastVehicle.h:184
btRaycastVehicle::btVehicleTuning::m_maxSuspensionTravelCm
btScalar m_maxSuspensionTravelCm
Definition: btRaycastVehicle.h:52
btRaycastVehicle::m_steeringValue
btScalar m_steeringValue
Definition: btRaycastVehicle.h:60
btDefaultVehicleRaycaster::m_dynamicsWorld
btDynamicsWorld * m_dynamicsWorld
Definition: btRaycastVehicle.h:207
btVehicleRaycaster
btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
Definition: btVehicleRaycaster.h:17
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btRaycastVehicle::m_forwardImpulse
btAlignedObjectArray< btScalar > m_forwardImpulse
Definition: btRaycastVehicle.h:29
btRaycastVehicle::getCurrentSpeedKmHour
btScalar getCurrentSpeedKmHour() const
Velocity of vehicle (positive if velocity vector has same direction as foward vector)
Definition: btRaycastVehicle.h:171
btRaycastVehicle::setUserConstraintType
void setUserConstraintType(int userConstraintType)
Definition: btRaycastVehicle.h:189
btRaycastVehicle::getForwardVector
btVector3 getForwardVector() const
Worldspace forward vector.
Definition: btRaycastVehicle.h:158
btRaycastVehicle::rayCast
btScalar rayCast(btWheelInfo &wheel)
Definition: btRaycastVehicle.cpp:160
btRaycastVehicle::getChassisWorldTransform
const btTransform & getChassisWorldTransform() const
Definition: btRaycastVehicle.cpp:243
btRaycastVehicle::btVehicleTuning::m_suspensionStiffness
btScalar m_suspensionStiffness
Definition: btRaycastVehicle.h:49
btRaycastVehicle::m_forwardWS
btAlignedObjectArray< btVector3 > m_forwardWS
Definition: btRaycastVehicle.h:27
btRigidBody.h
btRaycastVehicle::getUserConstraintId
int getUserConstraintId() const
Definition: btRaycastVehicle.h:199
btDefaultVehicleRaycaster
Definition: btRaycastVehicle.h:205
btRaycastVehicle::btVehicleTuning::m_frictionSlip
btScalar m_frictionSlip
Definition: btRaycastVehicle.h:53
btDynamicsWorld
The btDynamicsWorld is the interface class for several dynamics implementation, basic,...
Definition: btDynamicsWorld.h:41
btRaycastVehicle::updateSuspension
void updateSuspension(btScalar deltaTime)
Definition: btRaycastVehicle.cpp:384
btRaycastVehicle::m_userConstraintType
int m_userConstraintType
backwards compatibility
Definition: btRaycastVehicle.h:33
btRaycastVehicle::getRigidBody
btRigidBody * getRigidBody()
Definition: btRaycastVehicle.h:133
btRaycastVehicle::getForwardAxis
int getForwardAxis() const
Definition: btRaycastVehicle.h:152
btRaycastVehicle::getUpAxis
int getUpAxis() const
Definition: btRaycastVehicle.h:147
btRaycastVehicle::m_pitchControl
btScalar m_pitchControl
Definition: btRaycastVehicle.h:59
btRaycastVehicle::btVehicleTuning::btVehicleTuning
btVehicleTuning()
Definition: btRaycastVehicle.h:40
btRaycastVehicle::updateAction
virtual void updateAction(btCollisionWorld *collisionWorld, btScalar step)
btActionInterface interface
Definition: btRaycastVehicle.h:78
btRaycastVehicle::btVehicleTuning::m_suspensionDamping
btScalar m_suspensionDamping
Definition: btRaycastVehicle.h:51
btRaycastVehicle::btVehicleTuning::m_maxSuspensionForce
btScalar m_maxSuspensionForce
Definition: btRaycastVehicle.h:54
btActionInterface.h
btIDebugDraw
The btIDebugDraw interface class allows hooking up a debug renderer to visually debug simulations.
Definition: btIDebugDraw.h:26
btRaycastVehicle::debugDraw
void debugDraw(btIDebugDraw *debugDrawer)
btActionInterface interface
Definition: btRaycastVehicle.cpp:660
btTypedConstraint.h
btRaycastVehicle::m_indexUpAxis
int m_indexUpAxis
Definition: btRaycastVehicle.h:66
btRaycastVehicle::updateWheelTransform
void updateWheelTransform(int wheelIndex, bool interpolatedTransform=true)
Definition: btRaycastVehicle.cpp:92
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
btRaycastVehicle::btRaycastVehicle
btRaycastVehicle(const btVehicleTuning &tuning, btRigidBody *chassis, btVehicleRaycaster *raycaster)
Definition: btRaycastVehicle.cpp:34
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btRaycastVehicle::btVehicleTuning::m_suspensionCompression
btScalar m_suspensionCompression
Definition: btRaycastVehicle.h:50
btRaycastVehicle::m_indexForwardAxis
int m_indexForwardAxis
Definition: btRaycastVehicle.h:67
btActionInterface
Basic interface to allow actions such as vehicles and characters to be updated inside a btDynamicsWor...
Definition: btActionInterface.h:26
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btRaycastVehicle::btVehicleTuning
Definition: btRaycastVehicle.h:37
btRaycastVehicle::addWheel
btWheelInfo & addWheel(const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
Definition: btRaycastVehicle.cpp:59
btRaycastVehicle::m_axle
btAlignedObjectArray< btVector3 > m_axle
Definition: btRaycastVehicle.h:28
btDefaultVehicleRaycaster::btDefaultVehicleRaycaster
btDefaultVehicleRaycaster(btDynamicsWorld *world)
Definition: btRaycastVehicle.h:210
btRaycastVehicle::setUserConstraintId
void setUserConstraintId(int uid)
Definition: btRaycastVehicle.h:194
btRaycastVehicle::m_indexRightAxis
int m_indexRightAxis
Definition: btRaycastVehicle.h:65
btRaycastVehicle::m_currentVehicleSpeedKmHour
btScalar m_currentVehicleSpeedKmHour
Definition: btRaycastVehicle.h:61
btRaycastVehicle::setBrake
void setBrake(btScalar brake, int wheelIndex)
Definition: btRaycastVehicle.cpp:378
btRaycastVehicle::~btRaycastVehicle
virtual ~btRaycastVehicle()
Definition: btRaycastVehicle.cpp:52
btRaycastVehicle::updateFriction
virtual void updateFriction(btScalar timeStep)
Definition: btRaycastVehicle.cpp:488
btRaycastVehicle::getRigidBody
const btRigidBody * getRigidBody() const
Definition: btRaycastVehicle.h:138
btAlignedObjectArray< btVector3 >
btRaycastVehicle::setSteeringValue
void setSteeringValue(btScalar steering, int wheel)
Definition: btRaycastVehicle.cpp:344
btRaycastVehicle::updateVehicle
virtual void updateVehicle(btScalar step)
Definition: btRaycastVehicle.cpp:256
btRaycastVehicle::m_sideImpulse
btAlignedObjectArray< btScalar > m_sideImpulse
Definition: btRaycastVehicle.h:30
btRaycastVehicle::m_userConstraintId
int m_userConstraintId
Definition: btRaycastVehicle.h:34
btRaycastVehicle::getRightAxis
int getRightAxis() const
Definition: btRaycastVehicle.h:143
btRaycastVehicle::setCoordinateSystem
virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
Definition: btRaycastVehicle.h:176
btCollisionWorld
CollisionWorld is interface and container for the collision detection.
Definition: btCollisionWorld.h:85
btRaycastVehicle::defaultInit
void defaultInit(const btVehicleTuning &tuning)
Definition: btRaycastVehicle.cpp:45
btVehicleRaycaster.h
btAlignedObjectArray.h
btRaycastVehicle::getWheelInfo
const btWheelInfo & getWheelInfo(int index) const
Definition: btRaycastVehicle.cpp:364
btRaycastVehicle::resetSuspension
void resetSuspension()
Definition: btRaycastVehicle.cpp:130
btRaycastVehicle::m_vehicleRaycaster
btVehicleRaycaster * m_vehicleRaycaster
Definition: btRaycastVehicle.h:58
btWheelInfo
btWheelInfo contains information per wheel about friction and suspension.
Definition: btWheelInfo.h:37
btRaycastVehicle::updateWheelTransformsWS
void updateWheelTransformsWS(btWheelInfo &wheel, bool interpolatedTransform=true)
Definition: btRaycastVehicle.cpp:145
btRaycastVehicle::m_chassisBody
btRigidBody * m_chassisBody
Definition: btRaycastVehicle.h:63
btRaycastVehicle::getSteeringValue
btScalar getSteeringValue(int wheel) const
Definition: btRaycastVehicle.cpp:352
btRaycastVehicle::getWheelTransformWS
const btTransform & getWheelTransformWS(int wheelIndex) const
Definition: btRaycastVehicle.cpp:85
btAlignedObjectArray::size
int size() const
return the number of elements in the array
Definition: btAlignedObjectArray.h:149
btRaycastVehicle::applyEngineForce
void applyEngineForce(btScalar force, int wheel)
Definition: btRaycastVehicle.cpp:357