btRaycastVehicle Class Reference

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. More...

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:

Collaboration diagram for btRaycastVehicle:

Classes
class	btVehicleTuning

Public Member Functions
	btRaycastVehicle (const btVehicleTuning &tuning, btRigidBody *chassis, btVehicleRaycaster *raycaster)
virtual	~btRaycastVehicle ()
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar step)
	btActionInterface interface
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
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)
btWheelInfo &	addWheel (const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
int	getNumWheels () const
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)
void	updateSuspension (btScalar deltaTime)
virtual void	updateFriction (btScalar timeStep)
btRigidBody *	getRigidBody ()
const btRigidBody *	getRigidBody () const
int	getRightAxis () const
int	getUpAxis () const
int	getForwardAxis () const
btVector3	getForwardVector () const
	Worldspace forward vector.
btScalar	getCurrentSpeedKmHour () const
	Velocity of vehicle (positive if velocity vector has same direction as foward vector)
virtual void	setCoordinateSystem (int rightIndex, int upIndex, int forwardIndex)
int	getUserConstraintType () const
	backwards compatibility
void	setUserConstraintType (int userConstraintType)
void	setUserConstraintId (int uid)
int	getUserConstraintId () const
Public Member Functions inherited from btActionInterface
virtual	~btActionInterface ()

Public Attributes
btAlignedObjectArray< btWheelInfo >	m_wheelInfo

Private Member Functions
void	defaultInit (const btVehicleTuning &tuning)

Private Attributes
btAlignedObjectArray< btVector3 >	m_forwardWS
btAlignedObjectArray< btVector3 >	m_axle
btAlignedObjectArray< btScalar >	m_forwardImpulse
btAlignedObjectArray< btScalar >	m_sideImpulse
int	m_userConstraintType
	backwards compatibility
int	m_userConstraintId
btVehicleRaycaster *	m_vehicleRaycaster
btScalar	m_pitchControl
btScalar	m_steeringValue
btScalar	m_currentVehicleSpeedKmHour
btRigidBody *	m_chassisBody
int	m_indexRightAxis
int	m_indexUpAxis
int	m_indexForwardAxis

Additional Inherited Members
Static Protected Member Functions inherited from btActionInterface
static btRigidBody &	getFixedBody ()

Detailed Description

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.

Definition at line 25 of file btRaycastVehicle.h.

Constructor & Destructor Documentation

btRaycastVehicle()

btRaycastVehicle::btRaycastVehicle	(	const btVehicleTuning &	tuning,
		btRigidBody *	chassis,
		btVehicleRaycaster *	raycaster
	)

Definition at line 34 of file btRaycastVehicle.cpp.

~btRaycastVehicle()

btRaycastVehicle::~btRaycastVehicle ( )

virtual

Definition at line 52 of file btRaycastVehicle.cpp.

Member Function Documentation

addWheel()

btWheelInfo & btRaycastVehicle::addWheel	(	const btVector3 &	connectionPointCS0,
		const btVector3 &	wheelDirectionCS0,
		const btVector3 &	wheelAxleCS,
		btScalar	suspensionRestLength,
		btScalar	wheelRadius,
		const btVehicleTuning &	tuning,
		bool	isFrontWheel
	)

Definition at line 59 of file btRaycastVehicle.cpp.

applyEngineForce()

void btRaycastVehicle::applyEngineForce	(	btScalar	force,
		int	wheel
	)

Definition at line 357 of file btRaycastVehicle.cpp.

debugDraw()

void btRaycastVehicle::debugDraw ( btIDebugDraw *  debugDrawer )

virtual

btActionInterface interface

Implements btActionInterface.

Definition at line 660 of file btRaycastVehicle.cpp.

defaultInit()

void btRaycastVehicle::defaultInit ( const btVehicleTuning &  tuning )

private

Definition at line 45 of file btRaycastVehicle.cpp.

getChassisWorldTransform()

const btTransform & btRaycastVehicle::getChassisWorldTransform

(

)

const

Definition at line 243 of file btRaycastVehicle.cpp.

getCurrentSpeedKmHour()

btScalar btRaycastVehicle::getCurrentSpeedKmHour ( ) const

inline

Velocity of vehicle (positive if velocity vector has same direction as foward vector)

Definition at line 171 of file btRaycastVehicle.h.

getForwardAxis()

int btRaycastVehicle::getForwardAxis ( ) const

inline

Definition at line 152 of file btRaycastVehicle.h.

getForwardVector()

btVector3 btRaycastVehicle::getForwardVector ( ) const

inline

Worldspace forward vector.

Definition at line 158 of file btRaycastVehicle.h.

getNumWheels()

int btRaycastVehicle::getNumWheels ( ) const

inline

Definition at line 109 of file btRaycastVehicle.h.

getRightAxis()

int btRaycastVehicle::getRightAxis ( ) const

inline

Definition at line 143 of file btRaycastVehicle.h.

getRigidBody() [1/2]

btRigidBody * btRaycastVehicle::getRigidBody ( )

inline

Definition at line 133 of file btRaycastVehicle.h.

getRigidBody() [2/2]

const btRigidBody * btRaycastVehicle::getRigidBody ( ) const

inline

Definition at line 138 of file btRaycastVehicle.h.

getSteeringValue()

btScalar btRaycastVehicle::getSteeringValue

(

int

wheel

)

const

Definition at line 352 of file btRaycastVehicle.cpp.

getUpAxis()

int btRaycastVehicle::getUpAxis ( ) const

inline

Definition at line 147 of file btRaycastVehicle.h.

getUserConstraintId()

int btRaycastVehicle::getUserConstraintId ( ) const

inline

Definition at line 199 of file btRaycastVehicle.h.

getUserConstraintType()

int btRaycastVehicle::getUserConstraintType ( ) const

inline

backwards compatibility

Definition at line 184 of file btRaycastVehicle.h.

getWheelInfo() [1/2]

btWheelInfo & btRaycastVehicle::getWheelInfo

(

int

index

)

Definition at line 371 of file btRaycastVehicle.cpp.

getWheelInfo() [2/2]

const btWheelInfo & btRaycastVehicle::getWheelInfo

(

int

index

)

const

Definition at line 364 of file btRaycastVehicle.cpp.

getWheelTransformWS()

const btTransform & btRaycastVehicle::getWheelTransformWS

(

int

wheelIndex

)

const

Definition at line 85 of file btRaycastVehicle.cpp.

rayCast()

btScalar btRaycastVehicle::rayCast

(

btWheelInfo &

wheel

)

Definition at line 160 of file btRaycastVehicle.cpp.

resetSuspension()

void btRaycastVehicle::resetSuspension

(

)

Definition at line 130 of file btRaycastVehicle.cpp.

setBrake()

void btRaycastVehicle::setBrake	(	btScalar	brake,
		int	wheelIndex
	)

Definition at line 378 of file btRaycastVehicle.cpp.

setCoordinateSystem()

virtual void btRaycastVehicle::setCoordinateSystem ( int  rightIndex, int  upIndex, int  forwardIndex  )

inlinevirtual

Definition at line 176 of file btRaycastVehicle.h.

setPitchControl()

void btRaycastVehicle::setPitchControl ( btScalar  pitch )

inline

Definition at line 124 of file btRaycastVehicle.h.

setSteeringValue()

void btRaycastVehicle::setSteeringValue	(	btScalar	steering,
		int	wheel
	)

Definition at line 344 of file btRaycastVehicle.cpp.

setUserConstraintId()

void btRaycastVehicle::setUserConstraintId ( int  uid )

inline

Definition at line 194 of file btRaycastVehicle.h.

setUserConstraintType()

void btRaycastVehicle::setUserConstraintType ( int  userConstraintType )

inline

Definition at line 189 of file btRaycastVehicle.h.

updateAction()

virtual void btRaycastVehicle::updateAction ( btCollisionWorld *  collisionWorld, btScalar  step  )

inlinevirtual

btActionInterface interface

Implements btActionInterface.

Definition at line 78 of file btRaycastVehicle.h.

updateFriction()

void btRaycastVehicle::updateFriction ( btScalar  timeStep )

virtual

Definition at line 488 of file btRaycastVehicle.cpp.

updateSuspension()

void btRaycastVehicle::updateSuspension

(

btScalar

deltaTime

)

Definition at line 384 of file btRaycastVehicle.cpp.

updateVehicle()

void btRaycastVehicle::updateVehicle ( btScalar  step )

virtual

Definition at line 256 of file btRaycastVehicle.cpp.

updateWheelTransform()

void btRaycastVehicle::updateWheelTransform	(	int	wheelIndex,
		bool	interpolatedTransform = true
	)

Definition at line 92 of file btRaycastVehicle.cpp.

updateWheelTransformsWS()

void btRaycastVehicle::updateWheelTransformsWS	(	btWheelInfo &	wheel,
		bool	interpolatedTransform = true
	)

Definition at line 145 of file btRaycastVehicle.cpp.

Member Data Documentation

m_axle

btAlignedObjectArray<btVector3> btRaycastVehicle::m_axle

private

Definition at line 28 of file btRaycastVehicle.h.

m_chassisBody

btRigidBody* btRaycastVehicle::m_chassisBody

private

Definition at line 63 of file btRaycastVehicle.h.

m_currentVehicleSpeedKmHour

btScalar btRaycastVehicle::m_currentVehicleSpeedKmHour

private

Definition at line 61 of file btRaycastVehicle.h.

m_forwardImpulse

btAlignedObjectArray<btScalar> btRaycastVehicle::m_forwardImpulse

private

Definition at line 29 of file btRaycastVehicle.h.

m_forwardWS

btAlignedObjectArray<btVector3> btRaycastVehicle::m_forwardWS

private

Definition at line 27 of file btRaycastVehicle.h.

m_indexForwardAxis

int btRaycastVehicle::m_indexForwardAxis

private

Definition at line 67 of file btRaycastVehicle.h.

m_indexRightAxis

int btRaycastVehicle::m_indexRightAxis

private

Definition at line 65 of file btRaycastVehicle.h.

m_indexUpAxis

int btRaycastVehicle::m_indexUpAxis

private

Definition at line 66 of file btRaycastVehicle.h.

m_pitchControl

btScalar btRaycastVehicle::m_pitchControl

private

Definition at line 59 of file btRaycastVehicle.h.

m_sideImpulse

btAlignedObjectArray<btScalar> btRaycastVehicle::m_sideImpulse

private

Definition at line 30 of file btRaycastVehicle.h.

m_steeringValue

btScalar btRaycastVehicle::m_steeringValue

private

Definition at line 60 of file btRaycastVehicle.h.

m_userConstraintId

int btRaycastVehicle::m_userConstraintId

private

Definition at line 34 of file btRaycastVehicle.h.

m_userConstraintType

int btRaycastVehicle::m_userConstraintType

private

backwards compatibility

Definition at line 33 of file btRaycastVehicle.h.

m_vehicleRaycaster

btVehicleRaycaster* btRaycastVehicle::m_vehicleRaycaster

private

Definition at line 58 of file btRaycastVehicle.h.

m_wheelInfo

btAlignedObjectArray<btWheelInfo> btRaycastVehicle::m_wheelInfo

Definition at line 114 of file btRaycastVehicle.h.

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The documentation for this class was generated from the following files:

• btRaycastVehicle.h
• btRaycastVehicle.cpp