make sure aligned structures/classes use the btAlignedAlloc/btAlignedFree, by overriding the operator new/delete for that struct/class.
integrated some contributions from IBM Germany for libspe2
This commit is contained in:
ejcoumans
@@ -1,201 +1,201 @@
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "btVehicleRaycaster.h"
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class btDynamicsWorld;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWheelInfo.h"
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class btVehicleTuning;
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class btRaycastVehicle : public btTypedConstraint
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{
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public:
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class btVehicleTuning
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{
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public:
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btVehicleTuning()
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:m_suspensionStiffness(btScalar(5.88)),
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m_suspensionCompression(btScalar(0.83)),
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m_suspensionDamping(btScalar(0.88)),
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m_maxSuspensionTravelCm(btScalar(500.)),
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m_frictionSlip(btScalar(10.5))
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{
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}
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btScalar m_suspensionStiffness;
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btScalar m_suspensionCompression;
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btScalar m_suspensionDamping;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_frictionSlip;
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};
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private:
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btScalar m_tau;
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btScalar m_damping;
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btVehicleRaycaster* m_vehicleRaycaster;
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btScalar m_pitchControl;
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btScalar m_steeringValue;
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btScalar m_currentVehicleSpeedKmHour;
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btRigidBody* m_chassisBody;
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int m_indexRightAxis;
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void defaultInit(const btVehicleTuning& tuning);
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public:
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//constructor to create a car from an existing rigidbody
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btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
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virtual ~btRaycastVehicle() ;
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const btTransform& getChassisWorldTransform() const;
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btScalar rayCast(btWheelInfo& wheel);
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virtual void updateVehicle(btScalar step);
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void resetSuspension();
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btScalar getSteeringValue(int wheel) const;
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void setSteeringValue(btScalar steering,int wheel);
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void applyEngineForce(btScalar force, int wheel);
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const btTransform& getWheelTransformWS( int wheelIndex ) const;
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void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
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void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
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btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
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inline int getNumWheels() const {
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return int (m_wheelInfo.size());
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}
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btAlignedObjectArray<btWheelInfo> m_wheelInfo;
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const btWheelInfo& getWheelInfo(int index) const;
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btWheelInfo& getWheelInfo(int index);
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void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
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void setBrake(btScalar brake,int wheelIndex);
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void setPitchControl(btScalar pitch)
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{
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m_pitchControl = pitch;
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}
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void updateSuspension(btScalar deltaTime);
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void updateFriction(btScalar timeStep);
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inline btRigidBody* getRigidBody()
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{
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return m_chassisBody;
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}
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const btRigidBody* getRigidBody() const
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{
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return m_chassisBody;
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}
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inline int getRightAxis() const
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{
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return m_indexRightAxis;
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}
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inline int getUpAxis() const
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{
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return m_indexUpAxis;
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}
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inline int getForwardAxis() const
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{
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return m_indexForwardAxis;
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}
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///Worldspace forward vector
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btVector3 getForwardVector() const
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{
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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return forwardW;
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}
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///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
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btScalar getCurrentSpeedKmHour() const
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{
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return m_currentVehicleSpeedKmHour;
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}
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virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_indexRightAxis = rightIndex;
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m_indexUpAxis = upIndex;
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m_indexForwardAxis = forwardIndex;
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}
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virtual void buildJacobian()
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{
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//not yet
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}
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virtual void solveConstraint(btScalar timeStep)
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{
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(void)timeStep;
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//not yet
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}
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};
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class btDefaultVehicleRaycaster : public btVehicleRaycaster
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{
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btDynamicsWorld* m_dynamicsWorld;
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public:
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btDefaultVehicleRaycaster(btDynamicsWorld* world)
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:m_dynamicsWorld(world)
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{
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}
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virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
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};
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#endif //RAYCASTVEHICLE_H
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef RAYCASTVEHICLE_H
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#define RAYCASTVEHICLE_H
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#include "BulletDynamics/Dynamics/btRigidBody.h"
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#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
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#include "btVehicleRaycaster.h"
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class btDynamicsWorld;
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#include "LinearMath/btAlignedObjectArray.h"
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#include "btWheelInfo.h"
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class btVehicleTuning;
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class btRaycastVehicle : public btTypedConstraint
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{
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public:
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class btVehicleTuning
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{
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public:
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btVehicleTuning()
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:m_suspensionStiffness(btScalar(5.88)),
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m_suspensionCompression(btScalar(0.83)),
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m_suspensionDamping(btScalar(0.88)),
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m_maxSuspensionTravelCm(btScalar(500.)),
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m_frictionSlip(btScalar(10.5))
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{
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}
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btScalar m_suspensionStiffness;
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btScalar m_suspensionCompression;
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btScalar m_suspensionDamping;
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btScalar m_maxSuspensionTravelCm;
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btScalar m_frictionSlip;
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};
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private:
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btScalar m_tau;
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btScalar m_damping;
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btVehicleRaycaster* m_vehicleRaycaster;
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btScalar m_pitchControl;
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btScalar m_steeringValue;
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btScalar m_currentVehicleSpeedKmHour;
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btRigidBody* m_chassisBody;
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int m_indexRightAxis;
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void defaultInit(const btVehicleTuning& tuning);
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public:
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//constructor to create a car from an existing rigidbody
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btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
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virtual ~btRaycastVehicle() ;
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const btTransform& getChassisWorldTransform() const;
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btScalar rayCast(btWheelInfo& wheel);
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virtual void updateVehicle(btScalar step);
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void resetSuspension();
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btScalar getSteeringValue(int wheel) const;
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void setSteeringValue(btScalar steering,int wheel);
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void applyEngineForce(btScalar force, int wheel);
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const btTransform& getWheelTransformWS( int wheelIndex ) const;
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void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
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void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
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btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
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inline int getNumWheels() const {
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return int (m_wheelInfo.size());
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}
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btAlignedObjectArray<btWheelInfo> m_wheelInfo;
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const btWheelInfo& getWheelInfo(int index) const;
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btWheelInfo& getWheelInfo(int index);
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void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
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void setBrake(btScalar brake,int wheelIndex);
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void setPitchControl(btScalar pitch)
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{
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m_pitchControl = pitch;
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}
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void updateSuspension(btScalar deltaTime);
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void updateFriction(btScalar timeStep);
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inline btRigidBody* getRigidBody()
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{
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return m_chassisBody;
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}
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const btRigidBody* getRigidBody() const
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{
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return m_chassisBody;
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}
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inline int getRightAxis() const
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{
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return m_indexRightAxis;
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}
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inline int getUpAxis() const
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{
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return m_indexUpAxis;
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}
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inline int getForwardAxis() const
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{
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return m_indexForwardAxis;
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}
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///Worldspace forward vector
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btVector3 getForwardVector() const
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{
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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return forwardW;
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}
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///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
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btScalar getCurrentSpeedKmHour() const
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{
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return m_currentVehicleSpeedKmHour;
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}
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virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
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{
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m_indexRightAxis = rightIndex;
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m_indexUpAxis = upIndex;
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m_indexForwardAxis = forwardIndex;
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}
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virtual void buildJacobian()
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{
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//not yet
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}
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virtual void solveConstraint(btScalar timeStep)
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{
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(void)timeStep;
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//not yet
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}
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};
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class btDefaultVehicleRaycaster : public btVehicleRaycaster
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{
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btDynamicsWorld* m_dynamicsWorld;
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public:
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btDefaultVehicleRaycaster(btDynamicsWorld* world)
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:m_dynamicsWorld(world)
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{
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}
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virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
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};
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#endif //RAYCASTVEHICLE_H
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