btRaycastVehicle.h

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/*
 * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
 *
 * 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 BT_RAYCASTVEHICLE_H
#define BT_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;
 
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)),
                          m_maxSuspensionForce(btScalar(6000.))
                {
                }
                btScalar m_suspensionStiffness;
                btScalar m_suspensionCompression;
                btScalar m_suspensionDamping;
                btScalar m_maxSuspensionTravelCm;
                btScalar m_frictionSlip;
                btScalar m_maxSuspensionForce;
        };
 
private:
        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();
 
        virtual void updateAction(btCollisionWorld* collisionWorld, btScalar step)
        {
                (void)collisionWorld;
                updateVehicle(step);
        }
 
        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;
        }
 
        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;
        }
 
        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  //BT_RAYCASTVEHICLE_H