Bullet Collision Detection & Physics Library
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btRaycastVehicle Class Reference

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

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:
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Collaboration diagram for btRaycastVehicle:
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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 35 of file btRaycastVehicle.cpp.

◆ ~btRaycastVehicle()

btRaycastVehicle::~btRaycastVehicle ( )
virtual

Definition at line 57 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 65 of file btRaycastVehicle.cpp.

◆ applyEngineForce()

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

Definition at line 383 of file btRaycastVehicle.cpp.

◆ debugDraw()

void btRaycastVehicle::debugDraw ( btIDebugDraw * debugDrawer)
virtual

btActionInterface interface

Implements btActionInterface.

Definition at line 720 of file btRaycastVehicle.cpp.

◆ defaultInit()

void btRaycastVehicle::defaultInit ( const btVehicleTuning & tuning)
private

Definition at line 47 of file btRaycastVehicle.cpp.

◆ getChassisWorldTransform()

const btTransform & btRaycastVehicle::getChassisWorldTransform ( ) const

Definition at line 253 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 183 of file btRaycastVehicle.h.

◆ getForwardAxis()

int btRaycastVehicle::getForwardAxis ( ) const
inline

Definition at line 163 of file btRaycastVehicle.h.

◆ getForwardVector()

btVector3 btRaycastVehicle::getForwardVector ( ) const
inline

Worldspace forward vector.

Definition at line 170 of file btRaycastVehicle.h.

◆ getNumWheels()

int btRaycastVehicle::getNumWheels ( ) const
inline

Definition at line 117 of file btRaycastVehicle.h.

◆ getRightAxis()

int btRaycastVehicle::getRightAxis ( ) const
inline

Definition at line 154 of file btRaycastVehicle.h.

◆ getRigidBody() [1/2]

btRigidBody * btRaycastVehicle::getRigidBody ( )
inline

Definition at line 144 of file btRaycastVehicle.h.

◆ getRigidBody() [2/2]

const btRigidBody * btRaycastVehicle::getRigidBody ( ) const
inline

Definition at line 149 of file btRaycastVehicle.h.

◆ getSteeringValue()

btScalar btRaycastVehicle::getSteeringValue ( int wheel) const

Definition at line 377 of file btRaycastVehicle.cpp.

◆ getUpAxis()

int btRaycastVehicle::getUpAxis ( ) const
inline

Definition at line 158 of file btRaycastVehicle.h.

◆ getUserConstraintId()

int btRaycastVehicle::getUserConstraintId ( ) const
inline

Definition at line 212 of file btRaycastVehicle.h.

◆ getUserConstraintType()

int btRaycastVehicle::getUserConstraintType ( ) const
inline

backwards compatibility

Definition at line 197 of file btRaycastVehicle.h.

◆ getWheelInfo() [1/2]

btWheelInfo & btRaycastVehicle::getWheelInfo ( int index)

Definition at line 398 of file btRaycastVehicle.cpp.

◆ getWheelInfo() [2/2]

const btWheelInfo & btRaycastVehicle::getWheelInfo ( int index) const

Definition at line 391 of file btRaycastVehicle.cpp.

◆ getWheelTransformWS()

const btTransform & btRaycastVehicle::getWheelTransformWS ( int wheelIndex) const

Definition at line 95 of file btRaycastVehicle.cpp.

◆ rayCast()

btScalar btRaycastVehicle::rayCast ( btWheelInfo & wheel)

Definition at line 167 of file btRaycastVehicle.cpp.

◆ resetSuspension()

void btRaycastVehicle::resetSuspension ( )

Definition at line 136 of file btRaycastVehicle.cpp.

◆ setBrake()

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

Definition at line 405 of file btRaycastVehicle.cpp.

◆ setCoordinateSystem()

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

Definition at line 188 of file btRaycastVehicle.h.

◆ setPitchControl()

void btRaycastVehicle::setPitchControl ( btScalar pitch)
inline

Definition at line 133 of file btRaycastVehicle.h.

◆ setSteeringValue()

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

Definition at line 367 of file btRaycastVehicle.cpp.

◆ setUserConstraintId()

void btRaycastVehicle::setUserConstraintId ( int uid)
inline

Definition at line 207 of file btRaycastVehicle.h.

◆ setUserConstraintType()

void btRaycastVehicle::setUserConstraintType ( int userConstraintType)
inline

Definition at line 202 of file btRaycastVehicle.h.

◆ updateAction()

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

btActionInterface interface

Implements btActionInterface.

Definition at line 83 of file btRaycastVehicle.h.

◆ updateFriction()

void btRaycastVehicle::updateFriction ( btScalar timeStep)
virtual

Definition at line 527 of file btRaycastVehicle.cpp.

◆ updateSuspension()

void btRaycastVehicle::updateSuspension ( btScalar deltaTime)

Definition at line 412 of file btRaycastVehicle.cpp.

◆ updateVehicle()

void btRaycastVehicle::updateVehicle ( btScalar step)
virtual

Definition at line 268 of file btRaycastVehicle.cpp.

◆ updateWheelTransform()

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

Definition at line 103 of file btRaycastVehicle.cpp.

◆ updateWheelTransformsWS()

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

Definition at line 152 of file btRaycastVehicle.cpp.

Member Data Documentation

◆ m_axle

btAlignedObjectArray<btVector3> btRaycastVehicle::m_axle
private

Definition at line 29 of file btRaycastVehicle.h.

◆ m_chassisBody

btRigidBody* btRaycastVehicle::m_chassisBody
private

Definition at line 66 of file btRaycastVehicle.h.

◆ m_currentVehicleSpeedKmHour

btScalar btRaycastVehicle::m_currentVehicleSpeedKmHour
private

Definition at line 64 of file btRaycastVehicle.h.

◆ m_forwardImpulse

btAlignedObjectArray<btScalar> btRaycastVehicle::m_forwardImpulse
private

Definition at line 30 of file btRaycastVehicle.h.

◆ m_forwardWS

btAlignedObjectArray<btVector3> btRaycastVehicle::m_forwardWS
private

Definition at line 28 of file btRaycastVehicle.h.

◆ m_indexForwardAxis

int btRaycastVehicle::m_indexForwardAxis
private

Definition at line 70 of file btRaycastVehicle.h.

◆ m_indexRightAxis

int btRaycastVehicle::m_indexRightAxis
private

Definition at line 68 of file btRaycastVehicle.h.

◆ m_indexUpAxis

int btRaycastVehicle::m_indexUpAxis
private

Definition at line 69 of file btRaycastVehicle.h.

◆ m_pitchControl

btScalar btRaycastVehicle::m_pitchControl
private

Definition at line 62 of file btRaycastVehicle.h.

◆ m_sideImpulse

btAlignedObjectArray<btScalar> btRaycastVehicle::m_sideImpulse
private

Definition at line 31 of file btRaycastVehicle.h.

◆ m_steeringValue

btScalar btRaycastVehicle::m_steeringValue
private

Definition at line 63 of file btRaycastVehicle.h.

◆ m_userConstraintId

int btRaycastVehicle::m_userConstraintId
private

Definition at line 35 of file btRaycastVehicle.h.

◆ m_userConstraintType

int btRaycastVehicle::m_userConstraintType
private

backwards compatibility

Definition at line 34 of file btRaycastVehicle.h.

◆ m_vehicleRaycaster

btVehicleRaycaster* btRaycastVehicle::m_vehicleRaycaster
private

Definition at line 61 of file btRaycastVehicle.h.

◆ m_wheelInfo

btAlignedObjectArray<btWheelInfo> btRaycastVehicle::m_wheelInfo

Definition at line 121 of file btRaycastVehicle.h.

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