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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* 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_WHEEL_INFO_H
#define BT_WHEEL_INFO_H
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
class btRigidBody;
struct btWheelInfoConstructionInfo
{
btVector3 m_chassisConnectionCS;
btVector3 m_wheelDirectionCS;
btVector3 m_wheelAxleCS;
btScalar m_suspensionRestLength;
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
btScalar m_suspensionStiffness;
btScalar m_wheelsDampingCompression;
btScalar m_wheelsDampingRelaxation;
btScalar m_frictionSlip;
btScalar m_maxSuspensionForce;
bool m_bIsFrontWheel;
};
/// btWheelInfo contains information per wheel about friction and suspension.
struct btWheelInfo
{
struct RaycastInfo
{
//set by raycaster
btVector3 m_contactNormalWS; //contactnormal
btVector3 m_contactPointWS; //raycast hitpoint
btScalar m_suspensionLength;
btVector3 m_hardPointWS; //raycast starting point
btVector3 m_wheelDirectionWS; //direction in worldspace
btVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
};
RaycastInfo m_raycastInfo;
btTransform m_worldTransform;
btVector3 m_chassisConnectionPointCS; //const
btVector3 m_wheelDirectionCS; //const
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1; //const
btScalar m_maxSuspensionTravelCm;
btScalar getSuspensionRestLength() const;
btScalar m_wheelsRadius; //const
btScalar m_suspensionStiffness; //const
btScalar m_wheelsDampingCompression; //const
btScalar m_wheelsDampingRelaxation; //const
btScalar m_frictionSlip;
btScalar m_steering;
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
btScalar m_maxSuspensionForce;
btScalar m_engineForce;
btScalar m_brake;
bool m_bIsFrontWheel;
void* m_clientInfo; //can be used to store pointer to sync transforms...
btWheelInfo() {}
btWheelInfo(btWheelInfoConstructionInfo& ci)
{
m_suspensionRestLength1 = ci.m_suspensionRestLength;
m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
m_wheelsRadius = ci.m_wheelRadius;
m_suspensionStiffness = ci.m_suspensionStiffness;
m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
m_wheelDirectionCS = ci.m_wheelDirectionCS;
m_wheelAxleCS = ci.m_wheelAxleCS;
m_frictionSlip = ci.m_frictionSlip;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;
m_maxSuspensionForce = ci.m_maxSuspensionForce;
}
void updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo);
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;
//calculated by suspension
btScalar m_wheelsSuspensionForce;
btScalar m_skidInfo;
};
#endif //BT_WHEEL_INFO_H
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