diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h | 107 |
1 files changed, 51 insertions, 56 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h index f991a57b69..af88b8ff83 100644 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h +++ b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.h @@ -18,20 +18,19 @@ class btRigidBody; struct btWheelInfoConstructionInfo { - btVector3 m_chassisConnectionCS; - btVector3 m_wheelDirectionCS; - btVector3 m_wheelAxleCS; - btScalar m_suspensionRestLength; - btScalar m_maxSuspensionTravelCm; - btScalar m_wheelRadius; - - btScalar m_suspensionStiffness; - btScalar m_wheelsDampingCompression; - btScalar m_wheelsDampingRelaxation; - btScalar m_frictionSlip; - btScalar m_maxSuspensionForce; + btVector3 m_chassisConnectionCS; + btVector3 m_wheelDirectionCS; + btVector3 m_wheelAxleCS; + btScalar m_suspensionRestLength; + btScalar m_maxSuspensionTravelCm; + btScalar m_wheelRadius; + + btScalar m_suspensionStiffness; + btScalar m_wheelsDampingCompression; + btScalar m_wheelsDampingRelaxation; + btScalar m_frictionSlip; + btScalar m_maxSuspensionForce; bool m_bIsFrontWheel; - }; /// btWheelInfo contains information per wheel about friction and suspension. @@ -40,51 +39,50 @@ struct btWheelInfo struct RaycastInfo { //set by raycaster - btVector3 m_contactNormalWS;//contactnormal - btVector3 m_contactPointWS;//raycast hitpoint - btScalar m_suspensionLength; - btVector3 m_hardPointWS;//raycast starting point - btVector3 m_wheelDirectionWS; //direction in worldspace - btVector3 m_wheelAxleWS; // axle in worldspace - bool m_isInContact; - void* m_groundObject; //could be general void* ptr + btVector3 m_contactNormalWS; //contactnormal + btVector3 m_contactPointWS; //raycast hitpoint + btScalar m_suspensionLength; + btVector3 m_hardPointWS; //raycast starting point + btVector3 m_wheelDirectionWS; //direction in worldspace + btVector3 m_wheelAxleWS; // axle in worldspace + bool m_isInContact; + void* m_groundObject; //could be general void* ptr }; - RaycastInfo m_raycastInfo; + RaycastInfo m_raycastInfo; - btTransform m_worldTransform; - - btVector3 m_chassisConnectionPointCS; //const - btVector3 m_wheelDirectionCS;//const - btVector3 m_wheelAxleCS; // const or modified by steering - btScalar m_suspensionRestLength1;//const - btScalar m_maxSuspensionTravelCm; + btTransform m_worldTransform; + + btVector3 m_chassisConnectionPointCS; //const + btVector3 m_wheelDirectionCS; //const + btVector3 m_wheelAxleCS; // const or modified by steering + btScalar m_suspensionRestLength1; //const + btScalar m_maxSuspensionTravelCm; btScalar getSuspensionRestLength() const; - btScalar m_wheelsRadius;//const - btScalar m_suspensionStiffness;//const - btScalar m_wheelsDampingCompression;//const - btScalar m_wheelsDampingRelaxation;//const - btScalar m_frictionSlip; - btScalar m_steering; - btScalar m_rotation; - btScalar m_deltaRotation; - btScalar m_rollInfluence; - btScalar m_maxSuspensionForce; - - btScalar m_engineForce; - - btScalar m_brake; - + btScalar m_wheelsRadius; //const + btScalar m_suspensionStiffness; //const + btScalar m_wheelsDampingCompression; //const + btScalar m_wheelsDampingRelaxation; //const + btScalar m_frictionSlip; + btScalar m_steering; + btScalar m_rotation; + btScalar m_deltaRotation; + btScalar m_rollInfluence; + btScalar m_maxSuspensionForce; + + btScalar m_engineForce; + + btScalar m_brake; + bool m_bIsFrontWheel; - - void* m_clientInfo;//can be used to store pointer to sync transforms... + + void* m_clientInfo; //can be used to store pointer to sync transforms... btWheelInfo() {} btWheelInfo(btWheelInfoConstructionInfo& ci) { - m_suspensionRestLength1 = ci.m_suspensionRestLength; m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm; @@ -104,18 +102,15 @@ struct btWheelInfo m_rollInfluence = btScalar(0.1); m_bIsFrontWheel = ci.m_bIsFrontWheel; m_maxSuspensionForce = ci.m_maxSuspensionForce; - } - void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo); + void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo); - btScalar m_clippedInvContactDotSuspension; - btScalar m_suspensionRelativeVelocity; + btScalar m_clippedInvContactDotSuspension; + btScalar m_suspensionRelativeVelocity; //calculated by suspension - btScalar m_wheelsSuspensionForce; - btScalar m_skidInfo; - + btScalar m_wheelsSuspensionForce; + btScalar m_skidInfo; }; -#endif //BT_WHEEL_INFO_H - +#endif //BT_WHEEL_INFO_H |