btKart Class Reference

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

#include <btKart.hpp>

Inheritance diagram for btKart:

Classes
class	btVehicleTuning

Public Member Functions
	btKart (btRigidBody *chassis, btVehicleRaycaster *raycaster, Kart *kart)
	Constructor to create a car from an existing rigidbody. More...
void	reset ()
	Resets the kart before a (re)start, to make sure all physics variable are properly defined. More...
void	debugDraw (btIDebugDraw *debugDrawer)
const btTransform &	getChassisWorldTransform () const
btScalar	rayCast (unsigned int index, float fraction=1.0f)
virtual void	updateVehicle (btScalar step)
void	resetSuspension ()
btScalar	getSteeringValue (int wheel) const
void	setSteeringValue (btScalar steering, int wheel)
void	applyEngineForce (btScalar force, int wheel)
const btTransform &	getWheelTransformWS (int wheelIndex) const
void	updateWheelTransform (int wheelIndex, bool interpolatedTransform=true)
btWheelInfo &	addWheel (const btVector3 &connectionPointCS0, const btVector3 &wheelDirectionCS0, const btVector3 &wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius, const btVehicleTuning &tuning, bool isFrontWheel)
const btWheelInfo &	getWheelInfo (int index) const
btWheelInfo &	getWheelInfo (int index)
void	updateAllWheelTransformsWS ()
	Updates all wheel transform informations. More...
void	setAllBrakes (btScalar brake)
void	updateSuspension (btScalar deltaTime)
virtual void	updateFriction (btScalar timeStep)
void	setSliding (bool active)
	Enables or disables sliding. More...
void	instantSpeedIncreaseTo (btScalar speed)
void	adjustSpeed (btScalar min_speed, btScalar max_speed)
	Adjusts the velocity of this kart to be at least the specified minimum, and less than or equal to the maximum. More...
void	updateAllWheelPositions ()
void	getVisualContactPoint (const btTransform &chassis_trans, btVector3 *left, btVector3 *right)
	Returns the contact point of a visual wheel. More...
bool	visualWheelsTouchGround () const
	Returns true if both rear visual wheels touch the ground. More...
virtual void	updateAction (btCollisionWorld *collisionWorld, btScalar step)
	btActionInterface interface. More...
int	getNumWheels () const
	Returns the number of wheels of this vehicle. More...
btRigidBody *	getRigidBody ()
	Returns the chassis (rigid) body. More...
const btRigidBody *	getRigidBody () const
	Returns the chassis (rigid) body. More...
int	getRightAxis () const
	Returns the index of the right axis. More...
int	getUpAxis () const
	Returns the index of the up axis. More...
int	getForwardAxis () const
	Returns the index of the forward axis. More...
int	getUserConstraintType () const
	Backwards compatibility. More...
void	setUserConstraintType (int userConstraintType)
void	setUserConstraintId (int uid)
int	getUserConstraintId () const
unsigned int	getNumWheelsOnGround () const
	Returns the number of wheels on the ground. More...
void	setTimedCentralImpulse (uint16_t t, const btVector3 &imp, bool rewind=false)
	Sets an impulse that is applied for a certain amount of time. More...
uint16_t	getCentralImpulseTicks () const
	Returns the time an additional impulse is activated. More...
const btVector3 &	getAdditionalImpulse () const
void	setTimedRotation (uint16_t t, float rot_in_y_axis)
	Sets a rotation that is applied over a certain amount of time (to avoid a too rapid changes in the kart). More...
float	getTimedRotation () const
uint16_t	getTimedRotationTicks () const
void	setMaxSpeed (float new_max_speed)
	Sets the maximum speed for this kart. More...
virtual void	resetMaxSpeed ()
	Resets the maximum so any new maximum value from the application will be accepted. More...
void	setMinSpeed (float s)
	Sets the minimum speed for this kart. More...
btScalar	getMinSpeed () const
	Returns the minimum speed for this kart. More...

Private Member Functions
btScalar	calcRollingFriction (btWheelContactPoint &contactPoint)
void	defaultInit ()
btScalar	rayCast (btWheelInfo &wheel, const btVector3 &ray)
void	updateWheelTransformsWS (btWheelInfo &wheel, btTransform chassis_trans, bool interpolatedTransform=true, float fraction=1.0f)

Static Private Member Functions
static btRigidBody &	getFixedBody ()

Private Attributes
btAlignedObjectArray< btVector3 >	m_forwardWS
btAlignedObjectArray< btVector3 >	m_axle
btAlignedObjectArray< btScalar >	m_forwardImpulse
btAlignedObjectArray< btScalar >	m_sideImpulse
int	m_userConstraintType
	backwards compatibility
int	m_userConstraintId
btScalar	m_damping
btVehicleRaycaster *	m_vehicleRaycaster
bool	m_allow_sliding
	Sliding (skidding) will only be permited when this is true. More...
btVector3	m_additional_impulse
	An additional impulse that is applied for a certain amount of time. More...
uint16_t	m_ticks_additional_impulse
	The time the additional impulse should be applied. More...
float	m_additional_rotation
	Additional rotation in y-axis that is applied over a certain amount of time. More...
uint16_t	m_ticks_additional_rotation
	Duration over which the additional rotation is applied. More...
btRigidBody *	m_chassisBody
	The rigid body that is the chassis of the kart. More...
btRigidBody	m_fixed_body
	Used to replace the ground object. More...
int	m_num_wheels_on_ground
	Number of wheels that touch the ground. More...
int	m_indexRightAxis
	Index of the right axis. More...
int	m_indexUpAxis
	Index of the up axis. More...
int	m_indexForwardAxis
	Index of the forward axis. More...
Kart *	m_kart
	The STK kart object which uses this vehicle. More...
btScalar	m_min_speed
	Minimum speed for the kart. More...
btScalar	m_max_speed
	Maximum speed for the kart. More...
bool	m_visual_wheels_touch_ground
	True if the visual wheels touch the ground. More...
btAlignedObjectArray< btWheelInfo >	m_wheelInfo

Detailed Description

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

Constructor & Destructor Documentation

btKart()

btKart::btKart	(	btRigidBody *	chassis,
		btVehicleRaycaster *	raycaster,
		Kart *	kart
	)

Constructor to create a car from an existing rigidbody.

Parameters

chassis	The rigid body to use as chassis.
raycaster	The raycast object to use. kart The STK kart object that uses this vehicle (this is used to get access to the kart properties).

Member Function Documentation

adjustSpeed()

void btKart::adjustSpeed	(	btScalar	min_speed,
		btScalar	max_speed
	)

Adjusts the velocity of this kart to be at least the specified minimum, and less than or equal to the maximum.

If necessary the kart will instantaneously change its speed.

Parameters

min_speed	Minimum speed, 0 means no effect.
max_speed	Maximum speed the kart is allowed to have.

getCentralImpulseTicks()

uint16_t btKart::getCentralImpulseTicks ( ) const

inline

Returns the time an additional impulse is activated.

getForwardAxis()

int btKart::getForwardAxis ( ) const

inline

Returns the index of the forward axis.

getMinSpeed()

btScalar btKart::getMinSpeed ( ) const

inline

Returns the minimum speed for this kart.

getNumWheels()

int btKart::getNumWheels ( ) const

inline

Returns the number of wheels of this vehicle.

getNumWheelsOnGround()

unsigned int btKart::getNumWheelsOnGround ( ) const

inline

Returns the number of wheels on the ground.

getRightAxis()

int btKart::getRightAxis ( ) const

inline

Returns the index of the right axis.

getRigidBody() [1/2]

btRigidBody* btKart::getRigidBody ( )

inline

Returns the chassis (rigid) body.

getRigidBody() [2/2]

const btRigidBody* btKart::getRigidBody ( ) const

inline

Returns the chassis (rigid) body.

getUpAxis()

int btKart::getUpAxis ( ) const

inline

Returns the index of the up axis.

getUserConstraintType()

int btKart::getUserConstraintType ( ) const

inline

Backwards compatibility.

getVisualContactPoint()

void btKart::getVisualContactPoint	(	const btTransform &	chassis_trans,
		btVector3 *	left,
		btVector3 *	right
	)

Returns the contact point of a visual wheel.

Parameters

n	Index of the wheel, must be 2 or 3 since only the two rear wheels define the visual position

rayCast()

btScalar btKart::rayCast	(	unsigned int	index,
		float	fraction = 1.0f
	)

Todo:

for driving on dynamic/movable objects!;

reset()

void btKart::reset

(

)

Resets the kart before a (re)start, to make sure all physics variable are properly defined.

This is especially important for physics replay.

resetMaxSpeed()

virtual void btKart::resetMaxSpeed ( )

inlinevirtual

Resets the maximum so any new maximum value from the application will be accepted.

setMaxSpeed()

void btKart::setMaxSpeed ( float  new_max_speed )

inline

Sets the maximum speed for this kart.

setMinSpeed()

void btKart::setMinSpeed ( float  s )

inline

Sets the minimum speed for this kart.

setSliding()

void btKart::setSliding

(

bool

active

)

Enables or disables sliding.

Parameters

active

Enable (true) or disable sliding.

setTimedCentralImpulse()

void btKart::setTimedCentralImpulse ( uint16_t  t, const btVector3 &  imp, bool  rewind = false  )

inline

Sets an impulse that is applied for a certain amount of time.

Parameters

t	Ticks for the impulse to be active.
imp	The impulse to apply.

setTimedRotation()

void btKart::setTimedRotation ( uint16_t  t, float  rot_in_y_axis  )

inline

Sets a rotation that is applied over a certain amount of time (to avoid a too rapid changes in the kart).

Parameters

t	Ticks for the rotation to be applied.
rot_in_y_axis	The rotation in y-axis to apply.

updateAction()

virtual void btKart::updateAction ( btCollisionWorld *  collisionWorld, btScalar  step  )

inlinevirtual

btActionInterface interface.

updateAllWheelTransformsWS()

void btKart::updateAllWheelTransformsWS

(

)

Updates all wheel transform informations.

This is used just after a rewind to update all m_hardPointWS (which is used by stk to determine the terrain under the kart).

visualWheelsTouchGround()

bool btKart::visualWheelsTouchGround ( ) const

inline

Returns true if both rear visual wheels touch the ground.

Member Data Documentation

m_additional_impulse

btVector3 btKart::m_additional_impulse

private

An additional impulse that is applied for a certain amount of time.

m_additional_rotation

float btKart::m_additional_rotation

private

Additional rotation in y-axis that is applied over a certain amount of time.

m_allow_sliding

bool btKart::m_allow_sliding

private

Sliding (skidding) will only be permited when this is true.

Also check the friction parameter in the wheels since friction directly affects skidding.

m_chassisBody

btRigidBody* btKart::m_chassisBody

private

The rigid body that is the chassis of the kart.

m_fixed_body

btRigidBody btKart::m_fixed_body

private

Used to replace the ground object.

m_indexForwardAxis

int btKart::m_indexForwardAxis

private

Index of the forward axis.

m_indexRightAxis

int btKart::m_indexRightAxis

private

Index of the right axis.

m_indexUpAxis

int btKart::m_indexUpAxis

private

Index of the up axis.

m_kart

Kart* btKart::m_kart

private

The STK kart object which uses this vehicle.

This is mostly used to get access to the kart properties, which also define physics properties.

m_max_speed

btScalar btKart::m_max_speed

private

Maximum speed for the kart.

It is reset to -1 at the end of each physics steps, so need to be set again by the application.

m_min_speed

btScalar btKart::m_min_speed

private

Minimum speed for the kart.

Used e.g. for zippers. Setting this value will potentially instantaneously accelerate the kart to the minimum speed requested (in the next physics step).

m_num_wheels_on_ground

int btKart::m_num_wheels_on_ground

private

Number of wheels that touch the ground.

m_ticks_additional_impulse

uint16_t btKart::m_ticks_additional_impulse

private

The time the additional impulse should be applied.

m_ticks_additional_rotation

uint16_t btKart::m_ticks_additional_rotation

private

Duration over which the additional rotation is applied.

m_visual_wheels_touch_ground

bool btKart::m_visual_wheels_touch_ground

private

True if the visual wheels touch the ground.

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The documentation for this class was generated from the following files:

• physics/btKart.hpp
• physics/btKart.cpp