Bullet Collision Detection & Physics Library: btWheelInfo.h Source File

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btWheelInfo.h
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1 /*
2 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
3 *
4 * Permission to use, copy, modify, distribute and sell this software
5 * and its documentation for any purpose is hereby granted without fee,
6 * provided that the above copyright notice appear in all copies.
7 * Erwin Coumans makes no representations about the suitability
8 * of this software for any purpose.
9 * It is provided "as is" without express or implied warranty.
10 */
11 #ifndef BT_WHEEL_INFO_H
12 #define BT_WHEEL_INFO_H
13
14 #include "LinearMath/btVector3.h"
15 #include "LinearMath/btTransform.h"
16
17 class btRigidBody;
18
19 struct btWheelInfoConstructionInfo
20 {
21 btVector3 m_chassisConnectionCS;
22 btVector3 m_wheelDirectionCS;
23 btVector3 m_wheelAxleCS;
24 btScalar m_suspensionRestLength;
25 btScalar m_maxSuspensionTravelCm;
26 btScalar m_wheelRadius;
27
28 btScalar m_suspensionStiffness;
29 btScalar m_wheelsDampingCompression;
30 btScalar m_wheelsDampingRelaxation;
31 btScalar m_frictionSlip;
32 btScalar m_maxSuspensionForce;
33 bool m_bIsFrontWheel;
34
35 };
36
38 struct btWheelInfo
39 {
40 struct RaycastInfo
41 {
42 //set by raycaster
43 btVector3 m_contactNormalWS;//contactnormal
44 btVector3 m_contactPointWS;//raycast hitpoint
45 btScalar m_suspensionLength;
46 btVector3 m_hardPointWS;//raycast starting point
47 btVector3 m_wheelDirectionWS; //direction in worldspace
48 btVector3 m_wheelAxleWS; // axle in worldspace
49 bool m_isInContact;
50 void* m_groundObject; //could be general void* ptr
51 };
52
53 RaycastInfo m_raycastInfo;
54
55 btTransform m_worldTransform;
56
57 btVector3 m_chassisConnectionPointCS; //const
58 btVector3 m_wheelDirectionCS;//const
59 btVector3 m_wheelAxleCS; // const or modified by steering
60 btScalar m_suspensionRestLength1;//const
61 btScalar m_maxSuspensionTravelCm;
62 btScalar getSuspensionRestLength() const;
63 btScalar m_wheelsRadius;//const
64 btScalar m_suspensionStiffness;//const
65 btScalar m_wheelsDampingCompression;//const
66 btScalar m_wheelsDampingRelaxation;//const
67 btScalar m_frictionSlip;
68 btScalar m_steering;
69 btScalar m_rotation;
70 btScalar m_deltaRotation;
71 btScalar m_rollInfluence;
72 btScalar m_maxSuspensionForce;
73
74 btScalar m_engineForce;
75
76 btScalar m_brake;
77
78 bool m_bIsFrontWheel;
79
80 void* m_clientInfo;//can be used to store pointer to sync transforms...
81
82 btWheelInfo(btWheelInfoConstructionInfo& ci)
83
84 {
85
86 m_suspensionRestLength1 = ci.m_suspensionRestLength;
87 m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
88
89 m_wheelsRadius = ci.m_wheelRadius;
90 m_suspensionStiffness = ci.m_suspensionStiffness;
91 m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
92 m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
93 m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
94 m_wheelDirectionCS = ci.m_wheelDirectionCS;
95 m_wheelAxleCS = ci.m_wheelAxleCS;
96 m_frictionSlip = ci.m_frictionSlip;
97 m_steering = btScalar(0.);
98 m_engineForce = btScalar(0.);
99 m_rotation = btScalar(0.);
100 m_deltaRotation = btScalar(0.);
101 m_brake = btScalar(0.);
102 m_rollInfluence = btScalar(0.1);
103 m_bIsFrontWheel = ci.m_bIsFrontWheel;
104 m_maxSuspensionForce = ci.m_maxSuspensionForce;
105
106 }
107
108 void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
109
110 btScalar m_clippedInvContactDotSuspension;
111 btScalar m_suspensionRelativeVelocity;
112 //calculated by suspension
113 btScalar m_wheelsSuspensionForce;
114 btScalar m_skidInfo;
115
116 };
117
118 #endif //BT_WHEEL_INFO_H
119
btWheelInfo::m_worldTransform
btTransform m_worldTransform
Definition: btWheelInfo.h:55
btWheelInfo::RaycastInfo::m_groundObject
void * m_groundObject
Definition: btWheelInfo.h:50
btWheelInfo::RaycastInfo::m_wheelDirectionWS
btVector3 m_wheelDirectionWS
Definition: btWheelInfo.h:47
btVector3.h
btWheelInfo::m_suspensionRelativeVelocity
btScalar m_suspensionRelativeVelocity
Definition: btWheelInfo.h:111
btWheelInfo::m_wheelsSuspensionForce
btScalar m_wheelsSuspensionForce
Definition: btWheelInfo.h:113
btWheelInfo::m_rotation
btScalar m_rotation
Definition: btWheelInfo.h:69
btWheelInfo::m_chassisConnectionPointCS
btVector3 m_chassisConnectionPointCS
Definition: btWheelInfo.h:57
btWheelInfo::m_maxSuspensionTravelCm
btScalar m_maxSuspensionTravelCm
Definition: btWheelInfo.h:61
btWheelInfo::m_frictionSlip
btScalar m_frictionSlip
Definition: btWheelInfo.h:67
btWheelInfo::RaycastInfo
Definition: btWheelInfo.h:40
btWheelInfoConstructionInfo::m_frictionSlip
btScalar m_frictionSlip
Definition: btWheelInfo.h:31
btWheelInfoConstructionInfo::m_suspensionRestLength
btScalar m_suspensionRestLength
Definition: btWheelInfo.h:24
btWheelInfo::RaycastInfo::m_isInContact
bool m_isInContact
Definition: btWheelInfo.h:49
btTransform.h
btWheelInfoConstructionInfo::m_suspensionStiffness
btScalar m_suspensionStiffness
Definition: btWheelInfo.h:28
btWheelInfo
btWheelInfo contains information per wheel about friction and suspension.
Definition: btWheelInfo.h:38
btWheelInfo::RaycastInfo::m_hardPointWS
btVector3 m_hardPointWS
Definition: btWheelInfo.h:46
btWheelInfo::m_suspensionStiffness
btScalar m_suspensionStiffness
Definition: btWheelInfo.h:64
btWheelInfo::m_wheelDirectionCS
btVector3 m_wheelDirectionCS
Definition: btWheelInfo.h:58
btWheelInfo::m_wheelsRadius
btScalar m_wheelsRadius
Definition: btWheelInfo.h:63
btWheelInfoConstructionInfo::m_wheelsDampingCompression
btScalar m_wheelsDampingCompression
Definition: btWheelInfo.h:29
btWheelInfo::m_steering
btScalar m_steering
Definition: btWheelInfo.h:68
btWheelInfo::m_maxSuspensionForce
btScalar m_maxSuspensionForce
Definition: btWheelInfo.h:72
btRigidBody
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:62
btWheelInfo::m_wheelsDampingCompression
btScalar m_wheelsDampingCompression
Definition: btWheelInfo.h:65
btWheelInfoConstructionInfo::m_wheelRadius
btScalar m_wheelRadius
Definition: btWheelInfo.h:26
btWheelInfo::m_clientInfo
void * m_clientInfo
Definition: btWheelInfo.h:80
btWheelInfo::m_deltaRotation
btScalar m_deltaRotation
Definition: btWheelInfo.h:70
btWheelInfoConstructionInfo::m_bIsFrontWheel
bool m_bIsFrontWheel
Definition: btWheelInfo.h:33
btWheelInfoConstructionInfo::m_wheelsDampingRelaxation
btScalar m_wheelsDampingRelaxation
Definition: btWheelInfo.h:30
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:83
btWheelInfo::m_wheelAxleCS
btVector3 m_wheelAxleCS
Definition: btWheelInfo.h:59
btWheelInfo::m_rollInfluence
btScalar m_rollInfluence
Definition: btWheelInfo.h:71
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:34
btWheelInfoConstructionInfo::m_maxSuspensionTravelCm
btScalar m_maxSuspensionTravelCm
Definition: btWheelInfo.h:25
btWheelInfo::m_wheelsDampingRelaxation
btScalar m_wheelsDampingRelaxation
Definition: btWheelInfo.h:66
btWheelInfo::m_raycastInfo
RaycastInfo m_raycastInfo
Definition: btWheelInfo.h:53
btWheelInfoConstructionInfo
Definition: btWheelInfo.h:19
btWheelInfo::m_clippedInvContactDotSuspension
btScalar m_clippedInvContactDotSuspension
Definition: btWheelInfo.h:110
btWheelInfo::m_brake
btScalar m_brake
Definition: btWheelInfo.h:76
btWheelInfo::m_skidInfo
btScalar m_skidInfo
Definition: btWheelInfo.h:114
btWheelInfo::m_bIsFrontWheel
bool m_bIsFrontWheel
Definition: btWheelInfo.h:78
btWheelInfoConstructionInfo::m_wheelDirectionCS
btVector3 m_wheelDirectionCS
Definition: btWheelInfo.h:22
btWheelInfo::m_suspensionRestLength1
btScalar m_suspensionRestLength1
Definition: btWheelInfo.h:60
btWheelInfo::RaycastInfo::m_contactNormalWS
btVector3 m_contactNormalWS
Definition: btWheelInfo.h:43
btWheelInfoConstructionInfo::m_maxSuspensionForce
btScalar m_maxSuspensionForce
Definition: btWheelInfo.h:32
btWheelInfo::RaycastInfo::m_wheelAxleWS
btVector3 m_wheelAxleWS
Definition: btWheelInfo.h:48
btWheelInfo::m_engineForce
btScalar m_engineForce
Definition: btWheelInfo.h:74
btWheelInfoConstructionInfo::m_wheelAxleCS
btVector3 m_wheelAxleCS
Definition: btWheelInfo.h:23
btWheelInfo::RaycastInfo::m_contactPointWS
btVector3 m_contactPointWS
Definition: btWheelInfo.h:44
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:278
btWheelInfo::btWheelInfo
btWheelInfo(btWheelInfoConstructionInfo &ci)
Definition: btWheelInfo.h:82
btWheelInfo::RaycastInfo::m_suspensionLength
btScalar m_suspensionLength
Definition: btWheelInfo.h:45
btWheelInfoConstructionInfo::m_chassisConnectionCS
btVector3 m_chassisConnectionCS
Definition: btWheelInfo.h:21