Changeset 2908 for code/branches/questsystem5/src/bullet/BulletDynamics/Vehicle

Timestamp:

Apr 8, 2009, 12:58:47 AM (15 years ago)

Author:

dafrick

Message:

Reverted to revision 2906 (because I'm too stupid to merge correctly, 2nd try will follow shortly. )

Location:

code/branches/questsystem5

Files:

• . (modified) (1 prop)
• src/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp (modified) (8 diffs)
• src/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h (modified) (4 diffs)

code/branches/questsystem5/src/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -20 +20 @@
 #include "btWheelInfo.h"
 #include "LinearMath/btMinMax.h"
-#include "LinearMath/btIDebugDraw.h"
+
+
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
@@ -26 +27 @@
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,  btVehicleRaycaster* raycaster )
-:m_vehicleRaycaster(raycaster),
+: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE),
+m_vehicleRaycaster(raycaster),
 m_pitchControl(btScalar(0.))
 {
@@ -86 +88 @@
 const btTransform&      btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
 {
-        btAssert(wheelIndex < getNumWheels());
+        assert(wheelIndex < getNumWheels());
         const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
         return wheel.m_worldTransform;
@@ -174 +176 @@
         btVehicleRaycaster::btVehicleRaycasterResult    rayResults;
 
-        btAssert(m_vehicleRaycaster);
+        assert(m_vehicleRaycaster);
 
         void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
@@ -358 +360 @@
 void    btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
 {
-        btAssert(wheel>=0 && wheel < getNumWheels());
+        assert(wheel>=0 && wheel < getNumWheels());
 
         btWheelInfo& wheelInfo = getWheelInfo(wheel);
@@ -374 +376 @@
 void    btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
 {
-        btAssert(wheel>=0 && wheel < getNumWheels());
+        assert(wheel>=0 && wheel < getNumWheels());
         btWheelInfo& wheelInfo = getWheelInfo(wheel);
         wheelInfo.m_engineForce = force;
@@ -703 +705 @@
 
 
-
-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)
 {
@@ -756 +728 @@
         return 0;
 }
-

code/branches/questsystem5/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 btActionInterface
+class btRaycastVehicle : public btTypedConstraint
 {
 
@@ -75 +74 @@
         virtual ~btRaycastVehicle() ;
 
-
-        ///btActionInterface interface
-        virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
-        {
-                updateVehicle(step);
-        }
-        
-
-        ///btActionInterface interface
-        void    debugDraw(btIDebugDraw* debugDrawer);
-                        
+                
         const btTransform& getChassisWorldTransform() const;
         
@@ -91 +80 @@
 
         virtual void updateVehicle(btScalar step);
-        
-        
+
         void resetSuspension();
 
@@ -188 +176 @@
         }
 
+        virtual void    buildJacobian()
+        {
+                //not yet
+        }
+
+        virtual void    solveConstraint(btScalar        timeStep)
+        {
+                (void)timeStep;
+                //not yet
+        }