Bullet Collision Detection & Physics Library
btWheelInfo.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_WHEEL_INFO_H
12 #define BT_WHEEL_INFO_H
13 
14 #include "LinearMath/btVector3.h"
15 #include "LinearMath/btTransform.h"
16 
17 class btRigidBody;
18 
20 {
27 
34 };
35 
38 {
39  struct RaycastInfo
40  {
41  //set by raycaster
42  btVector3 m_contactNormalWS; //contactnormal
43  btVector3 m_contactPointWS; //raycast hitpoint
45  btVector3 m_hardPointWS; //raycast starting point
46  btVector3 m_wheelDirectionWS; //direction in worldspace
47  btVector3 m_wheelAxleWS; // axle in worldspace
49  void* m_groundObject; //could be general void* ptr
50  };
51 
53 
55 
58  btVector3 m_wheelAxleCS; // const or modified by steering
72 
74 
76 
78 
79  void* m_clientInfo; //can be used to store pointer to sync transforms...
80 
82 
84 
85  {
88 
97  m_steering = btScalar(0.);
98  m_engineForce = btScalar(0.);
99  m_rotation = btScalar(0.);
101  m_brake = btScalar(0.);
102  m_rollInfluence = btScalar(0.1);
105  }
106 
107  void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo);
108 
111  //calculated by suspension
114 };
115 
116 #endif //BT_WHEEL_INFO_H
btWheelInfo::m_deltaRotation
btScalar m_deltaRotation
Definition: btWheelInfo.h:69
btWheelInfo::RaycastInfo::m_suspensionLength
btScalar m_suspensionLength
Definition: btWheelInfo.h:44
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:59
btWheelInfo::m_worldTransform
btTransform m_worldTransform
Definition: btWheelInfo.h:54
btWheelInfo::m_suspensionRelativeVelocity
btScalar m_suspensionRelativeVelocity
Definition: btWheelInfo.h:110
btWheelInfo::m_clientInfo
void * m_clientInfo
Definition: btWheelInfo.h:79
btWheelInfo::m_rollInfluence
btScalar m_rollInfluence
Definition: btWheelInfo.h:70
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:294
btWheelInfoConstructionInfo::m_chassisConnectionCS
btVector3 m_chassisConnectionCS
Definition: btWheelInfo.h:21
btWheelInfoConstructionInfo::m_frictionSlip
btScalar m_frictionSlip
Definition: btWheelInfo.h:31
btWheelInfo::m_skidInfo
btScalar m_skidInfo
Definition: btWheelInfo.h:113
btWheelInfo::btWheelInfo
btWheelInfo()
Definition: btWheelInfo.h:81
btWheelInfo::m_rotation
btScalar m_rotation
Definition: btWheelInfo.h:68
btWheelInfo::updateWheel
void updateWheel(const btRigidBody &chassis, RaycastInfo &raycastInfo)
Definition: btWheelInfo.cpp:19
btWheelInfo::RaycastInfo::m_contactNormalWS
btVector3 m_contactNormalWS
Definition: btWheelInfo.h:42
btWheelInfo::getSuspensionRestLength
btScalar getSuspensionRestLength() const
Definition: btWheelInfo.cpp:14
btWheelInfoConstructionInfo::m_bIsFrontWheel
bool m_bIsFrontWheel
Definition: btWheelInfo.h:33
btWheelInfo::RaycastInfo
Definition: btWheelInfo.h:39
btWheelInfoConstructionInfo
Definition: btWheelInfo.h:19
btWheelInfoConstructionInfo::m_suspensionStiffness
btScalar m_suspensionStiffness
Definition: btWheelInfo.h:28
btWheelInfoConstructionInfo::m_suspensionRestLength
btScalar m_suspensionRestLength
Definition: btWheelInfo.h:24
btVector3.h
btWheelInfo::m_wheelsSuspensionForce
btScalar m_wheelsSuspensionForce
Definition: btWheelInfo.h:112
btWheelInfo::m_maxSuspensionTravelCm
btScalar m_maxSuspensionTravelCm
Definition: btWheelInfo.h:60
btWheelInfo::m_suspensionStiffness
btScalar m_suspensionStiffness
Definition: btWheelInfo.h:63
btWheelInfoConstructionInfo::m_wheelsDampingCompression
btScalar m_wheelsDampingCompression
Definition: btWheelInfo.h:29
btWheelInfo::RaycastInfo::m_groundObject
void * m_groundObject
Definition: btWheelInfo.h:49
btWheelInfo::m_suspensionRestLength1
btScalar m_suspensionRestLength1
Definition: btWheelInfo.h:59
btTransform.h
btWheelInfo::RaycastInfo::m_wheelDirectionWS
btVector3 m_wheelDirectionWS
Definition: btWheelInfo.h:46
btWheelInfo::RaycastInfo::m_hardPointWS
btVector3 m_hardPointWS
Definition: btWheelInfo.h:45
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btWheelInfoConstructionInfo::m_wheelsDampingRelaxation
btScalar m_wheelsDampingRelaxation
Definition: btWheelInfo.h:30
btWheelInfo::m_bIsFrontWheel
bool m_bIsFrontWheel
Definition: btWheelInfo.h:77
btWheelInfoConstructionInfo::m_wheelRadius
btScalar m_wheelRadius
Definition: btWheelInfo.h:26
btWheelInfo::m_brake
btScalar m_brake
Definition: btWheelInfo.h:75
btWheelInfo::m_maxSuspensionForce
btScalar m_maxSuspensionForce
Definition: btWheelInfo.h:71
btWheelInfo::m_chassisConnectionPointCS
btVector3 m_chassisConnectionPointCS
Definition: btWheelInfo.h:56
btWheelInfoConstructionInfo::m_maxSuspensionTravelCm
btScalar m_maxSuspensionTravelCm
Definition: btWheelInfo.h:25
btWheelInfo::m_frictionSlip
btScalar m_frictionSlip
Definition: btWheelInfo.h:66
btWheelInfo::m_wheelsDampingCompression
btScalar m_wheelsDampingCompression
Definition: btWheelInfo.h:64
btWheelInfoConstructionInfo::m_wheelDirectionCS
btVector3 m_wheelDirectionCS
Definition: btWheelInfo.h:22
btWheelInfoConstructionInfo::m_wheelAxleCS
btVector3 m_wheelAxleCS
Definition: btWheelInfo.h:23
btWheelInfoConstructionInfo::m_maxSuspensionForce
btScalar m_maxSuspensionForce
Definition: btWheelInfo.h:32
btWheelInfo::m_wheelDirectionCS
btVector3 m_wheelDirectionCS
Definition: btWheelInfo.h:57
btWheelInfo::m_wheelsDampingRelaxation
btScalar m_wheelsDampingRelaxation
Definition: btWheelInfo.h:65
btWheelInfo::RaycastInfo::m_contactPointWS
btVector3 m_contactPointWS
Definition: btWheelInfo.h:43
btWheelInfo::m_steering
btScalar m_steering
Definition: btWheelInfo.h:67
btWheelInfo::m_engineForce
btScalar m_engineForce
Definition: btWheelInfo.h:73
btWheelInfo::m_clippedInvContactDotSuspension
btScalar m_clippedInvContactDotSuspension
Definition: btWheelInfo.h:109
btWheelInfo::btWheelInfo
btWheelInfo(btWheelInfoConstructionInfo &ci)
Definition: btWheelInfo.h:83
btWheelInfo::RaycastInfo::m_wheelAxleWS
btVector3 m_wheelAxleWS
Definition: btWheelInfo.h:47
btWheelInfo
btWheelInfo contains information per wheel about friction and suspension.
Definition: btWheelInfo.h:37
btWheelInfo::m_raycastInfo
RaycastInfo m_raycastInfo
Definition: btWheelInfo.h:52
btWheelInfo::m_wheelAxleCS
btVector3 m_wheelAxleCS
Definition: btWheelInfo.h:58
btWheelInfo::m_wheelsRadius
btScalar m_wheelsRadius
Definition: btWheelInfo.h:62
btWheelInfo::RaycastInfo::m_isInContact
bool m_isInContact
Definition: btWheelInfo.h:48