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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
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60
src/BulletDynamics/Vehicle/btRaycastVehicle.h
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@@ -14,21 +14,21 @@
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletDynamics/ConstraintSolver/btTypedConstraint.h"
struct MassProps;
struct btMassProps;
#include "btWheelInfo.h"
struct VehicleRaycaster;
class VehicleTuning;
struct btVehicleRaycaster;
class btVehicleTuning;
///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
class RaycastVehicle : public TypedConstraint
class btRaycastVehicle : public btTypedConstraint
{
public:
class VehicleTuning
class btVehicleTuning
{
public:
VehicleTuning()
btVehicleTuning()
:m_suspensionStiffness(5.88f),
m_suspensionCompression(0.83f),
m_suspensionDamping(0.88f),
@@ -45,65 +45,65 @@ public:
};
private:
SimdScalar m_tau;
SimdScalar m_damping;
VehicleRaycaster* m_vehicleRaycaster;
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
float m_pitchControl;
float m_steeringValue;
float m_currentVehicleSpeedKmHour;
RigidBody* m_chassisBody;
btRigidBody* m_chassisBody;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
void DefaultInit(const VehicleTuning& tuning);
void DefaultInit(const btVehicleTuning& tuning);
public:
//constructor to create a car from an existing rigidbody
RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis, VehicleRaycaster* raycaster );
btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster );
virtual ~RaycastVehicle() ;
virtual ~btRaycastVehicle() ;
SimdScalar Raycast(WheelInfo& wheel);
btScalar Raycast(btWheelInfo& wheel);
virtual void UpdateVehicle(SimdScalar step);
virtual void UpdateVehicle(btScalar step);
void ResetSuspension();
SimdScalar GetSteeringValue(int wheel) const;
btScalar GetSteeringValue(int wheel) const;
void SetSteeringValue(SimdScalar steering,int wheel);
void SetSteeringValue(btScalar steering,int wheel);
void ApplyEngineForce(SimdScalar force, int wheel);
void ApplyEngineForce(btScalar force, int wheel);
const SimdTransform& GetWheelTransformWS( int wheelIndex ) const;
const btTransform& GetWheelTransformWS( int wheelIndex ) const;
void UpdateWheelTransform( int wheelIndex );
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const SimdVector3& hitPoint, const SimdVector3& hitNormal,SimdScalar depth);
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
WheelInfo& AddWheel( const SimdVector3& connectionPointCS0, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS,SimdScalar suspensionRestLength,SimdScalar wheelRadius,const VehicleTuning& 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 {
return m_wheelInfo.size();
}
std::vector<WheelInfo> m_wheelInfo;
std::vector<btWheelInfo> m_wheelInfo;
const WheelInfo& GetWheelInfo(int index) const;
const btWheelInfo& GetWheelInfo(int index) const;
WheelInfo& GetWheelInfo(int index);
btWheelInfo& GetWheelInfo(int index);
void UpdateWheelTransformsWS(WheelInfo& wheel );
void UpdateWheelTransformsWS(btWheelInfo& wheel );
void SetBrake(float brake,int wheelIndex);
@@ -113,18 +113,18 @@ public:
m_pitchControl = pitch;
}
void UpdateSuspension(SimdScalar deltaTime);
void UpdateSuspension(btScalar deltaTime);
void UpdateFriction(SimdScalar timeStep);
void UpdateFriction(btScalar timeStep);
inline RigidBody* GetRigidBody()
inline btRigidBody* GetRigidBody()
{
return m_chassisBody;
}
const RigidBody* GetRigidBody() const
const btRigidBody* GetRigidBody() const
{
return m_chassisBody;
}
@@ -155,7 +155,7 @@ public:
//not yet
}
virtual void SolveConstraint(SimdScalar timeStep)
virtual void SolveConstraint(btScalar timeStep)
{
//not yet
}