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Ported Bullet to the mod loader system; needs further work
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Robert MacGregor
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353 changed files with 80265 additions and 0 deletions
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "btVehicleRaycaster.h"
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class btDynamicsWorld;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWheelInfo.h"
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#include "BulletDynamics/Dynamics/btActionInterface.h"
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class btVehicleTuning;
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class btRaycastVehicle : public btActionInterface
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{
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btAlignedObjectArray<btVector3> m_forwardWS;
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btAlignedObjectArray<btVector3> m_axle;
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btAlignedObjectArray<btScalar> m_forwardImpulse;
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btAlignedObjectArray<btScalar> m_sideImpulse;
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///backwards compatibility
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int m_userConstraintType;
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int m_userConstraintId;
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public:
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class btVehicleTuning
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{
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public:
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btVehicleTuning()
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:m_suspensionStiffness(btScalar(5.88)),
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m_suspensionCompression(btScalar(0.83)),
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m_suspensionDamping(btScalar(0.88)),
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m_maxSuspensionTravelCm(btScalar(500.)),
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m_frictionSlip(btScalar(10.5)),
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m_maxSuspensionForce(btScalar(6000.))
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{
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}
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btScalar m_suspensionStiffness;
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btScalar m_suspensionCompression;
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btScalar m_suspensionDamping;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_frictionSlip;
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btScalar m_maxSuspensionForce;
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};
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private:
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btScalar m_tau;
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btScalar m_damping;
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btVehicleRaycaster* m_vehicleRaycaster;
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btScalar m_pitchControl;
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btScalar m_steeringValue;
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btScalar m_currentVehicleSpeedKmHour;
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btRigidBody* m_chassisBody;
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int m_indexRightAxis;
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void defaultInit(const btVehicleTuning& tuning);
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public:
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//constructor to create a car from an existing rigidbody
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btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
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virtual ~btRaycastVehicle() ;
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///btActionInterface interface
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virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
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{
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(void) collisionWorld;
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updateVehicle(step);
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}
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///btActionInterface interface
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void debugDraw(btIDebugDraw* debugDrawer);
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const btTransform& getChassisWorldTransform() const;
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btScalar rayCast(btWheelInfo& wheel);
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virtual void updateVehicle(btScalar step);
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void resetSuspension();
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btScalar getSteeringValue(int wheel) const;
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void setSteeringValue(btScalar steering,int wheel);
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void applyEngineForce(btScalar force, int wheel);
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const btTransform& getWheelTransformWS( int wheelIndex ) const;
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void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
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void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
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btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
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inline int getNumWheels() const {
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return int (m_wheelInfo.size());
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}
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btAlignedObjectArray<btWheelInfo> m_wheelInfo;
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const btWheelInfo& getWheelInfo(int index) const;
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btWheelInfo& getWheelInfo(int index);
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void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
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void setBrake(btScalar brake,int wheelIndex);
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void setPitchControl(btScalar pitch)
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{
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m_pitchControl = pitch;
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}
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void updateSuspension(btScalar deltaTime);
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virtual void updateFriction(btScalar timeStep);
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inline btRigidBody* getRigidBody()
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{
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return m_chassisBody;
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}
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const btRigidBody* getRigidBody() const
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{
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return m_chassisBody;
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}
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inline int getRightAxis() const
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{
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return m_indexRightAxis;
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}
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inline int getUpAxis() const
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{
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return m_indexUpAxis;
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}
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inline int getForwardAxis() const
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{
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return m_indexForwardAxis;
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}
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///Worldspace forward vector
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btVector3 getForwardVector() const
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{
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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return forwardW;
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}
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///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
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btScalar getCurrentSpeedKmHour() const
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{
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return m_currentVehicleSpeedKmHour;
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}
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virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_indexRightAxis = rightIndex;
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m_indexUpAxis = upIndex;
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m_indexForwardAxis = forwardIndex;
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}
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///backwards compatibility
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int getUserConstraintType() const
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{
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return m_userConstraintType ;
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}
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void setUserConstraintType(int userConstraintType)
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{
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m_userConstraintType = userConstraintType;
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};
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void setUserConstraintId(int uid)
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{
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m_userConstraintId = uid;
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}
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int getUserConstraintId() const
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{
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return m_userConstraintId;
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}
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};
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class btDefaultVehicleRaycaster : public btVehicleRaycaster
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{
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btDynamicsWorld* m_dynamicsWorld;
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public:
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btDefaultVehicleRaycaster(btDynamicsWorld* world)
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:m_dynamicsWorld(world)
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{
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}
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virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
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};
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#endif //RAYCASTVEHICLE_H
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@ -0,0 +1,35 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef VEHICLE_RAYCASTER_H
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#define VEHICLE_RAYCASTER_H
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#include "LinearMath/btVector3.h"
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/// btVehicleRaycaster is provides interface for between vehicle simulation and raycasting
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struct btVehicleRaycaster
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{
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virtual ~btVehicleRaycaster()
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{
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}
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struct btVehicleRaycasterResult
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{
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btVehicleRaycasterResult() :m_distFraction(btScalar(-1.)){};
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btVector3 m_hitPointInWorld;
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btVector3 m_hitNormalInWorld;
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btScalar m_distFraction;
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};
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virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
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};
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#endif //VEHICLE_RAYCASTER_H
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@ -0,0 +1,119 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef WHEEL_INFO_H
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#define WHEEL_INFO_H
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#include "LinearMath/btVector3.h"
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#include "LinearMath/btTransform.h"
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class btRigidBody;
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struct btWheelInfoConstructionInfo
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{
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btVector3 m_chassisConnectionCS;
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btVector3 m_wheelDirectionCS;
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btVector3 m_wheelAxleCS;
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btScalar m_suspensionRestLength;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_wheelRadius;
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btScalar m_suspensionStiffness;
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btScalar m_wheelsDampingCompression;
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btScalar m_wheelsDampingRelaxation;
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btScalar m_frictionSlip;
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btScalar m_maxSuspensionForce;
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bool m_bIsFrontWheel;
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};
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/// btWheelInfo contains information per wheel about friction and suspension.
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struct btWheelInfo
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{
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struct RaycastInfo
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{
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//set by raycaster
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btVector3 m_contactNormalWS;//contactnormal
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btVector3 m_contactPointWS;//raycast hitpoint
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btScalar m_suspensionLength;
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btVector3 m_hardPointWS;//raycast starting point
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btVector3 m_wheelDirectionWS; //direction in worldspace
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btVector3 m_wheelAxleWS; // axle in worldspace
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bool m_isInContact;
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void* m_groundObject; //could be general void* ptr
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};
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RaycastInfo m_raycastInfo;
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btTransform m_worldTransform;
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btVector3 m_chassisConnectionPointCS; //const
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btVector3 m_wheelDirectionCS;//const
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btVector3 m_wheelAxleCS; // const or modified by steering
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btScalar m_suspensionRestLength1;//const
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btScalar m_maxSuspensionTravelCm;
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btScalar getSuspensionRestLength() const;
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btScalar m_wheelsRadius;//const
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btScalar m_suspensionStiffness;//const
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btScalar m_wheelsDampingCompression;//const
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btScalar m_wheelsDampingRelaxation;//const
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btScalar m_frictionSlip;
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btScalar m_steering;
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btScalar m_rotation;
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btScalar m_deltaRotation;
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btScalar m_rollInfluence;
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btScalar m_maxSuspensionForce;
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btScalar m_engineForce;
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btScalar m_brake;
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bool m_bIsFrontWheel;
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void* m_clientInfo;//can be used to store pointer to sync transforms...
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btWheelInfo(btWheelInfoConstructionInfo& ci)
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{
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m_suspensionRestLength1 = ci.m_suspensionRestLength;
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m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
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m_wheelsRadius = ci.m_wheelRadius;
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m_suspensionStiffness = ci.m_suspensionStiffness;
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m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
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m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
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m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
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m_wheelDirectionCS = ci.m_wheelDirectionCS;
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m_wheelAxleCS = ci.m_wheelAxleCS;
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m_frictionSlip = ci.m_frictionSlip;
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m_steering = btScalar(0.);
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m_engineForce = btScalar(0.);
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m_rotation = btScalar(0.);
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m_deltaRotation = btScalar(0.);
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m_brake = btScalar(0.);
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m_rollInfluence = btScalar(0.1);
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m_bIsFrontWheel = ci.m_bIsFrontWheel;
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m_maxSuspensionForce = ci.m_maxSuspensionForce;
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}
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void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
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btScalar m_clippedInvContactDotSuspension;
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btScalar m_suspensionRelativeVelocity;
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//calculated by suspension
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btScalar m_wheelsSuspensionForce;
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btScalar m_skidInfo;
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};
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#endif //WHEEL_INFO_H
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