blender/extern/bullet/BulletDynamics/Vehicle/RaycastVehicle.h
Kent Mein 97a4e4f88d a bunch of small warnings fixes:
newline missing at end of file fixes:
TypedConstraint.h WheelInfo.h RaycastVehicle.h VehicleRaycaster.h
CcdPhysicsEnvironment.cpp

radiance_hdr.c fixed the following warning by changing type of local variable:
radiance_hdr.c:357: warning: pointer targets in passing argument 3 of
‘fwritecol rs’ differ in signedness

edgeRender.c,edgeRender.h same thing changed type of local vars to get rid
of warnings about signedness

RAS_OpenGLRasterizer.cpp removed unused variable unit line 1295

Kent
2006-03-24 16:40:32 +00:00

150 lines
3.2 KiB
C++
Executable File

/*
* 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 RAYCASTVEHICLE_H
#define RAYCASTVEHICLE_H
#include "Dynamics/RigidBody.h"
#include "ConstraintSolver/TypedConstraint.h"
struct MassProps;
#include "WheelInfo.h"
struct VehicleRaycaster;
class VehicleTuning;
///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
class RaycastVehicle : public TypedConstraint
{
public:
class VehicleTuning
{
public:
VehicleTuning()
:m_suspensionStiffness(5.88f),
m_suspensionCompression(0.83f),
m_suspensionDamping(0.88f),
m_maxSuspensionTravelCm(500.f),
m_frictionSlip(10.5f)
{
}
float m_suspensionStiffness;
float m_suspensionCompression;
float m_suspensionDamping;
float m_maxSuspensionTravelCm;
float m_frictionSlip;
};
private:
SimdScalar m_tau;
SimdScalar m_damping;
VehicleRaycaster* m_vehicleRaycaster;
float m_pitchControl;
float m_steeringValue;
float m_currentVehicleSpeedKmHour;
RigidBody* m_chassisBody;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
void DefaultInit(const VehicleTuning& tuning);
public:
//constructor to create a car from an existing rigidbody
RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis, VehicleRaycaster* raycaster );
virtual ~RaycastVehicle() ;
SimdScalar Raycast(WheelInfo& wheel);
virtual void UpdateVehicle(SimdScalar step);
void ResetSuspension();
SimdScalar GetSteeringValue(int wheel) const;
void SetSteeringValue(SimdScalar steering,int wheel);
void ApplyEngineForce(SimdScalar force, int wheel);
const SimdTransform& GetWheelTransformWS( int wheelIndex ) const;
void UpdateWheelTransform( int wheelIndex );
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const SimdVector3& hitPoint, const SimdVector3& hitNormal,SimdScalar depth);
WheelInfo& AddWheel( const SimdVector3& connectionPointCS0, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS,SimdScalar suspensionRestLength,SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel);
inline int GetNumWheels() const {
return m_wheelInfo.size();
}
std::vector<WheelInfo> m_wheelInfo;
const WheelInfo& GetWheelInfo(int index) const;
WheelInfo& GetWheelInfo(int index);
void UpdateWheelTransformsWS(WheelInfo& wheel );
void SetBrake(float brake,int wheelIndex);
void SetPitchControl(float pitch)
{
m_pitchControl = pitch;
}
void UpdateSuspension(SimdScalar deltaTime);
void UpdateFriction(SimdScalar timeStep);
inline RigidBody* GetRigidBody()
{
return m_chassisBody;
}
const RigidBody* GetRigidBody() const
{
return m_chassisBody;
}
inline int GetRightAxis() const
{
return m_indexRightAxis;
}
inline int GetUpAxis() const
{
return m_indexUpAxis;
}
inline int GetForwardAxis() const
{
return m_indexForwardAxis;
}
};
#endif //RAYCASTVEHICLE_H