forked from bartvdbraak/blender
148 lines
3.2 KiB
C++
Executable File
148 lines
3.2 KiB
C++
Executable File
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "Dynamics/RigidBody.h"
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#include "ConstraintSolver/TypedConstraint.h"
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struct MassProps;
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#include "WheelInfo.h"
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struct VehicleRaycaster;
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class VehicleTuning;
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///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class RaycastVehicle : public TypedConstraint
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{
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public:
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class VehicleTuning
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{
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public:
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VehicleTuning()
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:m_suspensionStiffness(5.88f),
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m_suspensionCompression(0.83f),
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m_suspensionDamping(0.88f),
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m_maxSuspensionTravelCm(500.f),
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m_frictionSlip(10.5f)
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{
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}
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float m_suspensionStiffness;
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float m_suspensionCompression;
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float m_suspensionDamping;
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float m_maxSuspensionTravelCm;
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float m_frictionSlip;
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};
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private:
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SimdScalar m_tau;
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SimdScalar m_damping;
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VehicleRaycaster* m_vehicleRaycaster;
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float m_pitchControl;
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float m_steeringValue;
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float m_currentVehicleSpeedKmHour;
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RigidBody* m_chassisBody;
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int m_indexRightAxis;
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void DefaultInit(const VehicleTuning& tuning);
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public:
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//constructor to create a car from an existing rigidbody
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RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis, VehicleRaycaster* raycaster );
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virtual ~RaycastVehicle() ;
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SimdScalar Raycast(WheelInfo& wheel);
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virtual void UpdateVehicle(SimdScalar step);
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void ResetSuspension();
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SimdScalar GetSteeringValue(int wheel) const;
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void SetSteeringValue(SimdScalar steering,int wheel);
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void ApplyEngineForce(SimdScalar force, int wheel);
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const SimdTransform& GetWheelTransformWS( int wheelIndex ) const;
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void UpdateWheelTransform( int wheelIndex );
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void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const SimdVector3& hitPoint, const SimdVector3& hitNormal,SimdScalar depth);
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WheelInfo& AddWheel( const SimdVector3& connectionPointCS0, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS,SimdScalar suspensionRestLength,SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel);
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inline int GetNumWheels() const {
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return m_wheelInfo.size();
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}
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std::vector<WheelInfo> m_wheelInfo;
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const WheelInfo& GetWheelInfo(int index) const;
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WheelInfo& GetWheelInfo(int index);
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void UpdateWheelTransformsWS(WheelInfo& wheel );
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void SetBrake(float brake,int wheelIndex);
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void SetPitchControl(float pitch)
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{
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m_pitchControl = pitch;
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}
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void UpdateSuspension(SimdScalar deltaTime);
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void UpdateFriction(SimdScalar timeStep);
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inline RigidBody* GetRigidBody()
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{
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return m_chassisBody;
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}
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const RigidBody* GetRigidBody() const
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{
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return m_chassisBody;
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}
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inline int GetRightAxis() const
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{
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return m_indexRightAxis;
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}
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inline int GetUpAxis() const
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{
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return m_indexUpAxis;
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}
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inline int GetForwardAxis() const
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{
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return m_indexForwardAxis;
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}
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};
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#endif //RAYCASTVEHICLE_H
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