Panda3D
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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 */
28class EXPCL_PANDABULLET BulletWheelRaycastInfo {
29
30PUBLISHED:
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
51public:
52 BulletWheelRaycastInfo(btWheelInfo::RaycastInfo &info);
53
54private:
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 */
62class EXPCL_PANDABULLET BulletWheel {
63
64PUBLISHED:
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
143public:
144 BulletWheel(btWheelInfo &info);
145
146 static BulletWheel empty();
147
148private:
149 btWheelInfo &_info;
150};
151
152#include "bulletWheel.I"
153
154#endif // __BULLET_WHEEL_H__
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
One wheel of a BulletVehicle.
Definition bulletWheel.h:62
A basic node of the scene graph or data graph.
Definition pandaNode.h:65
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.