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Refactoring: another huge number of changes, renamed methods to start with lower-case.

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This commit is contained in:
ejcoumans
2006-09-28 01:11:16 +00:00
parent d0f09040e9
commit 2b1657b1dd
185 changed files with 2103 additions and 2095 deletions
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126
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -33,11 +33,11 @@ m_pitchControl(0.f)
m_indexRightAxis = 0;
m_indexUpAxis = 2;
m_indexForwardAxis = 1;
DefaultInit(tuning);
defaultInit(tuning);
}
void btRaycastVehicle::DefaultInit(const btVehicleTuning& tuning)
void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
{
m_currentVehicleSpeedKmHour = 0.f;
m_steeringValue = 0.f;
@@ -54,7 +54,7 @@ btRaycastVehicle::~btRaycastVehicle()
//
// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
//
btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
{
btWheelInfoConstructionInfo ci;
@@ -73,29 +73,29 @@ btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, con
m_wheelInfo.push_back( btWheelInfo(ci));
btWheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
UpdateWheelTransformsWS( wheel );
UpdateWheelTransform(GetNumWheels()-1);
updateWheelTransformsWS( wheel );
updateWheelTransform(getNumWheels()-1);
return wheel;
}
const btTransform& btRaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
{
assert(wheelIndex < GetNumWheels());
assert(wheelIndex < getNumWheels());
const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
return wheel.m_worldTransform;
}
void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
void btRaycastVehicle::updateWheelTransform( int wheelIndex )
{
btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
UpdateWheelTransformsWS(wheel);
updateWheelTransformsWS(wheel);
btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
btVector3 fwd = up.cross(right);
@@ -121,7 +121,7 @@ void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
);
}
void btRaycastVehicle::ResetSuspension()
void btRaycastVehicle::resetSuspension()
{
std::vector<btWheelInfo>::iterator wheelIt;
@@ -129,7 +129,7 @@ void btRaycastVehicle::ResetSuspension()
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
btWheelInfo& wheel = *wheelIt;
wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
@@ -138,25 +138,25 @@ void btRaycastVehicle::ResetSuspension()
}
}
void btRaycastVehicle::UpdateWheelTransformsWS(btWheelInfo& wheel )
void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
{
wheel.m_raycastInfo.m_isInContact = false;
const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
}
btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
UpdateWheelTransformsWS( wheel );
updateWheelTransformsWS( wheel );
btScalar depth = -1;
btScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
@@ -167,7 +167,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
void* object = m_vehicleRaycaster->CastRay(source,target,rayResults);
void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
wheel.m_raycastInfo.m_groundObject = 0;
@@ -186,8 +186,8 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
//clamp on max suspension travel
float minSuspensionLength = wheel.GetSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.GetSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
{
wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
@@ -202,9 +202,9 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
btVector3 chassis_velocity_at_contactPoint;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
chassis_velocity_at_contactPoint = GetRigidBody()->getVelocityInLocalPoint(relpos);
chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
@@ -223,7 +223,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
} else
{
//put wheel info as in rest position
wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
wheel.m_clippedInvContactDotSuspension = 1.0f;
@@ -233,18 +233,18 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
}
void btRaycastVehicle::UpdateVehicle( btScalar step )
void btRaycastVehicle::updateVehicle( btScalar step )
{
m_currentVehicleSpeedKmHour = 3.6f * GetRigidBody()->getLinearVelocity().length();
m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
if (forwardW.dot(GetRigidBody()->getLinearVelocity()) < 0.f)
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
{
m_currentVehicleSpeedKmHour *= -1.f;
}
@@ -258,10 +258,10 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
{
btScalar depth;
depth = Raycast( *wheelIt );
depth = rayCast( *wheelIt );
}
UpdateSuspension(step);
updateSuspension(step);
for (wheelIt = m_wheelInfo.begin();
@@ -278,30 +278,30 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
suspensionForce = gMaxSuspensionForce;
}
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
GetRigidBody()->applyImpulse(impulse, relpos);
getRigidBody()->applyImpulse(impulse, relpos);
}
UpdateFriction( step);
updateFriction( step);
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
btWheelInfo& wheel = *wheelIt;
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
if (wheel.m_raycastInfo.m_isInContact)
{
btVector3 fwd (
GetRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
getRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
@@ -325,57 +325,57 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
}
void btRaycastVehicle::SetSteeringValue(btScalar steering,int wheel)
void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
assert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_steering = steering;
}
btScalar btRaycastVehicle::GetSteeringValue(int wheel) const
btScalar btRaycastVehicle::getSteeringValue(int wheel) const
{
return GetWheelInfo(wheel).m_steering;
return getWheelInfo(wheel).m_steering;
}
void btRaycastVehicle::ApplyEngineForce(btScalar force, int wheel)
void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
assert(wheel>=0 && wheel < getNumWheels());
btWheelInfo& wheelInfo = getWheelInfo(wheel);
wheelInfo.m_engineForce = force;
}
const btWheelInfo& btRaycastVehicle::GetWheelInfo(int index) const
const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
{
ASSERT((index >= 0) && (index < GetNumWheels()));
ASSERT((index >= 0) && (index < getNumWheels()));
return m_wheelInfo[index];
}
btWheelInfo& btRaycastVehicle::GetWheelInfo(int index)
btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
{
ASSERT((index >= 0) && (index < GetNumWheels()));
ASSERT((index >= 0) && (index < getNumWheels()));
return m_wheelInfo[index];
}
void btRaycastVehicle::SetBrake(float brake,int wheelIndex)
void btRaycastVehicle::setBrake(float brake,int wheelIndex)
{
ASSERT((wheelIndex >= 0) && (wheelIndex < GetNumWheels()));
GetWheelInfo(wheelIndex).m_brake;
ASSERT((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
getWheelInfo(wheelIndex).m_brake;
}
void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
void btRaycastVehicle::updateSuspension(btScalar deltaTime)
{
btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
for (int w_it=0; w_it<GetNumWheels(); w_it++)
for (int w_it=0; w_it<getNumWheels(); w_it++)
{
btWheelInfo &wheel_info = m_wheelInfo[w_it];
@@ -384,7 +384,7 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
btScalar force;
// Spring
{
btScalar susp_length = wheel_info.GetSuspensionRestLength();
btScalar susp_length = wheel_info.getSuspensionRestLength();
btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
btScalar length_diff = (susp_length - current_length);
@@ -426,11 +426,11 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
}
float sideFrictionStiffness2 = 1.0f;
void btRaycastVehicle::UpdateFriction(btScalar timeStep)
void btRaycastVehicle::updateFriction(btScalar timeStep)
{
//calculate the impulse, so that the wheels don't move sidewards
int numWheel = GetNumWheels();
int numWheel = getNumWheels();
if (!numWheel)
return;
@@ -444,7 +444,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
//collapse all those loops into one!
for (int i=0;i<GetNumWheels();i++)
for (int i=0;i<getNumWheels();i++)
{
btWheelInfo& wheelInfo = m_wheelInfo[i];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
@@ -457,7 +457,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
{
for (int i=0;i<GetNumWheels();i++)
for (int i=0;i<getNumWheels();i++)
{
btWheelInfo& wheelInfo = m_wheelInfo[i];
@@ -467,7 +467,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
if (groundObject)
{
const btTransform& wheelTrans = GetWheelTransformWS( i );
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
axle[i] = btVector3(
@@ -501,7 +501,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
bool sliding = false;
{
for (int wheel =0;wheel <GetNumWheels();wheel++)
for (int wheel =0;wheel <getNumWheels();wheel++)
{
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
@@ -544,7 +544,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
if (sliding)
{
for (int wheel = 0;wheel < GetNumWheels(); wheel++)
for (int wheel = 0;wheel < getNumWheels(); wheel++)
{
if (sideImpulse[wheel] != 0.f)
{
@@ -559,7 +559,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
// apply the impulses
{
for (int wheel = 0;wheel<GetNumWheels() ; wheel++)
for (int wheel = 0;wheel<getNumWheels() ; wheel++)
{
btWheelInfo& wheelInfo = m_wheelInfo[wheel];

56
src/BulletDynamics/Vehicle/btRaycastVehicle.h
View File

@@ -20,7 +20,7 @@ struct btMassProps;
struct btVehicleRaycaster;
class btVehicleTuning;
///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btRaycastVehicle : public btTypedConstraint
{
public:
@@ -58,7 +58,7 @@ private:
int m_indexUpAxis;
int m_indexForwardAxis;
void DefaultInit(const btVehicleTuning& tuning);
void defaultInit(const btVehicleTuning& tuning);
public:
@@ -71,91 +71,91 @@ public:
btScalar Raycast(btWheelInfo& wheel);
btScalar rayCast(btWheelInfo& wheel);
virtual void UpdateVehicle(btScalar step);
virtual void updateVehicle(btScalar step);
void ResetSuspension();
void resetSuspension();
btScalar GetSteeringValue(int wheel) const;
btScalar getSteeringValue(int wheel) const;
void SetSteeringValue(btScalar steering,int wheel);
void setSteeringValue(btScalar steering,int wheel);
void ApplyEngineForce(btScalar force, int wheel);
void applyEngineForce(btScalar force, int wheel);
const btTransform& GetWheelTransformWS( int wheelIndex ) const;
const btTransform& getWheelTransformWS( int wheelIndex ) const;
void UpdateWheelTransform( int wheelIndex );
void updateWheelTransform( int wheelIndex );
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
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);
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int GetNumWheels() const {
inline int getNumWheels() const {
return m_wheelInfo.size();
}
std::vector<btWheelInfo> m_wheelInfo;
const btWheelInfo& GetWheelInfo(int index) const;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& GetWheelInfo(int index);
btWheelInfo& getWheelInfo(int index);
void UpdateWheelTransformsWS(btWheelInfo& wheel );
void updateWheelTransformsWS(btWheelInfo& wheel );
void SetBrake(float brake,int wheelIndex);
void setBrake(float brake,int wheelIndex);
void SetPitchControl(float pitch)
void setPitchControl(float pitch)
{
m_pitchControl = pitch;
}
void UpdateSuspension(btScalar deltaTime);
void updateSuspension(btScalar deltaTime);
void UpdateFriction(btScalar timeStep);
void updateFriction(btScalar timeStep);
inline btRigidBody* GetRigidBody()
inline btRigidBody* getRigidBody()
{
return m_chassisBody;
}
const btRigidBody* GetRigidBody() const
const btRigidBody* getRigidBody() const
{
return m_chassisBody;
}
inline int GetRightAxis() const
inline int getRightAxis() const
{
return m_indexRightAxis;
}
inline int GetUpAxis() const
inline int getUpAxis() const
{
return m_indexUpAxis;
}
inline int GetForwardAxis() const
inline int getForwardAxis() const
{
return m_indexForwardAxis;
}
virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
{
m_indexRightAxis = rightIndex;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
virtual void BuildJacobian()
virtual void buildJacobian()
{
//not yet
}
virtual void SolveConstraint(btScalar timeStep)
virtual void solveConstraint(btScalar timeStep)
{
//not yet
}

2
src/BulletDynamics/Vehicle/btVehicleRaycaster.h
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@@ -27,7 +27,7 @@ virtual ~btVehicleRaycaster()
btScalar m_distFraction;
};
virtual void* CastRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
};

6
src/BulletDynamics/Vehicle/btWheelInfo.cpp
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@@ -12,14 +12,14 @@
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
btScalar btWheelInfo::GetSuspensionRestLength() const
btScalar btWheelInfo::getSuspensionRestLength() const
{
return m_suspensionRestLength1;
}
void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
{
@@ -47,7 +47,7 @@ void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;

4
src/BulletDynamics/Vehicle/btWheelInfo.h
View File

@@ -58,7 +58,7 @@ struct btWheelInfo
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1;//const
btScalar m_maxSuspensionTravelCm;
btScalar GetSuspensionRestLength() const;
btScalar getSuspensionRestLength() const;
btScalar m_wheelsRadius;//const
btScalar m_suspensionStiffness;//const
btScalar m_wheelsDampingCompression;//const
@@ -102,7 +102,7 @@ struct btWheelInfo
}
void UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;