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source: code/branches/release2012/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h @ 10609

Last change on this file since 10609 was 8393, checked in by rgrieder, 14 years ago

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

  • Property svn:eol-style set to native
File size: 3.3 KB
Line 
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_WHEEL_INFO_H
12#define BT_WHEEL_INFO_H
13
14#include "LinearMath/btVector3.h"
15#include "LinearMath/btTransform.h"
16
17class btRigidBody;
18
19struct btWheelInfoConstructionInfo
20{
21        btVector3       m_chassisConnectionCS;
22        btVector3       m_wheelDirectionCS;
23        btVector3       m_wheelAxleCS;
24        btScalar        m_suspensionRestLength;
25        btScalar        m_maxSuspensionTravelCm;
26        btScalar        m_wheelRadius;
27       
28        btScalar                m_suspensionStiffness;
29        btScalar                m_wheelsDampingCompression;
30        btScalar                m_wheelsDampingRelaxation;
31        btScalar                m_frictionSlip;
32        btScalar                m_maxSuspensionForce;
33        bool m_bIsFrontWheel;
34       
35};
36
37/// btWheelInfo contains information per wheel about friction and suspension.
38struct btWheelInfo
39{
40        struct RaycastInfo
41        {
42                //set by raycaster
43                btVector3       m_contactNormalWS;//contactnormal
44                btVector3       m_contactPointWS;//raycast hitpoint
45                btScalar        m_suspensionLength;
46                btVector3       m_hardPointWS;//raycast starting point
47                btVector3       m_wheelDirectionWS; //direction in worldspace
48                btVector3       m_wheelAxleWS; // axle in worldspace
49                bool            m_isInContact;
50                void*           m_groundObject; //could be general void* ptr
51        };
52
53        RaycastInfo     m_raycastInfo;
54
55        btTransform     m_worldTransform;
56       
57        btVector3       m_chassisConnectionPointCS; //const
58        btVector3       m_wheelDirectionCS;//const
59        btVector3       m_wheelAxleCS; // const or modified by steering
60        btScalar        m_suspensionRestLength1;//const
61        btScalar        m_maxSuspensionTravelCm;
62        btScalar getSuspensionRestLength() const;
63        btScalar        m_wheelsRadius;//const
64        btScalar        m_suspensionStiffness;//const
65        btScalar        m_wheelsDampingCompression;//const
66        btScalar        m_wheelsDampingRelaxation;//const
67        btScalar        m_frictionSlip;
68        btScalar        m_steering;
69        btScalar        m_rotation;
70        btScalar        m_deltaRotation;
71        btScalar        m_rollInfluence;
72        btScalar        m_maxSuspensionForce;
73
74        btScalar        m_engineForce;
75
76        btScalar        m_brake;
77       
78        bool m_bIsFrontWheel;
79       
80        void*           m_clientInfo;//can be used to store pointer to sync transforms...
81
82        btWheelInfo(btWheelInfoConstructionInfo& ci)
83
84        {
85
86                m_suspensionRestLength1 = ci.m_suspensionRestLength;
87                m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
88
89                m_wheelsRadius = ci.m_wheelRadius;
90                m_suspensionStiffness = ci.m_suspensionStiffness;
91                m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
92                m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
93                m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
94                m_wheelDirectionCS = ci.m_wheelDirectionCS;
95                m_wheelAxleCS = ci.m_wheelAxleCS;
96                m_frictionSlip = ci.m_frictionSlip;
97                m_steering = btScalar(0.);
98                m_engineForce = btScalar(0.);
99                m_rotation = btScalar(0.);
100                m_deltaRotation = btScalar(0.);
101                m_brake = btScalar(0.);
102                m_rollInfluence = btScalar(0.1);
103                m_bIsFrontWheel = ci.m_bIsFrontWheel;
104                m_maxSuspensionForce = ci.m_maxSuspensionForce;
105
106        }
107
108        void    updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
109
110        btScalar        m_clippedInvContactDotSuspension;
111        btScalar        m_suspensionRelativeVelocity;
112        //calculated by suspension
113        btScalar        m_wheelsSuspensionForce;
114        btScalar        m_skidInfo;
115
116};
117
118#endif //BT_WHEEL_INFO_H
119
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