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Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h | 218 |
1 files changed, 0 insertions, 218 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h deleted file mode 100644 index 99d6894e56..0000000000 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h +++ /dev/null @@ -1,218 +0,0 @@ -/* - * 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 BT_RAYCASTVEHICLE_H -#define BT_RAYCASTVEHICLE_H - -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" -#include "btVehicleRaycaster.h" -class btDynamicsWorld; -#include "LinearMath/btAlignedObjectArray.h" -#include "btWheelInfo.h" -#include "BulletDynamics/Dynamics/btActionInterface.h" - -//class btVehicleTuning; - -///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. -class btRaycastVehicle : public btActionInterface -{ - btAlignedObjectArray<btVector3> m_forwardWS; - btAlignedObjectArray<btVector3> m_axle; - btAlignedObjectArray<btScalar> m_forwardImpulse; - btAlignedObjectArray<btScalar> m_sideImpulse; - - ///backwards compatibility - int m_userConstraintType; - int m_userConstraintId; - -public: - class btVehicleTuning - { - public: - btVehicleTuning() - : m_suspensionStiffness(btScalar(5.88)), - m_suspensionCompression(btScalar(0.83)), - m_suspensionDamping(btScalar(0.88)), - m_maxSuspensionTravelCm(btScalar(500.)), - m_frictionSlip(btScalar(10.5)), - m_maxSuspensionForce(btScalar(6000.)) - { - } - btScalar m_suspensionStiffness; - btScalar m_suspensionCompression; - btScalar m_suspensionDamping; - btScalar m_maxSuspensionTravelCm; - btScalar m_frictionSlip; - btScalar m_maxSuspensionForce; - }; - -private: - btVehicleRaycaster* m_vehicleRaycaster; - btScalar m_pitchControl; - btScalar m_steeringValue; - btScalar m_currentVehicleSpeedKmHour; - - btRigidBody* m_chassisBody; - - int m_indexRightAxis; - int m_indexUpAxis; - int m_indexForwardAxis; - - void defaultInit(const btVehicleTuning& tuning); - -public: - //constructor to create a car from an existing rigidbody - btRaycastVehicle(const btVehicleTuning& tuning, btRigidBody* chassis, btVehicleRaycaster* raycaster); - - virtual ~btRaycastVehicle(); - - ///btActionInterface interface - virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step) - { - (void)collisionWorld; - updateVehicle(step); - } - - ///btActionInterface interface - void debugDraw(btIDebugDraw* debugDrawer); - - const btTransform& getChassisWorldTransform() const; - - btScalar rayCast(btWheelInfo& wheel); - - virtual void updateVehicle(btScalar step); - - void resetSuspension(); - - btScalar getSteeringValue(int wheel) const; - - void setSteeringValue(btScalar steering, int wheel); - - void applyEngineForce(btScalar force, int wheel); - - const btTransform& getWheelTransformWS(int wheelIndex) const; - - void updateWheelTransform(int wheelIndex, bool interpolatedTransform = true); - - // void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth); - - btWheelInfo& addWheel(const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0, const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning& tuning, bool isFrontWheel); - - inline int getNumWheels() const - { - return int(m_wheelInfo.size()); - } - - btAlignedObjectArray<btWheelInfo> m_wheelInfo; - - const btWheelInfo& getWheelInfo(int index) const; - - btWheelInfo& getWheelInfo(int index); - - void updateWheelTransformsWS(btWheelInfo& wheel, bool interpolatedTransform = true); - - void setBrake(btScalar brake, int wheelIndex); - - void setPitchControl(btScalar pitch) - { - m_pitchControl = pitch; - } - - void updateSuspension(btScalar deltaTime); - - virtual void updateFriction(btScalar timeStep); - - inline btRigidBody* getRigidBody() - { - return m_chassisBody; - } - - const btRigidBody* 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; - } - - ///Worldspace forward vector - btVector3 getForwardVector() const - { - const btTransform& chassisTrans = getChassisWorldTransform(); - - btVector3 forwardW( - chassisTrans.getBasis()[0][m_indexForwardAxis], - chassisTrans.getBasis()[1][m_indexForwardAxis], - chassisTrans.getBasis()[2][m_indexForwardAxis]); - - return forwardW; - } - - ///Velocity of vehicle (positive if velocity vector has same direction as foward vector) - btScalar getCurrentSpeedKmHour() const - { - return m_currentVehicleSpeedKmHour; - } - - virtual void setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex) - { - m_indexRightAxis = rightIndex; - m_indexUpAxis = upIndex; - m_indexForwardAxis = forwardIndex; - } - - ///backwards compatibility - int getUserConstraintType() const - { - return m_userConstraintType; - } - - void setUserConstraintType(int userConstraintType) - { - m_userConstraintType = userConstraintType; - }; - - void setUserConstraintId(int uid) - { - m_userConstraintId = uid; - } - - int getUserConstraintId() const - { - return m_userConstraintId; - } -}; - -class btDefaultVehicleRaycaster : public btVehicleRaycaster -{ - btDynamicsWorld* m_dynamicsWorld; - -public: - btDefaultVehicleRaycaster(btDynamicsWorld* world) - : m_dynamicsWorld(world) - { - } - - virtual void* castRay(const btVector3& from, const btVector3& to, btVehicleRaycasterResult& result); -}; - -#endif //BT_RAYCASTVEHICLE_H |