141 lines
4 KiB
C
141 lines
4 KiB
C
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/**
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* PANDA 3D SOFTWARE
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* Copyright (c) Carnegie Mellon University. All rights reserved.
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*
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* All use of this software is subject to the terms of the revised BSD
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* license. You should have received a copy of this license along
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* with this source code in a file named "LICENSE."
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*
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* @file bulletVehicle.h
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* @author enn0x
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* @date 2010-02-16
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*/
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#ifndef __BULLET_VEHICLE_H__
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#define __BULLET_VEHICLE_H__
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#include "pandabase.h"
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#include "bullet_includes.h"
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#include "bullet_utils.h"
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#include "typedReferenceCount.h"
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#include "luse.h"
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class BulletWorld;
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class BulletRigidBodyNode;
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class BulletWheel;
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/**
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*
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*/
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class EXPCL_PANDABULLET BulletVehicleTuning {
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PUBLISHED:
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void set_suspension_stiffness(PN_stdfloat value);
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void set_suspension_compression(PN_stdfloat value);
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void set_suspension_damping(PN_stdfloat value);
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void set_max_suspension_travel_cm(PN_stdfloat value);
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void set_friction_slip(PN_stdfloat value);
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void set_max_suspension_force(PN_stdfloat value);
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PN_stdfloat get_suspension_stiffness() const;
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PN_stdfloat get_suspension_compression() const;
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PN_stdfloat get_suspension_damping() const;
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PN_stdfloat get_max_suspension_travel_cm() const;
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PN_stdfloat get_friction_slip() const;
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PN_stdfloat get_max_suspension_force() const;
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MAKE_PROPERTY(suspension_stiffness, get_suspension_stiffness, set_suspension_stiffness);
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MAKE_PROPERTY(suspension_compression, get_suspension_compression, set_suspension_compression);
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MAKE_PROPERTY(suspension_damping, get_suspension_damping, set_suspension_damping);
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MAKE_PROPERTY(max_suspension_travel_cm, get_max_suspension_travel_cm, set_max_suspension_travel_cm);
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MAKE_PROPERTY(friction_slip, get_friction_slip, set_friction_slip);
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MAKE_PROPERTY(max_suspension_force, get_max_suspension_force, set_max_suspension_force);
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private:
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btRaycastVehicle::btVehicleTuning _;
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friend class BulletVehicle;
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};
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/**
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* Simulates a raycast vehicle which casts a ray per wheel at the ground as a
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* cheap replacement for complex suspension simulation. The suspension can be
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* tuned in various ways. It is possible to add a (probably) arbitrary number
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* of wheels.
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*/
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class EXPCL_PANDABULLET BulletVehicle : public TypedReferenceCount {
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PUBLISHED:
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BulletVehicle(BulletWorld *world, BulletRigidBodyNode *chassis);
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INLINE ~BulletVehicle();
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void set_coordinate_system(BulletUpAxis up);
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void set_steering_value(PN_stdfloat steering, int idx);
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void set_brake(PN_stdfloat brake, int idx);
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void set_pitch_control(PN_stdfloat pitch);
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BulletRigidBodyNode *get_chassis();
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PN_stdfloat get_current_speed_km_hour() const;
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PN_stdfloat get_steering_value(int idx) const;
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LVector3 get_forward_vector() const;
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void reset_suspension();
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void apply_engine_force(PN_stdfloat force, int idx);
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// Wheels
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BulletWheel create_wheel(PN_stdfloat suspension_rest_length=0.4);
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int get_num_wheels() const;
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BulletWheel get_wheel(int idx) const;
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MAKE_SEQ(get_wheels, get_num_wheels, get_wheel);
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// Tuning
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INLINE BulletVehicleTuning &get_tuning();
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MAKE_PROPERTY(chassis, get_chassis);
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MAKE_PROPERTY(current_speed_km_hour, get_current_speed_km_hour);
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MAKE_PROPERTY(forward_vector, get_forward_vector);
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MAKE_SEQ_PROPERTY(wheels, get_num_wheels, get_wheel);
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MAKE_PROPERTY(tuning, get_tuning);
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public:
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INLINE btRaycastVehicle *get_vehicle() const;
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BulletRigidBodyNode *do_get_chassis();
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void do_sync_b2p();
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private:
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btRaycastVehicle *_vehicle;
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btVehicleRaycaster *_raycaster;
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BulletVehicleTuning _tuning;
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static btVector3 get_axis(int idx);
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public:
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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TypedReferenceCount::init_type();
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register_type(_type_handle, "BulletVehicle",
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TypedReferenceCount::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {
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init_type();
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return get_class_type();
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}
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private:
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static TypeHandle _type_handle;
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};
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#include "bulletVehicle.I"
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#endif // __BULLET_VEHICLE_H__
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