blender/extern/bullet/BulletDynamics/Vehicle/WheelInfo.h

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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#ifndef WHEEL_INFO_H
#define WHEEL_INFO_H
#include "SimdVector3.h"
#include "SimdTransform.h"
class RigidBody;
struct WheelInfoConstructionInfo
{
SimdVector3 m_chassisConnectionCS;
SimdVector3 m_wheelDirectionCS;
SimdVector3 m_wheelAxleCS;
SimdScalar m_suspensionRestLength;
SimdScalar m_maxSuspensionTravelCm;
SimdScalar m_wheelRadius;
float m_suspensionStiffness;
float m_wheelsDampingCompression;
float m_wheelsDampingRelaxation;
float m_frictionSlip;
bool m_bIsFrontWheel;
};
/// WheelInfo contains information per wheel about friction and suspension.
struct WheelInfo
{
struct RaycastInfo
{
//set by raycaster
SimdVector3 m_contactNormalWS;//contactnormal
SimdVector3 m_contactPointWS;//raycast hitpoint
SimdScalar m_suspensionLength;
SimdVector3 m_hardPointWS;//raycast starting point
SimdVector3 m_wheelDirectionWS; //direction in worldspace
SimdVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
};
RaycastInfo m_raycastInfo;
SimdTransform m_worldTransform;
SimdVector3 m_chassisConnectionPointCS; //const
SimdVector3 m_wheelDirectionCS;//const
SimdVector3 m_wheelAxleCS; // const or modified by steering
SimdScalar m_suspensionRestLength1;//const
SimdScalar m_maxSuspensionTravelCm;
SimdScalar GetSuspensionRestLength() const;
SimdScalar m_wheelsRadius;//const
SimdScalar m_suspensionStiffness;//const
SimdScalar m_wheelsDampingCompression;//const
SimdScalar m_wheelsDampingRelaxation;//const
SimdScalar m_frictionSlip;
SimdScalar m_steering;
SimdScalar m_rotation;
SimdScalar m_deltaRotation;
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SimdScalar m_rollInfluence;
SimdScalar m_engineForce;
SimdScalar m_brake;
bool m_bIsFrontWheel;
void* m_clientInfo;//can be used to store pointer to sync transforms...
WheelInfo(WheelInfoConstructionInfo& ci)
{
m_suspensionRestLength1 = ci.m_suspensionRestLength;
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
m_wheelsRadius = ci.m_wheelRadius;
m_suspensionStiffness = ci.m_suspensionStiffness;
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = 0.f;
m_engineForce = 0.f;
m_rotation = 0.f;
m_deltaRotation = 0.f;
m_brake = 0.f;
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m_rollInfluence = 0.1f;
m_bIsFrontWheel = ci.m_bIsFrontWheel;
}
void UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo);
SimdScalar m_clippedInvContactDotSuspension;
SimdScalar m_suspensionRelativeVelocity;
//calculated by suspension
SimdScalar m_wheelsSuspensionForce;
SimdScalar m_skidInfo;
};
#endif //WHEEL_INFO_H