added basic RaycastVehicle support, and CcdPhysicsEnvironment::getAppliedImpulse(int constraintId), this value is useful as treshold to break constraints.

BulletDynamics/Vehicle/RaycastVehicle.h

@@ -0,0 +1,160 @@
+/*
+ * 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 RAYCASTVEHICLE_H
+#define RAYCASTVEHICLE_H
+
+#include "Dynamics/RigidBody.h"
+#include "ConstraintSolver/TypedConstraint.h"
+
+struct MassProps;
+#include "WheelInfo.h"
+
+struct	VehicleRaycaster;
+class VehicleTuning;
+
+///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
+class RaycastVehicle : public TypedConstraint
+{
+public:
+	class VehicleTuning
+		{
+			public:
+
+			VehicleTuning()
+				:m_suspensionStiffness(5.88f),
+				m_suspensionCompression(0.83f),
+				m_suspensionDamping(0.88f),
+				m_maxSuspensionTravelCm(500.f),
+				m_frictionSlip(10.5f)
+			{
+			}
+			float	m_suspensionStiffness;
+			float	m_suspensionCompression;
+			float	m_suspensionDamping;
+			float	m_maxSuspensionTravelCm;
+			float	m_frictionSlip;
+
+		};
+private:
+
+	SimdScalar	m_tau;
+	SimdScalar	m_damping;
+	VehicleRaycaster*	m_vehicleRaycaster;
+	float		m_pitchControl;
+	float	m_steeringValue; 
+	float m_currentVehicleSpeedKmHour;
+
+	RigidBody* m_chassisBody;
+
+	int m_indexRightAxis;
+	int m_indexUpAxis;
+	int	m_indexForwardAxis;
+
+	void DefaultInit(const VehicleTuning& tuning);
+
+public:
+
+	//constructor to create a car from an existing rigidbody
+	RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis,	VehicleRaycaster* raycaster );
+
+	virtual ~RaycastVehicle() ;
+
+		
+
+
+
+	SimdScalar Raycast(WheelInfo& wheel);
+
+	virtual void UpdateVehicle(SimdScalar step);
+
+	void ResetSuspension();
+
+	SimdScalar	GetSteeringValue(int wheel) const;
+
+	void	SetSteeringValue(SimdScalar steering,int wheel);
+
+
+	void	ApplyEngineForce(SimdScalar force, int wheel);
+
+	const SimdTransform&	GetWheelTransformWS( int wheelIndex ) const;
+
+	void	UpdateWheelTransform( int wheelIndex );
+	
+	void	SetRaycastWheelInfo( int wheelIndex , bool isInContact, const SimdVector3& hitPoint, const SimdVector3& hitNormal,SimdScalar depth);
+
+	WheelInfo&	AddWheel( const SimdVector3& connectionPointCS0, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS,SimdScalar suspensionRestLength,SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel);
+
+	inline int		GetNumWheels() const {
+		return m_wheelInfo.size();
+	}
+	
+	std::vector<WheelInfo>	m_wheelInfo;
+
+
+	const WheelInfo&	GetWheelInfo(int index) const;
+
+	WheelInfo&	GetWheelInfo(int index);
+
+	void	UpdateWheelTransformsWS(WheelInfo& wheel );
+
+	
+	void SetBrake(float brake,int wheelIndex);
+
+	void	SetPitchControl(float pitch)
+	{
+		m_pitchControl = pitch;
+	}
+	
+	void	UpdateSuspension(SimdScalar deltaTime);
+
+	void	UpdateFriction(SimdScalar	timeStep);
+
+
+
+	inline RigidBody* GetRigidBody()
+	{
+		return m_chassisBody;
+	}
+
+	const RigidBody* GetRigidBody() const
+	{
+		return m_chassisBody;
+	}
+
+	inline int	GetRightAxis() const
+	{
+		return m_indexRightAxis;
+	}
+	inline int GetUpAxis() const
+	{
+		return m_indexUpAxis;
+	}
+
+	inline int GetForwardAxis() const
+	{
+		return m_indexForwardAxis;
+	}
+
+	virtual void	BuildJacobian()
+	{
+		//not yet
+	}
+
+	virtual	void	SolveConstraint(SimdScalar	timeStep)
+	{
+		//not yet
+	}
+
+
+};
+
+#endif //RAYCASTVEHICLE_H
+