diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h')
-rw-r--r-- | extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h | 57 |
1 files changed, 39 insertions, 18 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h index fa961e468d7..f4249599615 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.h @@ -11,11 +11,11 @@ #ifndef RAYCASTVEHICLE_H #define RAYCASTVEHICLE_H -#include "BulletDynamics/Dynamics/btRigidBody.h" -#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h" +#include "../Dynamics/btRigidBody.h" +#include "../ConstraintSolver/btTypedConstraint.h" #include "btVehicleRaycaster.h" class btDynamicsWorld; -#include "LinearMath/btAlignedObjectArray.h" +#include "../../LinearMath/btAlignedObjectArray.h" #include "btWheelInfo.h" class btVehicleTuning; @@ -29,18 +29,18 @@ public: public: btVehicleTuning() - :m_suspensionStiffness(5.88f), - m_suspensionCompression(0.83f), - m_suspensionDamping(0.88f), - m_maxSuspensionTravelCm(500.f), - m_frictionSlip(10.5f) + :m_suspensionStiffness(btScalar(5.88)), + m_suspensionCompression(btScalar(0.83)), + m_suspensionDamping(btScalar(0.88)), + m_maxSuspensionTravelCm(btScalar(500.)), + m_frictionSlip(btScalar(10.5)) { } - float m_suspensionStiffness; - float m_suspensionCompression; - float m_suspensionDamping; - float m_maxSuspensionTravelCm; - float m_frictionSlip; + btScalar m_suspensionStiffness; + btScalar m_suspensionCompression; + btScalar m_suspensionDamping; + btScalar m_maxSuspensionTravelCm; + btScalar m_frictionSlip; }; private: @@ -48,9 +48,9 @@ private: btScalar m_tau; btScalar m_damping; btVehicleRaycaster* m_vehicleRaycaster; - float m_pitchControl; - float m_steeringValue; - float m_currentVehicleSpeedKmHour; + btScalar m_pitchControl; + btScalar m_steeringValue; + btScalar m_currentVehicleSpeedKmHour; btRigidBody* m_chassisBody; @@ -105,9 +105,9 @@ public: void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true); - void setBrake(float brake,int wheelIndex); + void setBrake(btScalar brake,int wheelIndex); - void setPitchControl(float pitch) + void setPitchControl(btScalar pitch) { m_pitchControl = pitch; } @@ -142,6 +142,26 @@ public: return m_indexForwardAxis; } + + ///Worldspace forward vector + btVector3 getForwardVector() const + { + const btTransform& chassisTrans = getChassisWorldTransform(); + + btVector3 forwardW ( + chassisTrans.getBasis()[0][m_indexForwardAxis], + chassisTrans.getBasis()[1][m_indexForwardAxis], + chassisTrans.getBasis()[2][m_indexForwardAxis]); + + return forwardW; + } + + ///Velocity of vehicle (positive if velocity vector has same direction as foward vector) + btScalar getCurrentSpeedKmHour() const + { + return m_currentVehicleSpeedKmHour; + } + virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) { m_indexRightAxis = rightIndex; @@ -156,6 +176,7 @@ public: virtual void solveConstraint(btScalar timeStep) { + (void)timeStep; //not yet } |