btRaycastVehicle Class Reference

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle. More...

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:

Classes
class	btVehicleTuning
Public Member Functions
btWheelInfo &	addWheel (const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
void	applyEngineForce (btScalar force, int wheel)
	btRaycastVehicle (const btVehicleTuning &tuning, btRigidBody chassis, btVehicleRaycaster raycaster)
void	debugDraw (btIDebugDraw *debugDrawer)
	btActionInterface interface
const btTransform &	getChassisWorldTransform () const
btScalar	getCurrentSpeedKmHour () const
	Velocity of vehicle (positive if velocity vector has same direction as foward vector).
int	getForwardAxis () const
btVector3	getForwardVector () const
	Worldspace forward vector.
int	getNumWheels () const
int	getRightAxis () const
const btRigidBody *	getRigidBody () const
btRigidBody *	getRigidBody ()
btScalar	getSteeringValue (int wheel) const
int	getUpAxis () const
int	getUserConstraintId () const
int	getUserConstraintType () const
	backwards compatibility
btWheelInfo &	getWheelInfo (int index)
const btWheelInfo &	getWheelInfo (int index) const
const btTransform &	getWheelTransformWS (int wheelIndex) const
btScalar	rayCast (btWheelInfo &wheel)
void	resetSuspension ()
void	setBrake (btScalar brake, int wheelIndex)
virtual void	setCoordinateSystem (int rightIndex, int upIndex, int forwardIndex)
void	setPitchControl (btScalar pitch)
void	setRaycastWheelInfo (int wheelIndex, bool isInContact, const btVector3 &hitPoint, const btVector3 &hitNormal, btScalar depth)
void	setSteeringValue (btScalar steering, int wheel)
void	setUserConstraintId (int uid)
void	setUserConstraintType (int userConstraintType)
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar step)
	btActionInterface interface
virtual void	updateFriction (btScalar timeStep)
void	updateSuspension (btScalar deltaTime)
virtual void	updateVehicle (btScalar step)
void	updateWheelTransform (int wheelIndex, bool interpolatedTransform=true)
void	updateWheelTransformsWS (btWheelInfo &wheel, bool interpolatedTransform=true)
virtual	~btRaycastVehicle ()
Public Attributes
btAlignedObjectArray< btWheelInfo >	m_wheelInfo
Private Member Functions
void	defaultInit (const btVehicleTuning &tuning)
Private Attributes
btAlignedObjectArray< btVector3 >	m_axle
btRigidBody *	m_chassisBody
btScalar	m_currentVehicleSpeedKmHour
btScalar	m_damping
btAlignedObjectArray< btScalar >	m_forwardImpulse
btAlignedObjectArray< btVector3 >	m_forwardWS
int	m_indexForwardAxis
int	m_indexRightAxis
int	m_indexUpAxis
btScalar	m_pitchControl
btAlignedObjectArray< btScalar >	m_sideImpulse
btScalar	m_steeringValue
btScalar	m_tau
int	m_userConstraintId
int	m_userConstraintType
	backwards compatibility
btVehicleRaycaster *	m_vehicleRaycaster

Detailed Description

rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.

Definition at line 25 of file btRaycastVehicle.h.

Constructor & Destructor Documentation

btRaycastVehicle::btRaycastVehicle	(	const btVehicleTuning &	tuning,
		btRigidBody *	chassis,
		btVehicleRaycaster *	raycaster
	)

virtual btRaycastVehicle::~btRaycastVehicle ( ) [virtual]

Member Function Documentation

btWheelInfo& btRaycastVehicle::addWheel	(	const btVector3 &	connectionPointCS0,
		const btVector3 &	wheelDirectionCS0,
		const btVector3 &	wheelAxleCS,
		btScalar	suspensionRestLength,
		btScalar	wheelRadius,
		const btVehicleTuning &	tuning,
		bool	isFrontWheel
	)

void btRaycastVehicle::applyEngineForce	(	btScalar	force,
		int	wheel
	)

void btRaycastVehicle::debugDraw ( btIDebugDraw * debugDrawer ) [virtual]

btActionInterface interface

Implements btActionInterface.

void btRaycastVehicle::defaultInit ( const btVehicleTuning & tuning ) [private]

const btTransform& btRaycastVehicle::getChassisWorldTransform ( ) const

btScalar btRaycastVehicle::getCurrentSpeedKmHour ( ) const [inline]

Velocity of vehicle (positive if velocity vector has same direction as foward vector).

Definition at line 185 of file btRaycastVehicle.h.

int btRaycastVehicle::getForwardAxis ( ) const [inline]

Definition at line 165 of file btRaycastVehicle.h.

btVector3 btRaycastVehicle::getForwardVector ( ) const [inline]

Worldspace forward vector.

Definition at line 172 of file btRaycastVehicle.h.

int btRaycastVehicle::getNumWheels ( ) const [inline]

Definition at line 119 of file btRaycastVehicle.h.

int btRaycastVehicle::getRightAxis ( ) const [inline]

Definition at line 156 of file btRaycastVehicle.h.

const btRigidBody* btRaycastVehicle::getRigidBody ( ) const [inline]

Definition at line 151 of file btRaycastVehicle.h.

btRigidBody* btRaycastVehicle::getRigidBody ( ) [inline]

Definition at line 146 of file btRaycastVehicle.h.

btScalar btRaycastVehicle::getSteeringValue ( int wheel ) const

int btRaycastVehicle::getUpAxis ( ) const [inline]

Definition at line 160 of file btRaycastVehicle.h.

int btRaycastVehicle::getUserConstraintId ( ) const [inline]

Definition at line 214 of file btRaycastVehicle.h.

int btRaycastVehicle::getUserConstraintType ( ) const [inline]

backwards compatibility

Definition at line 199 of file btRaycastVehicle.h.

btWheelInfo& btRaycastVehicle::getWheelInfo ( int index )

const btWheelInfo& btRaycastVehicle::getWheelInfo ( int index ) const

const btTransform& btRaycastVehicle::getWheelTransformWS ( int wheelIndex ) const

btScalar btRaycastVehicle::rayCast ( btWheelInfo & wheel )

void btRaycastVehicle::resetSuspension ( )

void btRaycastVehicle::setBrake	(	btScalar	brake,
		int	wheelIndex
	)

virtual void btRaycastVehicle::setCoordinateSystem	(	int	rightIndex,
		int	upIndex,
		int	forwardIndex
	)			`[inline, virtual]`

Definition at line 190 of file btRaycastVehicle.h.

void btRaycastVehicle::setPitchControl ( btScalar pitch ) [inline]

Definition at line 135 of file btRaycastVehicle.h.

void btRaycastVehicle::setRaycastWheelInfo	(	int	wheelIndex,
		bool	isInContact,
		const btVector3 &	hitPoint,
		const btVector3 &	hitNormal,
		btScalar	depth
	)