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Viewing changes to tests/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h

  • Committer: Package Import Robot
  • Author(s): Sylvestre Ledru
  • Date: 2013-05-02 13:11:51 UTC
  • Revision ID: package-import@ubuntu.com-20130502131151-q8dvteqr1ef2x7xz
Tags: upstream-1.4.1~20130504~adb56cb
Import upstream version 1.4.1~20130504~adb56cb

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tests/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h
 
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/*
 
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 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
 
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 *
 
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 * Permission to use, copy, modify, distribute and sell this software
 
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 * and its documentation for any purpose is hereby granted without fee,
 
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 * provided that the above copyright notice appear in all copies.
 
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 * Erwin Coumans makes no representations about the suitability 
 
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 * of this software for any purpose.  
 
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 * It is provided "as is" without express or implied warranty.
 
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*/
 
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#ifndef BT_WHEEL_INFO_H
 
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#define BT_WHEEL_INFO_H
 
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#include "LinearMath/btVector3.h"
 
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#include "LinearMath/btTransform.h"
 
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class btRigidBody;
 
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struct btWheelInfoConstructionInfo
 
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{
 
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        btVector3       m_chassisConnectionCS;
 
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        btVector3       m_wheelDirectionCS;
 
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        btVector3       m_wheelAxleCS;
 
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        btScalar        m_suspensionRestLength;
 
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        btScalar        m_maxSuspensionTravelCm;
 
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        btScalar        m_wheelRadius;
 
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        btScalar                m_suspensionStiffness;
 
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        btScalar                m_wheelsDampingCompression;
 
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        btScalar                m_wheelsDampingRelaxation;
 
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        btScalar                m_frictionSlip;
 
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        btScalar                m_maxSuspensionForce;
 
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        bool m_bIsFrontWheel;
 
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};
 
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/// btWheelInfo contains information per wheel about friction and suspension.
 
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struct btWheelInfo
 
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{
 
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        struct RaycastInfo
 
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        {
 
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                //set by raycaster
 
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                btVector3       m_contactNormalWS;//contactnormal
 
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                btVector3       m_contactPointWS;//raycast hitpoint
 
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                btScalar        m_suspensionLength;
 
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                btVector3       m_hardPointWS;//raycast starting point
 
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                btVector3       m_wheelDirectionWS; //direction in worldspace
 
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                btVector3       m_wheelAxleWS; // axle in worldspace
 
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                bool            m_isInContact;
 
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                void*           m_groundObject; //could be general void* ptr
 
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        };
 
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        RaycastInfo     m_raycastInfo;
 
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        btTransform     m_worldTransform;
 
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        btVector3       m_chassisConnectionPointCS; //const
 
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        btVector3       m_wheelDirectionCS;//const
 
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        btVector3       m_wheelAxleCS; // const or modified by steering
 
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        btScalar        m_suspensionRestLength1;//const
 
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        btScalar        m_maxSuspensionTravelCm;
 
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        btScalar getSuspensionRestLength() const;
 
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        btScalar        m_wheelsRadius;//const
 
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        btScalar        m_suspensionStiffness;//const
 
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        btScalar        m_wheelsDampingCompression;//const
 
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        btScalar        m_wheelsDampingRelaxation;//const
 
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        btScalar        m_frictionSlip;
 
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        btScalar        m_steering;
 
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        btScalar        m_rotation;
 
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        btScalar        m_deltaRotation;
 
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        btScalar        m_rollInfluence;
 
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        btScalar        m_maxSuspensionForce;
 
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        btScalar        m_engineForce;
 
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        btScalar        m_brake;
 
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        bool m_bIsFrontWheel;
 
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        void*           m_clientInfo;//can be used to store pointer to sync transforms...
 
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        btWheelInfo(btWheelInfoConstructionInfo& ci)
 
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        {
 
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                m_suspensionRestLength1 = ci.m_suspensionRestLength;
 
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                m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
 
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                m_wheelsRadius = ci.m_wheelRadius;
 
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                m_suspensionStiffness = ci.m_suspensionStiffness;
 
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                m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
 
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                m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
 
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                m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
 
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                m_wheelDirectionCS = ci.m_wheelDirectionCS;
 
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                m_wheelAxleCS = ci.m_wheelAxleCS;
 
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                m_frictionSlip = ci.m_frictionSlip;
 
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                m_steering = btScalar(0.);
 
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                m_engineForce = btScalar(0.);
 
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                m_rotation = btScalar(0.);
 
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                m_deltaRotation = btScalar(0.);
 
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                m_brake = btScalar(0.);
 
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                m_rollInfluence = btScalar(0.1);
 
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                m_bIsFrontWheel = ci.m_bIsFrontWheel;
 
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                m_maxSuspensionForce = ci.m_maxSuspensionForce;
 
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        }
 
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        void    updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
 
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        btScalar        m_clippedInvContactDotSuspension;
 
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        btScalar        m_suspensionRelativeVelocity;
 
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        //calculated by suspension
 
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        btScalar        m_wheelsSuspensionForce;
 
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        btScalar        m_skidInfo;
 
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};
 
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#endif //BT_WHEEL_INFO_H
 
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