Classes | Public Member Functions | Public Attributes | Private Member Functions | Private Attributes
btRaycastVehicle Class Reference

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

#include <btRaycastVehicle.h>

Inheritance diagram for btRaycastVehicle:
Inheritance graph
[legend]

List of all members.

Classes

class  btVehicleTuning

Public Member Functions

btWheelInfoaddWheel (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 btTransformgetChassisWorldTransform () 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
btRigidBodygetRigidBody ()
const btRigidBodygetRigidBody () const
btScalar getSteeringValue (int wheel) const
int getUpAxis () const
int getUserConstraintId () const
int getUserConstraintType () const
 backwards compatibility
const btWheelInfogetWheelInfo (int index) const
btWheelInfogetWheelInfo (int index)
const btTransformgetWheelTransformWS (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 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< btWheelInfom_wheelInfo

Private Member Functions

void defaultInit (const btVehicleTuning &tuning)

Private Attributes

btAlignedObjectArray< btVector3 > m_axle
btRigidBodym_chassisBody
btScalar m_currentVehicleSpeedKmHour
btScalar m_damping
btAlignedObjectArray< btScalarm_forwardImpulse
btAlignedObjectArray< btVector3 > m_forwardWS
int m_indexForwardAxis
int m_indexRightAxis
int m_indexUpAxis
btScalar m_pitchControl
btAlignedObjectArray< btScalarm_sideImpulse
btScalar m_steeringValue
btScalar m_tau
int m_userConstraintId
int m_userConstraintType
 backwards compatibility
btVehicleRaycasterm_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]

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.

Definition at line 146 of file btRaycastVehicle.h.

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

Definition at line 151 of file btRaycastVehicle.h.

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.

backwards compatibility

Definition at line 199 of file btRaycastVehicle.h.

const btWheelInfo& btRaycastVehicle::getWheelInfo ( int  index) const
const btTransform& btRaycastVehicle::getWheelTransformWS ( int  wheelIndex) const
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::setSteeringValue ( btScalar  steering,
int  wheel 
)
void btRaycastVehicle::setUserConstraintId ( int  uid) [inline]

Definition at line 209 of file btRaycastVehicle.h.

void btRaycastVehicle::setUserConstraintType ( int  userConstraintType) [inline]

Definition at line 204 of file btRaycastVehicle.h.

virtual void btRaycastVehicle::updateAction ( btCollisionWorld collisionWorld,
btScalar  step 
) [inline, virtual]

btActionInterface interface

Implements btActionInterface.

Definition at line 85 of file btRaycastVehicle.h.

virtual void btRaycastVehicle::updateFriction ( btScalar  timeStep) [virtual]
virtual void btRaycastVehicle::updateVehicle ( btScalar  step) [virtual]
void btRaycastVehicle::updateWheelTransform ( int  wheelIndex,
bool  interpolatedTransform = true 
)
void btRaycastVehicle::updateWheelTransformsWS ( btWheelInfo wheel,
bool  interpolatedTransform = true 
)

Member Data Documentation

Definition at line 29 of file btRaycastVehicle.h.

Definition at line 68 of file btRaycastVehicle.h.

Definition at line 66 of file btRaycastVehicle.h.

Definition at line 62 of file btRaycastVehicle.h.

Definition at line 30 of file btRaycastVehicle.h.

Definition at line 28 of file btRaycastVehicle.h.

Definition at line 72 of file btRaycastVehicle.h.

Definition at line 70 of file btRaycastVehicle.h.

Definition at line 71 of file btRaycastVehicle.h.

Definition at line 64 of file btRaycastVehicle.h.

Definition at line 31 of file btRaycastVehicle.h.

Definition at line 65 of file btRaycastVehicle.h.

Definition at line 61 of file btRaycastVehicle.h.

Definition at line 35 of file btRaycastVehicle.h.

backwards compatibility

Definition at line 34 of file btRaycastVehicle.h.

Definition at line 63 of file btRaycastVehicle.h.

Definition at line 123 of file btRaycastVehicle.h.


The documentation for this class was generated from the following file:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines


bullet
Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32