1 /* 2 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ 3 * 4 * Permission to use, copy, modify, distribute and sell this software 5 * and its documentation for any purpose is hereby granted without fee, 6 * provided that the above copyright notice appear in all copies. 7 * Erwin Coumans makes no representations about the suitability 8 * of this software for any purpose. 9 * It is provided "as is" without express or implied warranty. 10 */ 11 #ifndef BT_RAYCASTVEHICLE_H 12 #define BT_RAYCASTVEHICLE_H 13 14 #include "BulletDynamics/Dynamics/btRigidBody.h" 15 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" 16 #include "btVehicleRaycaster.h" 17 class btDynamicsWorld; 18 #include "LinearMath/btAlignedObjectArray.h" 19 #include "btWheelInfo.h" 20 #include "BulletDynamics/Dynamics/btActionInterface.h" 21 22 //class btVehicleTuning; 23 24 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. 25 class btRaycastVehicle : public btActionInterface 26 { 27 28 btAlignedObjectArray<btVector3> m_forwardWS; 29 btAlignedObjectArray<btVector3> m_axle; 30 btAlignedObjectArray<btScalar> m_forwardImpulse; 31 btAlignedObjectArray<btScalar> m_sideImpulse; 32 33 ///backwards compatibility 34 int m_userConstraintType; 35 int m_userConstraintId; 36 37 public: 38 class btVehicleTuning 39 { 40 public: 41 42 btVehicleTuning() 43 :m_suspensionStiffness(btScalar(5.88)), 44 m_suspensionCompression(btScalar(0.83)), 45 m_suspensionDamping(btScalar(0.88)), 46 m_maxSuspensionTravelCm(btScalar(500.)), 47 m_frictionSlip(btScalar(10.5)), 48 m_maxSuspensionForce(btScalar(6000.)) 49 { 50 } 51 btScalar m_suspensionStiffness; 52 btScalar m_suspensionCompression; 53 btScalar m_suspensionDamping; 54 btScalar m_maxSuspensionTravelCm; 55 btScalar m_frictionSlip; 56 btScalar m_maxSuspensionForce; 57 58 }; 59 private: 60 61 btScalar m_tau; 62 btScalar m_damping; 63 btVehicleRaycaster* m_vehicleRaycaster; 64 btScalar m_pitchControl; 65 btScalar m_steeringValue; 66 btScalar m_currentVehicleSpeedKmHour; 67 68 btRigidBody* m_chassisBody; 69 70 int m_indexRightAxis; 71 int m_indexUpAxis; 72 int m_indexForwardAxis; 73 74 void defaultInit(const btVehicleTuning& tuning); 75 76 public: 77 78 //constructor to create a car from an existing rigidbody 79 btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ); 80 81 virtual ~btRaycastVehicle() ; 82 83 84 ///btActionInterface interface 85 virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step) 86 { 87 (void) collisionWorld; 88 updateVehicle(step); 89 } 90 91 92 ///btActionInterface interface 93 void debugDraw(btIDebugDraw* debugDrawer); 94 95 const btTransform& getChassisWorldTransform() const; 96 97 btScalar rayCast(btWheelInfo& wheel); 98 99 virtual void updateVehicle(btScalar step); 100 101 102 void resetSuspension(); 103 104 btScalar getSteeringValue(int wheel) const; 105 106 void setSteeringValue(btScalar steering,int wheel); 107 108 109 void applyEngineForce(btScalar force, int wheel); 110 111 const btTransform& getWheelTransformWS( int wheelIndex ) const; 112 113 void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true ); 114 115 // void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth); 116 117 btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel); 118 119 inline int getNumWheels() const { 120 return int (m_wheelInfo.size()); 121 } 122 123 btAlignedObjectArray<btWheelInfo> m_wheelInfo; 124 125 126 const btWheelInfo& getWheelInfo(int index) const; 127 128 btWheelInfo& getWheelInfo(int index); 129 130 void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true); 131 132 133 void setBrake(btScalar brake,int wheelIndex); 134 135 void setPitchControl(btScalar pitch) 136 { 137 m_pitchControl = pitch; 138 } 139 140 void updateSuspension(btScalar deltaTime); 141 142 virtual void updateFriction(btScalar timeStep); 143 144 145 146 inline btRigidBody* getRigidBody() 147 { 148 return m_chassisBody; 149 } 150 151 const btRigidBody* getRigidBody() const 152 { 153 return m_chassisBody; 154 } 155 156 inline int getRightAxis() const 157 { 158 return m_indexRightAxis; 159 } 160 inline int getUpAxis() const 161 { 162 return m_indexUpAxis; 163 } 164 165 inline int getForwardAxis() const 166 { 167 return m_indexForwardAxis; 168 } 169 170 171 ///Worldspace forward vector 172 btVector3 getForwardVector() const 173 { 174 const btTransform& chassisTrans = getChassisWorldTransform(); 175 176 btVector3 forwardW ( 177 chassisTrans.getBasis()[0][m_indexForwardAxis], 178 chassisTrans.getBasis()[1][m_indexForwardAxis], 179 chassisTrans.getBasis()[2][m_indexForwardAxis]); 180 181 return forwardW; 182 } 183 184 ///Velocity of vehicle (positive if velocity vector has same direction as foward vector) 185 btScalar getCurrentSpeedKmHour() const 186 { 187 return m_currentVehicleSpeedKmHour; 188 } 189 190 virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) 191 { 192 m_indexRightAxis = rightIndex; 193 m_indexUpAxis = upIndex; 194 m_indexForwardAxis = forwardIndex; 195 } 196 197 198 ///backwards compatibility 199 int getUserConstraintType() const 200 { 201 return m_userConstraintType ; 202 } 203 204 void setUserConstraintType(int userConstraintType) 205 { 206 m_userConstraintType = userConstraintType; 207 }; 208 209 void setUserConstraintId(int uid) 210 { 211 m_userConstraintId = uid; 212 } 213 214 int getUserConstraintId() const 215 { 216 return m_userConstraintId; 217 } 218 219 }; 220 221 class btDefaultVehicleRaycaster : public btVehicleRaycaster 222 { 223 btDynamicsWorld* m_dynamicsWorld; 224 public: 225 btDefaultVehicleRaycaster(btDynamicsWorld* world) 226 :m_dynamicsWorld(world) 227 { 228 } 229 230 virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result); 231 232 }; 233 234 235 #endif //BT_RAYCASTVEHICLE_H 236 237
