Bullet Collision Detection & Physics Library
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 
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