1 files changed, 167 insertions, 0 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
new file mode 100644
index 00000000000..8468bc52016
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+++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h
@@ -0,0 +1,167 @@
+/*
+ * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ *
+ * Permission to use, copy, modify, distribute and sell this software
+ * and its documentation for any purpose is hereby granted without fee,
+ * provided that the above copyright notice appear in all copies.
+ * Erwin Coumans makes no representations about the suitability 
+ * of this software for any purpose.  
+ * It is provided "as is" without express or implied warranty.
+*/
+#ifndef RAYCASTVEHICLE_H
+#define RAYCASTVEHICLE_H
+
+#include "BulletDynamics/Dynamics/btRigidBody.h"
+#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
+
+
+#include "btWheelInfo.h"
+
+struct	btVehicleRaycaster;
+class btVehicleTuning;
+
+///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
+class btRaycastVehicle : public btTypedConstraint
+{
+public:
+	class btVehicleTuning
+		{
+			public:
+
+			btVehicleTuning()
+				:m_suspensionStiffness(5.88f),
+				m_suspensionCompression(0.83f),
+				m_suspensionDamping(0.88f),
+				m_maxSuspensionTravelCm(500.f),
+				m_frictionSlip(10.5f)
+			{
+			}
+			float	m_suspensionStiffness;
+			float	m_suspensionCompression;
+			float	m_suspensionDamping;
+			float	m_maxSuspensionTravelCm;
+			float	m_frictionSlip;
+
+		};
+private:
+
+	btScalar	m_tau;
+	btScalar	m_damping;
+	btVehicleRaycaster*	m_vehicleRaycaster;
+	float		m_pitchControl;
+	float	m_steeringValue; 
+	float m_currentVehicleSpeedKmHour;
+
+	btRigidBody* m_chassisBody;
+
+	int m_indexRightAxis;
+	int m_indexUpAxis;
+	int	m_indexForwardAxis;
+
+	void defaultInit(const btVehicleTuning& tuning);
+
+public:
+
+	//constructor to create a car from an existing rigidbody
+	btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,	btVehicleRaycaster* raycaster );
+
+	virtual ~btRaycastVehicle() ;
+
+		
+
+
+
+	btScalar rayCast(btWheelInfo& wheel);
+
+	virtual void updateVehicle(btScalar step);
+
+	void resetSuspension();
+
+	btScalar	getSteeringValue(int wheel) const;
+
+	void	setSteeringValue(btScalar steering,int wheel);
+
+
+	void	applyEngineForce(btScalar force, int wheel);
+
+	const btTransform&	getWheelTransformWS( int wheelIndex ) const;
+
+	void	updateWheelTransform( int wheelIndex );
+	
+	void	setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+
+	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
+
+	inline int		getNumWheels() const {
+		return m_wheelInfo.size();
+	}
+	
+	std::vector<btWheelInfo>	m_wheelInfo;
+
+
+	const btWheelInfo&	getWheelInfo(int index) const;
+
+	btWheelInfo&	getWheelInfo(int index);
+
+	void	updateWheelTransformsWS(btWheelInfo& wheel );
+
+	
+	void setBrake(float brake,int wheelIndex);
+
+	void	setPitchControl(float pitch)
+	{
+		m_pitchControl = pitch;
+	}
+	
+	void	updateSuspension(btScalar deltaTime);
+
+	void	updateFriction(btScalar	timeStep);
+
+
+
+	inline btRigidBody* getRigidBody()
+	{
+		return m_chassisBody;
+	}
+
+	const btRigidBody* getRigidBody() const
+	{
+		return m_chassisBody;
+	}
+
+	inline int	getRightAxis() const
+	{
+		return m_indexRightAxis;
+	}
+	inline int getUpAxis() const
+	{
+		return m_indexUpAxis;
+	}
+
+	inline int getForwardAxis() const
+	{
+		return m_indexForwardAxis;
+	}
+
+	virtual void	setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_indexRightAxis = rightIndex;
+		m_indexUpAxis = upIndex;
+		m_indexForwardAxis = forwardIndex;
+	}
+
+	virtual void	buildJacobian()
+	{
+		//not yet
+	}
+
+	virtual	void	solveConstraint(btScalar	timeStep)
+	{
+		//not yet
+	}
+
+
+};
+
+#endif //RAYCASTVEHICLE_H
+