Bart/bullet3
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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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84
src/BulletDynamics/Vehicle/btWheelInfo.h
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@@ -11,19 +11,19 @@
#ifndef WHEEL_INFO_H
#define WHEEL_INFO_H
#include "LinearMath/SimdVector3.h"
#include "LinearMath/SimdTransform.h"
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
class RigidBody;
class btRigidBody;
struct WheelInfoConstructionInfo
struct btWheelInfoConstructionInfo
{
SimdVector3 m_chassisConnectionCS;
SimdVector3 m_wheelDirectionCS;
SimdVector3 m_wheelAxleCS;
SimdScalar m_suspensionRestLength;
SimdScalar m_maxSuspensionTravelCm;
SimdScalar m_wheelRadius;
btVector3 m_chassisConnectionCS;
btVector3 m_wheelDirectionCS;
btVector3 m_wheelAxleCS;
btScalar m_suspensionRestLength;
btScalar m_maxSuspensionTravelCm;
btScalar m_wheelRadius;
float m_suspensionStiffness;
float m_wheelsDampingCompression;
@@ -33,51 +33,51 @@ struct WheelInfoConstructionInfo
};
/// WheelInfo contains information per wheel about friction and suspension.
struct WheelInfo
/// btWheelInfo contains information per wheel about friction and suspension.
struct btWheelInfo
{
struct RaycastInfo
{
//set by raycaster
SimdVector3 m_contactNormalWS;//contactnormal
SimdVector3 m_contactPointWS;//raycast hitpoint
SimdScalar m_suspensionLength;
SimdVector3 m_hardPointWS;//raycast starting point
SimdVector3 m_wheelDirectionWS; //direction in worldspace
SimdVector3 m_wheelAxleWS; // axle in worldspace
btVector3 m_contactNormalWS;//contactnormal
btVector3 m_contactPointWS;//raycast hitpoint
btScalar m_suspensionLength;
btVector3 m_hardPointWS;//raycast starting point
btVector3 m_wheelDirectionWS; //direction in worldspace
btVector3 m_wheelAxleWS; // axle in worldspace
bool m_isInContact;
void* m_groundObject; //could be general void* ptr
};
RaycastInfo m_raycastInfo;
SimdTransform m_worldTransform;
btTransform m_worldTransform;
SimdVector3 m_chassisConnectionPointCS; //const
SimdVector3 m_wheelDirectionCS;//const
SimdVector3 m_wheelAxleCS; // const or modified by steering
SimdScalar m_suspensionRestLength1;//const
SimdScalar m_maxSuspensionTravelCm;
SimdScalar GetSuspensionRestLength() const;
SimdScalar m_wheelsRadius;//const
SimdScalar m_suspensionStiffness;//const
SimdScalar m_wheelsDampingCompression;//const
SimdScalar m_wheelsDampingRelaxation;//const
SimdScalar m_frictionSlip;
SimdScalar m_steering;
SimdScalar m_rotation;
SimdScalar m_deltaRotation;
SimdScalar m_rollInfluence;
btVector3 m_chassisConnectionPointCS; //const
btVector3 m_wheelDirectionCS;//const
btVector3 m_wheelAxleCS; // const or modified by steering
btScalar m_suspensionRestLength1;//const
btScalar m_maxSuspensionTravelCm;
btScalar GetSuspensionRestLength() const;
btScalar m_wheelsRadius;//const
btScalar m_suspensionStiffness;//const
btScalar m_wheelsDampingCompression;//const
btScalar m_wheelsDampingRelaxation;//const
btScalar m_frictionSlip;
btScalar m_steering;
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
SimdScalar m_engineForce;
btScalar m_engineForce;
SimdScalar m_brake;
btScalar m_brake;
bool m_bIsFrontWheel;
void* m_clientInfo;//can be used to store pointer to sync transforms...
WheelInfo(WheelInfoConstructionInfo& ci)
btWheelInfo(btWheelInfoConstructionInfo& ci)
{
@@ -102,13 +102,13 @@ struct WheelInfo
}
void UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo);
void UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
SimdScalar m_clippedInvContactDotSuspension;
SimdScalar m_suspensionRelativeVelocity;
btScalar m_clippedInvContactDotSuspension;
btScalar m_suspensionRelativeVelocity;
//calculated by suspension
SimdScalar m_wheelsSuspensionForce;
SimdScalar m_skidInfo;
btScalar m_wheelsSuspensionForce;
btScalar m_skidInfo;
};