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

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fixed some warnings
This commit is contained in:
ejcoumans
2006-10-29 03:36:16 +00:00
parent caca3a1ca2
commit d6c6cbaee6
16 changed files with 179 additions and 125 deletions
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170
Demos/VehicleDemo/VehicleDemo.cpp
View File

@@ -13,33 +13,16 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
//Ignore this USE_PARALLEL_DISPATCHER define, it is for future optimizations
//#define USE_PARALLEL_DISPATCHER 1
/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
/// This VehicleDemo file is very early in development, please check it later
#include "CcdPhysicsEnvironment.h"
#include "ParallelPhysicsEnvironment.h"
#include "CcdPhysicsController.h"
#include "btBulletDynamicsCommon.h"
#include "PHY_IVehicle.h"
#include "ParallelIslandDispatcher.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#include "GLDebugDrawer.h"
#include "PHY_Pro.h"
#include "BMF_Api.h"
#include <stdio.h> //printf debugging
float deltaTime = 1.f/60.f;
#include "GL_ShapeDrawer.h"
#include "GlutStuff.h"
@@ -49,14 +32,14 @@ const int maxProxies = 32766;
const int maxOverlap = 65535;
DefaultMotionState wheelMotionState[4];
btDefaultMotionState wheelMotionState[4];
///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a btRaycastVehicle)
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
PHY_IVehicle* gVehicleConstraint=0;
//PHY_IVehicle* gVehicleConstraint=0;
float gEngineForce = 0.f;
float maxEngineForce = 1000.f;
float maxEngineForce = 100.f;
float gVehicleSteering = 0.f;
float steeringIncrement = 0.1f;
float steeringClamp = 0.3f;
@@ -104,32 +87,15 @@ m_maxCameraDistance(10.f)
void VehicleDemo::setupPhysics()
{
btCollisionDispatcher* dispatcher = new btCollisionDispatcher();
ParallelIslandDispatcher* dispatcher2 = new ParallelIslandDispatcher();
btVector3 worldAabbMin(-30000,-30000,-30000);
btVector3 worldAabbMax(30000,30000,30000);
btOverlappingPairCache* broadphase = new btAxisSweep3(worldAabbMin,worldAabbMax,maxProxies);
//OverlappingPairCache* broadphase = new btSimpleBroadphase(maxProxies,maxOverlap);
#ifdef USE_PARALLEL_DISPATCHER
m_physicsEnvironmentPtr = new ParallelPhysicsEnvironment(dispatcher2,broadphase);
#else
m_physicsEnvironmentPtr = new CcdPhysicsEnvironment(dispatcher,broadphase);
#endif
m_physicsEnvironmentPtr->setDeactivationTime(2.f);
m_physicsEnvironmentPtr->setDebugDrawer(&debugDrawer);
m_physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
int i;
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
@@ -152,7 +118,7 @@ const float TRIANGLE_SIZE=20.f;
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j)+10.f,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -183,67 +149,48 @@ const float TRIANGLE_SIZE=20.f;
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-20.f,0));
tr.setOrigin(btVector3(0,-4.5f,0));
//create ground object
localCreatePhysicsObject(false,0,tr,groundShape);
localCreateRigidBody(0,tr,groundShape);
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreatePhysicsObject(true,800,tr,chassisShape);
m_carChassis = localCreateRigidBody(800,tr,chassisShape);
clientResetScene();
m_physicsEnvironmentPtr->SyncMotionStates(0.f);
/// create vehicle
{
int constraintId;
constraintId =m_physicsEnvironmentPtr->createConstraint(
m_carChassis,0,
PHY_VEHICLE_CONSTRAINT,
0,0,0,
0,0,0);
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->getRigidBody()->SetActivationState(DISABLE_DEACTIVATION);
m_carChassis->SetActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);
gVehicleConstraint = m_physicsEnvironmentPtr->getVehicleConstraint(constraintId);
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
btRaycastVehicle::btVehicleTuning tuning;
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
gVehicleConstraint->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
gVehicleConstraint->addWheel(&wheelMotionState[0],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
gVehicleConstraint->addWheel(&wheelMotionState[1],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
gVehicleConstraint->addWheel(&wheelMotionState[2],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
gVehicleConstraint->addWheel(&wheelMotionState[3],
(PHY__Vector3&)connectionPointCS0,
(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);
/* gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);
gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);
@@ -262,6 +209,7 @@ const float TRIANGLE_SIZE=20.f;
gVehicleConstraint->SetWheelFriction(wheelFriction,1);
gVehicleConstraint->SetWheelFriction(wheelFriction,2);
gVehicleConstraint->SetWheelFriction(wheelFriction,3);
*/
}
@@ -275,6 +223,7 @@ const float TRIANGLE_SIZE=20.f;
//to be implemented by the demo
void VehicleDemo::renderme()
{
updateCamera();
debugDrawer.setDebugMode(getDebugMode());
@@ -284,36 +233,67 @@ void VehicleDemo::renderme()
btCylinderShapeX wheelShape(btVector3(wheelWidth,wheelRadius,wheelRadius));
btVector3 wheelColor(1,0,0);
for (i=0;i<4;i++)
for (i=0;i<m_vehicle->getNumWheels();i++)
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i);
//draw wheels (cylinders)
wheelMotionState[i].m_worldTransform.getOpenGLMatrix(m);
m_vehicle->getWheelInfo(i).m_worldTransform.getOpenGLMatrix(m);
GL_ShapeDrawer::drawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
}
DemoApplication::renderme();
}
void VehicleDemo::clientMoveAndDisplay()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
float dt = m_clock.getTimeMilliseconds() * 0.001f;
m_clock.reset();
{
int steerWheelIndex = 2;
gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 3;
gVehicleConstraint->applyEngineForce(gEngineForce,steerWheelIndex);
if (m_dynamicsWorld)
{
//during idle mode, just run 1 simulation step maximum
int maxSimSubSteps = m_idle ? 1 : 1;
if (m_idle)
dt = 1.0/420.f;
steerWheelIndex = 0;
gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);
steerWheelIndex = 1;
gVehicleConstraint->setSteeringValue(gVehicleSteering,steerWheelIndex);
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
if (!numSimSteps)
printf("Interpolated transforms\n");
else
{
if (numSimSteps > maxSimSubSteps)
{
//detect dropping frames
printf("Dropped (%i) simulation steps out of %i\n",numSimSteps - maxSimSubSteps,numSimSteps);
} else
{
printf("Simulated (%i) steps\n",numSimSteps);
}
}
}
m_physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
{
int steerWheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,steerWheelIndex);
steerWheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);
steerWheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,steerWheelIndex);
}
@@ -328,6 +308,8 @@ void VehicleDemo::clientMoveAndDisplay()
#ifdef USE_QUICKPROF
btProfiler::endBlock("render");
#endif
glFlush();
glutSwapBuffers();
@@ -341,9 +323,10 @@ void VehicleDemo::displayCallback(void)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
m_physicsEnvironmentPtr->UpdateAabbs(deltaTime);
m_dynamicsWorld->updateAabbs();
//draw contactpoints
m_physicsEnvironmentPtr->CallbackTriggers();
//m_physicsEnvironmentPtr->CallbackTriggers();
renderme();
@@ -359,14 +342,14 @@ void VehicleDemo::clientResetScene()
{
gEngineForce = 0.f;
gVehicleSteering = 0.f;
m_carChassis->setPosition(0,0,0);
m_carChassis->setOrientation(0,0,0,1);
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
}
void VehicleDemo::specialKeyboard(int key, int x, int y)
{
printf("key = %i x=%i y=%i\n",key,x,y);
switch (key)
@@ -404,6 +387,7 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
// glutPostRedisplay();
}
@@ -414,8 +398,11 @@ void VehicleDemo::updateCamera()
glMatrixMode(GL_PROJECTION);
glLoadIdentity();
btTransform chassisWorldTrans;
//look at the vehicle
m_cameraTargetPosition = m_carChassis->getRigidBody()->m_worldTransform.getOrigin();
m_carChassis->getMotionState()->getWorldTransform(chassisWorldTrans);
m_cameraTargetPosition = chassisWorldTrans.getOrigin();
//interpolate the camera height
m_cameraPosition[1] = (15.0*m_cameraPosition[1] + m_cameraTargetPosition[1] + m_cameraHeight)/16.0;
@@ -443,5 +430,6 @@ void VehicleDemo::updateCamera()
m_cameraUp.getX(),m_cameraUp.getY(),m_cameraUp.getZ());
glMatrixMode(GL_MODELVIEW);
}

10
Demos/VehicleDemo/VehicleDemo.h
View File

@@ -15,6 +15,10 @@ subject to the following restrictions:
#ifndef VEHICLE_DEMO_H
#define VEHICLE_DEMO_H
class btVehicleTuning;
struct btVehicleRaycaster;
#include "BulletDynamics/Vehicle/btRaycastVehicle.h"
#include "DemoApplication.h"
///VehicleDemo shows how to setup and use the built-in raycast vehicle
@@ -22,7 +26,11 @@ class VehicleDemo : public DemoApplication
{
public:
CcdPhysicsController* m_carChassis;
btRigidBody* m_carChassis;
btRaycastVehicle::btVehicleTuning m_tuning;
btVehicleRaycaster* m_vehicleRayCaster;
btRaycastVehicle* m_vehicle;
float m_cameraHeight;

2
src/BulletCollision/BroadphaseCollision/btOverlappingPairCache.h
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@@ -66,7 +66,7 @@ class btOverlappingPairCache : public btBroadphaseInterface
inline bool needsBroadphaseCollision(btBroadphaseProxy* proxy0,btBroadphaseProxy* proxy1) const
{
bool collides = proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask;
bool collides = (proxy0->m_collisionFilterGroup & proxy1->m_collisionFilterMask) != 0;
collides = collides && (proxy1->m_collisionFilterGroup & proxy0->m_collisionFilterMask);
return collides;

2
src/BulletCollision/CollisionDispatch/btCollisionDispatcher.h
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@@ -78,7 +78,7 @@ public:
int getNumManifolds() const
{
return m_manifoldsPtr.size();
return int( m_manifoldsPtr.size());
}
btPersistentManifold** getInternalManifoldPointer()

10
src/BulletCollision/CollisionDispatch/btCollisionObject.h
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@@ -79,26 +79,26 @@ struct btCollisionObject
inline bool mergesSimulationIslands() const
{
///static objects, kinematic and object without contact response don't merge islands
return !(m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) );
return ((m_collisionFlags & (CF_STATIC_OBJECT | CF_KINEMATIC_OJBECT | CF_NO_CONTACT_RESPONSE) )==0);
}
inline bool isStaticObject() const {
return m_collisionFlags & CF_STATIC_OBJECT;
return (m_collisionFlags & CF_STATIC_OBJECT) != 0;
}
inline bool isKinematicObject() const
{
return m_collisionFlags & CF_KINEMATIC_OJBECT;
return (m_collisionFlags & CF_KINEMATIC_OJBECT) != 0;
}
inline bool isStaticOrKinematicObject() const
{
return m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT);
return (m_collisionFlags & (CF_KINEMATIC_OJBECT | CF_STATIC_OBJECT)) != 0 ;
}
inline bool hasContactResponse() const {
return !(m_collisionFlags & CF_NO_CONTACT_RESPONSE);
return (m_collisionFlags & CF_NO_CONTACT_RESPONSE)==0;
}

2
src/BulletCollision/CollisionDispatch/btCollisionWorld.h
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@@ -205,7 +205,7 @@ public:
int getNumCollisionObjects() const
{
return m_collisionObjects.size();
return int(m_collisionObjects.size());
}
/// rayTest performs a raycast on all objects in the btCollisionWorld, and calls the resultCallback

6
src/BulletCollision/CollisionDispatch/btSimulationIslandManager.cpp
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@@ -1,4 +1,6 @@
#include "LinearMath/btScalar.h"
#include "btSimulationIslandManager.h"
#include "BulletCollision/BroadphaseCollision/btDispatcher.h"
#include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
@@ -51,7 +53,7 @@ void btSimulationIslandManager::findUnions(btDispatcher* dispatcher)
void btSimulationIslandManager::updateActivationState(btCollisionWorld* colWorld,btDispatcher* dispatcher)
{
initUnionFind(colWorld->getCollisionObjectArray().size());
initUnionFind( int (colWorld->getCollisionObjectArray().size()));
// put the index into m_controllers into m_tag
{
@@ -253,7 +255,7 @@ void btSimulationIslandManager::buildAndProcessIslands(btDispatcher* dispatcher,
}
}
int numManifolds = islandmanifold.size();
int numManifolds = int (islandmanifold.size());
// Sort manifolds, based on islands
// Sort the vector using predicate and std::sort

2
src/BulletCollision/CollisionDispatch/btUnionFind.h
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@@ -45,7 +45,7 @@ class btUnionFind
inline int getNumElements() const
{
return m_elements.size();
return int(m_elements.size());
}
inline bool isRoot(int x) const
{

2
src/BulletCollision/CollisionShapes/btCompoundShape.h
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@@ -46,7 +46,7 @@ public:
int getNumChildShapes() const
{
return m_childShapes.size();
return int (m_childShapes.size());
}
btCollisionShape* getChildShape(int index)

12
src/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.cpp
View File

@@ -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;
}

6
src/BulletDynamics/Dynamics/btDynamicsWorld.h
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@@ -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;

36
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -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"
@@ -141,7 +142,11 @@ 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 ;
@@ -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;
}

20
src/BulletDynamics/Vehicle/btRaycastVehicle.h
View File

@@ -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

2
src/LinearMath/btDefaultMotionState.h
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@@ -9,7 +9,7 @@ struct btDefaultMotionState : public btMotionState
btTransform m_startWorldTrans;
void* m_userPointer;
btDefaultMotionState(const btTransform& startTrans,const btTransform& centerOfMassOffset = btTransform::getIdentity())
btDefaultMotionState(const btTransform& startTrans = btTransform::getIdentity(),const btTransform& centerOfMassOffset = btTransform::getIdentity())
: m_graphicsWorldTrans(startTrans),
m_centerOfMassOffset(centerOfMassOffset),
m_startWorldTrans(startTrans),

7
src/btBulletCollisionCommon.h
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@@ -49,11 +49,12 @@ subject to the following restrictions:
#include "BulletCollision/BroadphaseCollision/btAxisSweep3.h"
///Math library
///Math library & Utils
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btTransform.h"
#include "LinearMath/btDefaultMotionState.h"
#include "LinearMath/btQuickprof.h"
#include "LinearMath/btIDebugDraw.h"
#endif //BULLET_COLLISION_COMMON_H

3
src/btBulletDynamicsCommon.h
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@@ -34,5 +34,8 @@ subject to the following restrictions:
#endif //BULLET_DYNAMICS_COMMON_H