com.bulletphysics.dynamics.vehicle
Class RaycastVehicle

java.lang.Object
  com.bulletphysics.dynamics.constraintsolver.TypedConstraint
      com.bulletphysics.dynamics.vehicle.RaycastVehicle

public class RaycastVehicle
extends TypedConstraint

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

Field Summary

ObjectArrayList<WheelInfo>

wheelInfo

Constructor Summary

RaycastVehicle(VehicleTuning tuning, RigidBody chassis, VehicleRaycaster raycaster)

Method Summary

WheelInfo	addWheel(Vector3f connectionPointCS, Vector3f wheelDirectionCS0, Vector3f wheelAxleCS, float suspensionRestLength, float wheelRadius, VehicleTuning tuning, boolean isFrontWheel) Basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed.
void	applyEngineForce(float force, int wheel)
void	buildJacobian()
float	getCurrentSpeedKmHour() Velocity of vehicle (positive if velocity vector has same direction as foward vector).
int	getForwardAxis()
Vector3f	getForwardVector(Vector3f out) Worldspace forward vector.
Transform	getChassisWorldTransform(Transform out)
int	getNumWheels()
int	getRightAxis()
RigidBody	getRigidBody()
float	getSteeringValue(int wheel)
int	getUpAxis()
WheelInfo	getWheelInfo(int index)
Transform	getWheelTransformWS(int wheelIndex, Transform out)
float	rayCast(WheelInfo wheel)
void	resetSuspension()
void	setBrake(float brake, int wheelIndex)
void	setCoordinateSystem(int rightIndex, int upIndex, int forwardIndex)
void	setPitchControl(float pitch)
void	setSteeringValue(float steering, int wheel)
void	solveConstraint(float timeStep)
void	updateFriction(float timeStep)
void	updateSuspension(float deltaTime)
void	updateVehicle(float step)
void	updateWheelTransform(int wheelIndex)
void	updateWheelTransform(int wheelIndex, boolean interpolatedTransform)
void	updateWheelTransformsWS(WheelInfo wheel)
void	updateWheelTransformsWS(WheelInfo wheel, boolean interpolatedTransform)

Methods inherited from class com.bulletphysics.dynamics.constraintsolver.TypedConstraint

getAppliedImpulse, getConstraintType, getRigidBodyA, getRigidBodyB, getUid, getUserConstraintId, getUserConstraintType, setUserConstraintId, setUserConstraintType

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

wheelInfo

public ObjectArrayList<WheelInfo> wheelInfo

Constructor Detail

RaycastVehicle

public RaycastVehicle(VehicleTuning tuning,
                      RigidBody chassis,
                      VehicleRaycaster raycaster)

Method Detail

addWheel

public WheelInfo addWheel(Vector3f connectionPointCS,
                          Vector3f wheelDirectionCS0,
                          Vector3f wheelAxleCS,
                          float suspensionRestLength,
                          float wheelRadius,
                          VehicleTuning tuning,
                          boolean isFrontWheel)

Basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed.

getWheelTransformWS

public Transform getWheelTransformWS(int wheelIndex,
                                     Transform out)

updateWheelTransform

public void updateWheelTransform(int wheelIndex)

updateWheelTransform

public void updateWheelTransform(int wheelIndex,
                                 boolean interpolatedTransform)

resetSuspension

public void resetSuspension()

updateWheelTransformsWS

public void updateWheelTransformsWS(WheelInfo wheel)

updateWheelTransformsWS

public void updateWheelTransformsWS(WheelInfo wheel,
                                    boolean interpolatedTransform)

rayCast

public float rayCast(WheelInfo wheel)

getChassisWorldTransform

public Transform getChassisWorldTransform(Transform out)

updateVehicle

public void updateVehicle(float step)

setSteeringValue

public void setSteeringValue(float steering,
                             int wheel)

getSteeringValue

public float getSteeringValue(int wheel)

applyEngineForce

public void applyEngineForce(float force,
                             int wheel)

getWheelInfo

public WheelInfo getWheelInfo(int index)

setBrake

public void setBrake(float brake,
                     int wheelIndex)

updateSuspension

public void updateSuspension(float deltaTime)

updateFriction

public void updateFriction(float timeStep)

buildJacobian

public void buildJacobian()

Specified by:

buildJacobian in class TypedConstraint

solveConstraint

public void solveConstraint(float timeStep)

Specified by:

solveConstraint in class TypedConstraint

getNumWheels

public int getNumWheels()

setPitchControl

public void setPitchControl(float pitch)

getRigidBody

public RigidBody getRigidBody()

getRightAxis

public int getRightAxis()

getUpAxis

public int getUpAxis()

getForwardAxis

public int getForwardAxis()

getForwardVector

public Vector3f getForwardVector(Vector3f out)

Worldspace forward vector.

getCurrentSpeedKmHour

public float getCurrentSpeedKmHour()

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

setCoordinateSystem

public void setCoordinateSystem(int rightIndex,
                                int upIndex,
                                int forwardIndex)