122 lines
3.4 KiB
C++
122 lines
3.4 KiB
C++
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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() {}
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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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