| 1 | /* |
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| 2 | * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ |
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| 3 | * |
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| 4 | * Permission to use, copy, modify, distribute and sell this software |
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| 5 | * and its documentation for any purpose is hereby granted without fee, |
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| 6 | * provided that the above copyright notice appear in all copies. |
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| 7 | * Erwin Coumans makes no representations about the suitability |
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| 8 | * of this software for any purpose. |
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| 9 | * It is provided "as is" without express or implied warranty. |
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| 10 | */ |
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| 11 | #ifndef BT_WHEEL_INFO_H |
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| 12 | #define BT_WHEEL_INFO_H |
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| 13 | |
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| 14 | #include "LinearMath/btVector3.h" |
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| 15 | #include "LinearMath/btTransform.h" |
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| 16 | |
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| 17 | class btRigidBody; |
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| 18 | |
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| 19 | struct btWheelInfoConstructionInfo |
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| 20 | { |
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| 21 | btVector3 m_chassisConnectionCS; |
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| 22 | btVector3 m_wheelDirectionCS; |
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| 23 | btVector3 m_wheelAxleCS; |
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| 24 | btScalar m_suspensionRestLength; |
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| 25 | btScalar m_maxSuspensionTravelCm; |
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| 26 | btScalar m_wheelRadius; |
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| 27 | |
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| 28 | btScalar m_suspensionStiffness; |
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| 29 | btScalar m_wheelsDampingCompression; |
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| 30 | btScalar m_wheelsDampingRelaxation; |
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| 31 | btScalar m_frictionSlip; |
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| 32 | btScalar m_maxSuspensionForce; |
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| 33 | bool m_bIsFrontWheel; |
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| 34 | |
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| 35 | }; |
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| 36 | |
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| 37 | /// btWheelInfo contains information per wheel about friction and suspension. |
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| 38 | struct btWheelInfo |
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| 39 | { |
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| 40 | struct RaycastInfo |
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| 41 | { |
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| 42 | //set by raycaster |
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| 43 | btVector3 m_contactNormalWS;//contactnormal |
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| 44 | btVector3 m_contactPointWS;//raycast hitpoint |
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| 45 | btScalar m_suspensionLength; |
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| 46 | btVector3 m_hardPointWS;//raycast starting point |
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| 47 | btVector3 m_wheelDirectionWS; //direction in worldspace |
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| 48 | btVector3 m_wheelAxleWS; // axle in worldspace |
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| 49 | bool m_isInContact; |
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| 50 | void* m_groundObject; //could be general void* ptr |
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| 51 | }; |
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| 52 | |
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| 53 | RaycastInfo m_raycastInfo; |
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| 54 | |
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| 55 | btTransform m_worldTransform; |
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| 56 | |
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| 57 | btVector3 m_chassisConnectionPointCS; //const |
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| 58 | btVector3 m_wheelDirectionCS;//const |
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| 59 | btVector3 m_wheelAxleCS; // const or modified by steering |
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| 60 | btScalar m_suspensionRestLength1;//const |
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| 61 | btScalar m_maxSuspensionTravelCm; |
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| 62 | btScalar getSuspensionRestLength() const; |
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| 63 | btScalar m_wheelsRadius;//const |
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| 64 | btScalar m_suspensionStiffness;//const |
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| 65 | btScalar m_wheelsDampingCompression;//const |
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| 66 | btScalar m_wheelsDampingRelaxation;//const |
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| 67 | btScalar m_frictionSlip; |
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| 68 | btScalar m_steering; |
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| 69 | btScalar m_rotation; |
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| 70 | btScalar m_deltaRotation; |
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| 71 | btScalar m_rollInfluence; |
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| 72 | btScalar m_maxSuspensionForce; |
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| 73 | |
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| 74 | btScalar m_engineForce; |
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| 75 | |
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| 76 | btScalar m_brake; |
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| 77 | |
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| 78 | bool m_bIsFrontWheel; |
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| 79 | |
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| 80 | void* m_clientInfo;//can be used to store pointer to sync transforms... |
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| 81 | |
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| 82 | btWheelInfo(btWheelInfoConstructionInfo& ci) |
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| 83 | |
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| 84 | { |
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| 85 | |
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| 86 | m_suspensionRestLength1 = ci.m_suspensionRestLength; |
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| 87 | m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm; |
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| 88 | |
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| 89 | m_wheelsRadius = ci.m_wheelRadius; |
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| 90 | m_suspensionStiffness = ci.m_suspensionStiffness; |
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| 91 | m_wheelsDampingCompression = ci.m_wheelsDampingCompression; |
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| 92 | m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation; |
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| 93 | m_chassisConnectionPointCS = ci.m_chassisConnectionCS; |
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| 94 | m_wheelDirectionCS = ci.m_wheelDirectionCS; |
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| 95 | m_wheelAxleCS = ci.m_wheelAxleCS; |
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| 96 | m_frictionSlip = ci.m_frictionSlip; |
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| 97 | m_steering = btScalar(0.); |
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| 98 | m_engineForce = btScalar(0.); |
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| 99 | m_rotation = btScalar(0.); |
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| 100 | m_deltaRotation = btScalar(0.); |
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| 101 | m_brake = btScalar(0.); |
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| 102 | m_rollInfluence = btScalar(0.1); |
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| 103 | m_bIsFrontWheel = ci.m_bIsFrontWheel; |
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| 104 | m_maxSuspensionForce = ci.m_maxSuspensionForce; |
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| 105 | |
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| 106 | } |
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| 107 | |
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| 108 | void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo); |
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| 109 | |
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| 110 | btScalar m_clippedInvContactDotSuspension; |
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| 111 | btScalar m_suspensionRelativeVelocity; |
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| 112 | //calculated by suspension |
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| 113 | btScalar m_wheelsSuspensionForce; |
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| 114 | btScalar m_skidInfo; |
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| 115 | |
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| 116 | }; |
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| 117 | |
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| 118 | #endif //BT_WHEEL_INFO_H |
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| 119 | |
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