dali-physics/third-party/bullet3/src/BulletDynamics/Vehicle/btWheelInfo.h

   1 /*
   2  * Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
   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 /// btWheelInfo contains information per wheel about friction and suspension.
  37 struct btWheelInfo
  38 {
  39         struct RaycastInfo
  40         {
  41                 //set by raycaster
  42                 btVector3 m_contactNormalWS;  //contactnormal
  43                 btVector3 m_contactPointWS;   //raycast hitpoint
  44                 btScalar m_suspensionLength;
  45                 btVector3 m_hardPointWS;       //raycast starting point
  46                 btVector3 m_wheelDirectionWS;  //direction in worldspace
  47                 btVector3 m_wheelAxleWS;       // axle in worldspace
  48                 bool m_isInContact;
  49                 void* m_groundObject;  //could be general void* ptr
  50         };
  51
  52         RaycastInfo m_raycastInfo;
  53
  54         btTransform m_worldTransform;
  55
  56         btVector3 m_chassisConnectionPointCS;  //const
  57         btVector3 m_wheelDirectionCS;          //const
  58         btVector3 m_wheelAxleCS;               // const or modified by steering
  59         btScalar m_suspensionRestLength1;      //const
  60         btScalar m_maxSuspensionTravelCm;
  61         btScalar getSuspensionRestLength() const;
  62         btScalar m_wheelsRadius;              //const
  63         btScalar m_suspensionStiffness;       //const
  64         btScalar m_wheelsDampingCompression;  //const
  65         btScalar m_wheelsDampingRelaxation;   //const
  66         btScalar m_frictionSlip;
  67         btScalar m_steering;
  68         btScalar m_rotation;
  69         btScalar m_deltaRotation;
  70         btScalar m_rollInfluence;
  71         btScalar m_maxSuspensionForce;
  72
  73         btScalar m_engineForce;
  74
  75         btScalar m_brake;
  76
  77         bool m_bIsFrontWheel;
  78
  79         void* m_clientInfo;  //can be used to store pointer to sync transforms...
  80
  81         btWheelInfo() {}
  82
  83         btWheelInfo(btWheelInfoConstructionInfo& ci)
  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         void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo);
 108
 109         btScalar m_clippedInvContactDotSuspension;
 110         btScalar m_suspensionRelativeVelocity;
 111         //calculated by suspension
 112         btScalar m_wheelsSuspensionForce;
 113         btScalar m_skidInfo;
 114 };
 115
 116 #endif  //BT_WHEEL_INFO_H