Changeset 2882 for code/trunk/src/bullet/BulletDynamics/Vehicle

Timestamp:

Mar 31, 2009, 8:05:51 PM (16 years ago)

Author:

rgrieder

Message:

Update from Bullet 2.73 to 2.74.

Location:

code/trunk/src/bullet/BulletDynamics/Vehicle

Files:

• btRaycastVehicle.cpp (modified) (8 diffs)
• btRaycastVehicle.h (modified) (4 diffs)

code/trunk/src/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -20 +20 @@
 #include "btWheelInfo.h"
 #include "LinearMath/btMinMax.h"
-
-
+#include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
@@ -27 +26 @@
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,  btVehicleRaycaster* raycaster )
-: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE),
-m_vehicleRaycaster(raycaster),
+:m_vehicleRaycaster(raycaster),
 m_pitchControl(btScalar(0.))
 {
@@ -88 +86 @@
 const btTransform&      btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
 {
-        assert(wheelIndex < getNumWheels());
+        btAssert(wheelIndex < getNumWheels());
         const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
         return wheel.m_worldTransform;
@@ -176 +174 @@
         btVehicleRaycaster::btVehicleRaycasterResult    rayResults;
 
-        assert(m_vehicleRaycaster);
+        btAssert(m_vehicleRaycaster);
 
         void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
@@ -360 +358 @@
 void    btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
 {
-        assert(wheel>=0 && wheel < getNumWheels());
+        btAssert(wheel>=0 && wheel < getNumWheels());
 
         btWheelInfo& wheelInfo = getWheelInfo(wheel);
@@ -376 +374 @@
 void    btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 {
-        assert(wheel>=0 && wheel < getNumWheels());
+        btAssert(wheel>=0 && wheel < getNumWheels());
         btWheelInfo& wheelInfo = getWheelInfo(wheel);
         wheelInfo.m_engineForce = force;
@@ -705 +703 @@
 
 
+
+void    btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
+{
+
+        for (int v=0;v<this->getNumWheels();v++)
+        {
+                btVector3 wheelColor(0,255,255);
+                if (getWheelInfo(v).m_raycastInfo.m_isInContact)
+                {
+                        wheelColor.setValue(0,0,255);
+                } else
+                {
+                        wheelColor.setValue(255,0,255);
+                }
+
+                btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
+
+                btVector3 axle = btVector3(     
+                        getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
+                        getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
+                        getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
+
+                //debug wheels (cylinders)
+                debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
+                debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
+
+        }
+}
+
+
 void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
 {
@@ -728 +756 @@
         return 0;
 }
+

code/trunk/src/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -18 +18 @@
 #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 btTypedConstraint
+class btRaycastVehicle : public btActionInterface
 {
 
@@ -74 +75 @@
         virtual ~btRaycastVehicle() ;
 
-                
+
+        ///btActionInterface interface
+        virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
+        {
+                updateVehicle(step);
+        }
+        
+
+        ///btActionInterface interface
+        void    debugDraw(btIDebugDraw* debugDrawer);
+                        
         const btTransform& getChassisWorldTransform() const;
         
@@ -80 +91 @@
 
         virtual void updateVehicle(btScalar step);
-
+        
+        
         void resetSuspension();
 
@@ -176 +188 @@
         }
 
-        virtual void    buildJacobian()
-        {
-                //not yet
-        }
-
-        virtual void    solveConstraint(btScalar        timeStep)
-        {
-                (void)timeStep;
-                //not yet
-        }