Panda3D
bulletWheel.h
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1 /**
2  * PANDA 3D SOFTWARE
3  * Copyright (c) Carnegie Mellon University. All rights reserved.
4  *
5  * All use of this software is subject to the terms of the revised BSD
6  * license. You should have received a copy of this license along
7  * with this source code in a file named "LICENSE."
8  *
9  * @file bulletWheel.h
10  * @author enn0x
11  * @date 2010-02-17
12  */
13 
14 #ifndef __BULLET_WHEEL_H__
15 #define __BULLET_WHEEL_H__
16 
17 #include "pandabase.h"
18 
19 #include "bullet_includes.h"
20 #include "bullet_utils.h"
21 
22 #include "luse.h"
23 #include "pandaNode.h"
24 
25 /**
26  *
27  */
28 class EXPCL_PANDABULLET BulletWheelRaycastInfo {
29 
30 PUBLISHED:
31  INLINE ~BulletWheelRaycastInfo();
32 
33  bool is_in_contact() const;
34  PN_stdfloat get_suspension_length() const;
35  LVector3 get_contact_normal_ws() const;
36  LVector3 get_wheel_direction_ws() const;
37  LVector3 get_wheel_axle_ws() const;
38  LPoint3 get_contact_point_ws() const;
39  LPoint3 get_hard_point_ws() const;
40  PandaNode *get_ground_object() const;
41 
42  MAKE_PROPERTY(in_contact, is_in_contact);
43  MAKE_PROPERTY(suspension_length, get_suspension_length);
44  MAKE_PROPERTY(contact_normal_ws, get_contact_normal_ws);
45  MAKE_PROPERTY(wheel_direction_ws, get_wheel_direction_ws);
46  MAKE_PROPERTY(wheel_axle_ws, get_wheel_axle_ws);
47  MAKE_PROPERTY(contact_point_ws, get_contact_point_ws);
48  MAKE_PROPERTY(hard_point_ws, get_hard_point_ws);
49  MAKE_PROPERTY(ground_object, get_ground_object);
50 
51 public:
52  BulletWheelRaycastInfo(btWheelInfo::RaycastInfo &info);
53 
54 private:
55  btWheelInfo::RaycastInfo &_info;
56 };
57 
58 /**
59  * One wheel of a BulletVehicle. Instances should not be created directly but
60  * using the factory method BulletVehicle::create_wheel().
61  */
62 class EXPCL_PANDABULLET BulletWheel {
63 
64 PUBLISHED:
65  INLINE ~BulletWheel();
66 
67  void set_suspension_stiffness(PN_stdfloat value);
68  void set_max_suspension_travel_cm(PN_stdfloat value);
69  void set_friction_slip(PN_stdfloat value);
70  void set_max_suspension_force(PN_stdfloat value);
71  void set_wheels_damping_compression(PN_stdfloat value);
72  void set_wheels_damping_relaxation(PN_stdfloat value);
73  void set_roll_influence(PN_stdfloat value);
74  void set_wheel_radius(PN_stdfloat value);
75  void set_steering(PN_stdfloat value);
76  void set_rotation(PN_stdfloat value);
77  void set_delta_rotation(PN_stdfloat value);
78  void set_engine_force(PN_stdfloat value);
79  void set_brake(PN_stdfloat value);
80  void set_skid_info(PN_stdfloat value);
81  void set_wheels_suspension_force(PN_stdfloat value);
82  void set_suspension_relative_velocity(PN_stdfloat value);
83  void set_clipped_inv_connection_point_cs(PN_stdfloat value);
84  void set_chassis_connection_point_cs(const LPoint3 &pos);
85  void set_wheel_direction_cs(const LVector3 &dir);
86  void set_wheel_axle_cs(const LVector3 &axle);
87  void set_world_transform(const LMatrix4 &mat);
88  void set_front_wheel(bool value);
89  void set_node(PandaNode *node);
90 
91  PN_stdfloat get_suspension_rest_length() const;
92  PN_stdfloat get_suspension_stiffness() const;
93  PN_stdfloat get_max_suspension_travel_cm() const;
94  PN_stdfloat get_friction_slip() const;
95  PN_stdfloat get_max_suspension_force() const;
96  PN_stdfloat get_wheels_damping_compression() const;
97  PN_stdfloat get_wheels_damping_relaxation() const;
98  PN_stdfloat get_roll_influence() const;
99  PN_stdfloat get_wheel_radius() const;
100  PN_stdfloat get_steering() const;
101  PN_stdfloat get_rotation() const;
102  PN_stdfloat get_delta_rotation() const;
103  PN_stdfloat get_engine_force() const;
104  PN_stdfloat get_brake() const;
105  PN_stdfloat get_skid_info() const;
106  PN_stdfloat get_wheels_suspension_force() const;
107  PN_stdfloat get_suspension_relative_velocity() const;
108  PN_stdfloat get_clipped_inv_connection_point_cs() const;
109  LPoint3 get_chassis_connection_point_cs() const;
110  LVector3 get_wheel_direction_cs() const;
111  LVector3 get_wheel_axle_cs() const;
112  LMatrix4 get_world_transform() const;
113  bool is_front_wheel() const;
114  PandaNode *get_node() const;
115  BulletWheelRaycastInfo get_raycast_info() const;
116 
117  MAKE_PROPERTY(raycast_info, get_raycast_info);
118  MAKE_PROPERTY(suspension_rest_length, get_suspension_rest_length);
119  MAKE_PROPERTY(suspension_stiffness, get_suspension_stiffness, set_suspension_stiffness);
120  MAKE_PROPERTY(max_suspension_travel_cm, get_max_suspension_travel_cm, set_max_suspension_travel_cm);
121  MAKE_PROPERTY(friction_slip, get_friction_slip, set_friction_slip);
122  MAKE_PROPERTY(max_suspension_force, get_max_suspension_force, set_max_suspension_force);
123  MAKE_PROPERTY(wheels_damping_compression, get_wheels_damping_compression, set_wheels_damping_compression);
124  MAKE_PROPERTY(wheels_damping_relaxation, get_wheels_damping_relaxation, set_wheels_damping_relaxation);
125  MAKE_PROPERTY(roll_influence, get_roll_influence, set_roll_influence);
126  MAKE_PROPERTY(wheel_radius, get_wheel_radius, set_wheel_radius);
127  MAKE_PROPERTY(steering, get_steering, set_steering);
128  MAKE_PROPERTY(rotation, get_rotation, set_rotation);
129  MAKE_PROPERTY(delta_rotation, get_delta_rotation, set_delta_rotation);
130  MAKE_PROPERTY(engine_force, get_engine_force, set_engine_force);
131  MAKE_PROPERTY(brake, get_brake, set_brake);
132  MAKE_PROPERTY(skid_info, get_skid_info, set_skid_info);
133  MAKE_PROPERTY(wheels_suspension_force, get_wheels_suspension_force, set_wheels_suspension_force);
134  MAKE_PROPERTY(suspension_relative_velocity, get_suspension_relative_velocity, set_suspension_relative_velocity);
135  MAKE_PROPERTY(clipped_inv_connection_point_cs, get_clipped_inv_connection_point_cs, set_clipped_inv_connection_point_cs);
136  MAKE_PROPERTY(chassis_connection_point_cs, get_chassis_connection_point_cs, set_chassis_connection_point_cs);
137  MAKE_PROPERTY(wheel_direction_cs, get_wheel_direction_cs, set_wheel_direction_cs);
138  MAKE_PROPERTY(wheel_axle_cs, get_wheel_axle_cs, set_wheel_axle_cs);
139  MAKE_PROPERTY(world_transform, get_world_transform, set_world_transform);
140  MAKE_PROPERTY(front_wheel, is_front_wheel, set_front_wheel);
141  MAKE_PROPERTY(node, get_node, set_node);
142 
143 public:
144  BulletWheel(btWheelInfo &info);
145 
146  INLINE static BulletWheel empty();
147 
148 private:
149  btWheelInfo &_info;
150 };
151 
152 #include "bulletWheel.I"
153 
154 #endif // __BULLET_WHEEL_H__
pandaNode.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PandaNode
A basic node of the scene graph or data graph.
Definition: pandaNode.h:64
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_includes.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bullet_utils.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
bulletWheel.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
BulletWheel
One wheel of a BulletVehicle.
Definition: bulletWheel.h:62
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