enabled the vehicle demo again (still needs lots of tuning before it drives well)

fixed some warnings

src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp

@@ -390,7 +390,7 @@ void	btDiscreteDynamicsWorld::solveNoncontactConstraints(btContactSolverInfo& so
 	BEGIN_PROFILE("solveNoncontactConstraints");
 
 	int i;
-	int numConstraints = m_constraints.size();
+	int numConstraints = int(m_constraints.size());
 
 	///constraint preparation: building jacobians
 	for (i=0;i< numConstraints ; i++ )
@@ -424,7 +424,7 @@ void	btDiscreteDynamicsWorld::calculateSimulationIslands()
 
 	{
 		int i;
-		int numConstraints = m_constraints.size();
+		int numConstraints = int(m_constraints.size());
 		for (i=0;i< numConstraints ; i++ )
 		{
 			btTypedConstraint* constraint = m_constraints[i];
@@ -691,10 +691,10 @@ void btDiscreteDynamicsWorld::debugDrawObject(const btTransform& worldTransform,
 				float radius = coneShape->getRadius();//+coneShape->getMargin();
 				float height = coneShape->getHeight();//+coneShape->getMargin();
 				btVector3 start = worldTransform.getOrigin();
-				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(radius,0,-0.5*height),color);
-				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(-radius,0,-0.5*height),color);
-				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,radius,-0.5*height),color);
-				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0,0,0.5*height),start+worldTransform.getBasis() * btVector3(0,-radius,-0.5*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(radius,0.f,-0.5f*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(-radius,0.f,-0.5f*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,radius,-0.5f*height),color);
+				getDebugDrawer()->drawLine(start+worldTransform.getBasis() * btVector3(0.f,0.f,0.5f*height),start+worldTransform.getBasis() * btVector3(0.f,-radius,-0.5f*height),color);
 				break;
 
 			}

src/BulletDynamics/Dynamics/btDynamicsWorld.h

@@ -18,6 +18,7 @@ subject to the following restrictions:
 
 #include "BulletCollision/CollisionDispatch/btCollisionWorld.h"
 class btTypedConstraint;
+class btRaycastVehicle;
 
 ///btDynamicsWorld is the baseclass for several dynamics implementation, basic, discrete, parallel, and continuous
 class btDynamicsWorld : public btCollisionWorld
@@ -47,6 +48,11 @@ class btDynamicsWorld : public btCollisionWorld
 
 		virtual void	removeConstraint(btTypedConstraint* constraint) {};
 
+		virtual void	addVehicle(btRaycastVehicle* vehicle) {};
+
+		virtual void	removeVehicle(btRaycastVehicle* vehicle) {};
+
+
 		virtual void	setDebugDrawer(btIDebugDraw*	debugDrawer) = 0;
 
 		virtual btIDebugDraw*	getDebugDrawer() = 0;

src/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -9,11 +9,12 @@
  * It is provided "as is" without express or implied warranty.
 */
 
+#include "LinearMath/btVector3.h"
 #include "btRaycastVehicle.h"
 #include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
 #include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
 #include "LinearMath/btQuaternion.h"
-#include "LinearMath/btVector3.h"
+#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
 #include "btVehicleRaycaster.h"
 #include "btWheelInfo.h"
 
@@ -141,8 +142,12 @@ void	btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
 {
 	wheel.m_raycastInfo.m_isInContact = false;
 
-	const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
-
+	btTransform chassisTrans;
+	if (getRigidBody()->getMotionState())
+		getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
+	else
+		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;
@@ -166,6 +171,8 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
 	
 	btVehicleRaycaster::btVehicleRaycasterResult	rayResults;
 
+	assert(m_vehicleRaycaster);
+
 	void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
 
 	wheel.m_raycastInfo.m_groundObject = 0;
@@ -593,3 +600,28 @@ void	btRaycastVehicle::updateFriction(btScalar	timeStep)
 		delete[]forwardImpulse;
 		delete[] sideImpulse;
 }
+
+
+void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
+{
+//	RayResultCallback& resultCallback;
+
+	btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
+
+	m_dynamicsWorld->rayTest(from, to, rayCallback);
+
+	if (rayCallback.HasHit())
+	{
+		
+		btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
+		if (body)
+		{
+			result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
+			result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
+			result.m_hitNormalInWorld.normalize();
+			result.m_distFraction = rayCallback.m_closestHitFraction;
+			return body;
+		}
+	}
+	return 0;
+}

src/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -13,11 +13,11 @@
 
 #include "BulletDynamics/Dynamics/btRigidBody.h"
 #include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
-
+#include "btVehicleRaycaster.h"
+class btDynamicsWorld;
 
 #include "btWheelInfo.h"
 
-struct	btVehicleRaycaster;
 class btVehicleTuning;
 
 ///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
@@ -93,7 +93,7 @@ public:
 	btWheelInfo&	addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
 
 	inline int		getNumWheels() const {
-		return m_wheelInfo.size();
+		return int (m_wheelInfo.size());
 	}
 	
 	std::vector<btWheelInfo>	m_wheelInfo;
@@ -163,5 +163,19 @@ public:
 
 };
 
+class btDefaultVehicleRaycaster : public btVehicleRaycaster
+{
+	btDynamicsWorld*	m_dynamicsWorld;
+public:
+	btDefaultVehicleRaycaster(btDynamicsWorld* world)
+		:m_dynamicsWorld(world)
+	{
+	}
+
+	virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result);
+
+};
+
+
 #endif //RAYCASTVEHICLE_H