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/*
* 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 "btVehicleRaycaster.h"
class btDynamicsWorld;
#include "LinearMath/btAlignedObjectArray.h"
#include "btWheelInfo.h"
#include "BulletDynamics/Dynamics/btActionInterface.h"
class btVehicleTuning;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btActionInterface
{
btAlignedObjectArray<btVector3> m_forwardWS;
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
btAlignedObjectArray<btScalar> m_sideImpulse;
int m_userConstraintType;
int m_userConstraintId;
public:
class btVehicleTuning
{
public:
btVehicleTuning()
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5))
{
}
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
};
private:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar 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() ;
///btActionInterface interface
virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
{
updateVehicle(step);
}
///btActionInterface interface
void debugDraw(btIDebugDraw* debugDrawer);
const btTransform& getChassisWorldTransform() const;
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, bool interpolatedTransform = true );
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 int (m_wheelInfo.size());
}
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}
void updateSuspension(btScalar deltaTime);
virtual 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;
}
///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;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
int getUserConstraintType() const
{
return m_userConstraintType ;
}
void setUserConstraintType(int userConstraintType)
{
m_userConstraintType = userConstraintType;
};
void setUserConstraintId(int uid)
{
m_userConstraintId = uid;
}
int getUserConstraintId() const
{
return m_userConstraintId;
}
};
class btDefaultVehicleRaycaster : public btVehicleRaycaster
{
btDynamicsWorld* m_dynamicsWorld;
public:
btDefaultVehicleRaycaster(btDynamicsWorld* world)
:m_dynamicsWorld(world)
{
}
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
};
#endif //RAYCASTVEHICLE_H
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