First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

Made all buildsystems to work again (jam, msvc, cmake)
2006-09-25 08:58:57 +00:00
parent 86f5b09623
commit 0e04cfc806
398 changed files with 4135 additions and 7019 deletions
--- a/src/BulletDynamics/Vehicle/btWheelInfo.h
+++ b/src/BulletDynamics/Vehicle/btWheelInfo.h
@@ -0,0 +1,116 @@
+/*
+ * 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 WHEEL_INFO_H
+#define WHEEL_INFO_H
+
+#include "LinearMath/SimdVector3.h"
+#include "LinearMath/SimdTransform.h"
+
+class RigidBody;
+
+struct WheelInfoConstructionInfo
+{
+	SimdVector3	m_chassisConnectionCS;
+	SimdVector3	m_wheelDirectionCS;
+	SimdVector3	m_wheelAxleCS;
+	SimdScalar	m_suspensionRestLength;
+	SimdScalar	m_maxSuspensionTravelCm;
+	SimdScalar	m_wheelRadius;
+	
+	float		m_suspensionStiffness;
+	float		m_wheelsDampingCompression;
+	float		m_wheelsDampingRelaxation;
+	float		m_frictionSlip;
+	bool m_bIsFrontWheel;
+	
+};
+
+/// WheelInfo contains information per wheel about friction and suspension.
+struct WheelInfo
+{
+	struct RaycastInfo
+	{
+		//set by raycaster
+		SimdVector3	m_contactNormalWS;//contactnormal
+		SimdVector3	m_contactPointWS;//raycast hitpoint
+		SimdScalar	m_suspensionLength;
+		SimdVector3	m_hardPointWS;//raycast starting point
+		SimdVector3	m_wheelDirectionWS; //direction in worldspace
+		SimdVector3	m_wheelAxleWS; // axle in worldspace
+		bool		m_isInContact;
+		void*		m_groundObject; //could be general void* ptr
+	};
+
+	RaycastInfo	m_raycastInfo;
+
+	SimdTransform	m_worldTransform;
+	
+	SimdVector3	m_chassisConnectionPointCS; //const
+	SimdVector3	m_wheelDirectionCS;//const
+	SimdVector3	m_wheelAxleCS; // const or modified by steering
+	SimdScalar	m_suspensionRestLength1;//const
+	SimdScalar	m_maxSuspensionTravelCm;
+	SimdScalar GetSuspensionRestLength() const;
+	SimdScalar	m_wheelsRadius;//const
+	SimdScalar	m_suspensionStiffness;//const
+	SimdScalar	m_wheelsDampingCompression;//const
+	SimdScalar	m_wheelsDampingRelaxation;//const
+	SimdScalar	m_frictionSlip;
+	SimdScalar	m_steering;
+	SimdScalar	m_rotation;
+	SimdScalar	m_deltaRotation;
+	SimdScalar	m_rollInfluence;
+
+	SimdScalar	m_engineForce;
+
+	SimdScalar	m_brake;
+	
+	bool m_bIsFrontWheel;
+	
+	void*		m_clientInfo;//can be used to store pointer to sync transforms...
+
+	WheelInfo(WheelInfoConstructionInfo& 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 = 0.f;
+		m_engineForce = 0.f;
+		m_rotation = 0.f;
+		m_deltaRotation = 0.f;
+		m_brake = 0.f;
+		m_rollInfluence = 0.1f;
+		m_bIsFrontWheel = ci.m_bIsFrontWheel;
+
+	}
+
+	void	UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo);
+
+	SimdScalar	m_clippedInvContactDotSuspension;
+	SimdScalar	m_suspensionRelativeVelocity;
+	//calculated by suspension
+	SimdScalar	m_wheelsSuspensionForce;
+	SimdScalar	m_skidInfo;
+
+};
+
+#endif //WHEEL_INFO_H
+