ilikecats/stk-code_catmod
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Some code cleanup. Removed tabs, fixed layout. Removed

Browse Source 
unnecessary code, change some defaults to reduce number
of calls from STK.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/trunk@10423 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2011-12-15 06:16:33 +00:00
parent d06acf1f7b
commit 2920a5a126
3 changed files with 134 additions and 202 deletions
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3
src/karts/kart.cpp
View File

@ -280,7 +280,6 @@ void Kart::createPhysics()
// never deactivate the vehicle
m_body->setActivationState(DISABLE_DEACTIVATION);
m_vehicle->setCoordinateSystem(/*right: */ 0, /*up: */ 1, /*forward: */ 2);
// Add wheels
// ----------
@ -1462,7 +1461,7 @@ void Kart::crashed(Kart *k, const Material *m)
// karts from bouncing back, they will instead stuck towards the obstable).
if(m_bounce_back_time<=0.0f)
{
if (fabsf(m_vehicle->getCurrentSpeedKmHour() > 2.0f))
if (m_body->getLinearVelocity().length()> 0.555f)
{
// In case that the sfx is longer than 0.5 seconds, only play it if
// it's not already playing.

13
src/physics/btKart.cpp
View File

@ -42,8 +42,8 @@ btKart::btKart(btRigidBody* chassis, btVehicleRaycaster* raycaster,
{
m_chassisBody = chassis;
m_indexRightAxis = 0;
m_indexUpAxis = 2;
m_indexForwardAxis = 1;
m_indexUpAxis = 1;
m_indexForwardAxis = 2;
m_kart = kart;
reset();
} // btKart
@ -116,7 +116,6 @@ void btKart::reset()
m_skid_angular_velocity = 0;
m_is_skidding = false;
m_allow_sliding = false;
m_currentVehicleSpeedKmHour = btScalar(0.);
m_num_wheels_on_ground = 0;
} // reset
@ -307,9 +306,6 @@ void btKart::updateVehicle( btScalar step )
{
updateWheelTransform(i,false);
}
m_currentVehicleSpeedKmHour =
btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = getChassisWorldTransform();
@ -317,11 +313,6 @@ void btKart::updateVehicle( btScalar step )
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
{
m_currentVehicleSpeedKmHour *= btScalar(-1.);
}
// Simulate suspension
// -------------------

320
src/physics/btKart.hpp
View File

@ -23,49 +23,52 @@ class btVehicleTuning;
class Kart;
struct btWheelContactPoint;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
/** rayCast vehicle, very special constraint that turn a rigidbody into a
* vehicle.
*/
class btKart : public btActionInterface
{
private:
btAlignedObjectArray<btVector3> m_forwardWS;
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
btAlignedObjectArray<btScalar> m_sideImpulse;
///backwards compatibility
int m_userConstraintType;
int m_userConstraintId;
static btRigidBody& getFixedBody();
btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
public:
class btVehicleTuning
{
public:
class btVehicleTuning
{
public:
btVehicleTuning()
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5)),
m_maxSuspensionForce(btScalar(6000.))
{
}
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
btScalar m_maxSuspensionForce;
btVehicleTuning()
:m_suspensionStiffness(btScalar(5.88)),
m_suspensionCompression(btScalar(0.83)),
m_suspensionDamping(btScalar(0.88)),
m_maxSuspensionTravelCm(btScalar(500.)),
m_frictionSlip(btScalar(10.5)),
m_maxSuspensionForce(btScalar(6000.))
{
} // btVehicleTuning
btScalar m_suspensionStiffness;
btScalar m_suspensionCompression;
btScalar m_suspensionDamping;
btScalar m_maxSuspensionTravelCm;
btScalar m_frictionSlip;
btScalar m_maxSuspensionForce;
};
protected:
}; // class btVehicleTuning
private:
btAlignedObjectArray<btVector3> m_forwardWS;
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
btAlignedObjectArray<btScalar> m_sideImpulse;
///backwards compatibility
int m_userConstraintType;
int m_userConstraintId;
static btRigidBody& getFixedBody();
btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
btScalar m_damping;
btVehicleRaycaster *m_vehicleRaycaster;
btScalar m_damping;
btVehicleRaycaster *m_vehicleRaycaster;
btScalar m_currentVehicleSpeedKmHour;
/** True if a zipper is active for that kart. */
bool m_zipper_active;
@ -89,166 +92,106 @@ protected:
*/
bool m_allow_sliding;
btRigidBody* m_chassisBody;
btRigidBody *m_chassisBody;
int m_num_wheels_on_ground;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
int m_num_wheels_on_ground;
int m_indexRightAxis;
int m_indexUpAxis;
int m_indexForwardAxis;
/** The STK kart object which uses this vehicle. This is mostly used to
* get access to the kart properties, which also define physics
* properties. */
Kart *m_kart;
Kart *m_kart;
void defaultInit();
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
public:
//constructor to create a car from an existing rigidbody
btKart(btRigidBody* chassis, btVehicleRaycaster* raycaster,
Kart *kart);
virtual ~btKart() ;
void reset();
///btActionInterface interface
virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
{
(void) collisionWorld;
updateVehicle(step);
}
///btActionInterface interface
void debugDraw(btIDebugDraw* debugDrawer);
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(btWheelInfo& wheel);
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 );
// void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
inline int getNumWheels() const {
return int (m_wheelInfo.size());
}
btAlignedObjectArray<btWheelInfo> m_wheelInfo;
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(btScalar brake,int wheelIndex);
void updateSuspension(btScalar deltaTime);
virtual void updateFriction(btScalar timeStep);
inline btRigidBody* getRigidBody()
{
return m_chassisBody;
}
const btRigidBody* getRigidBody() const
{
return m_chassisBody;
}
inline int getRightAxis() const
{
return m_indexRightAxis;
}
inline int getUpAxis() const
{
return m_indexUpAxis;
}
inline int getForwardAxis() const
{
return m_indexForwardAxis;
}
///Worldspace forward vector
btVector3 getForwardVector() const
{
const btTransform& chassisTrans = getChassisWorldTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
return forwardW;
}
///Velocity of vehicle (positive if velocity vector has same direction as foward vector)
btScalar getCurrentSpeedKmHour() const
{
return m_currentVehicleSpeedKmHour;
}
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
{
m_indexRightAxis = rightIndex;
m_indexUpAxis = upIndex;
m_indexForwardAxis = forwardIndex;
}
///backwards compatibility
int getUserConstraintType() const
{
return m_userConstraintType ;
}
void setUserConstraintType(int userConstraintType)
{
m_userConstraintType = userConstraintType;
};
void setUserConstraintId(int uid)
{
m_userConstraintId = uid;
}
int getUserConstraintId() const
{
return m_userConstraintId;
}
private:
void defaultInit();
btScalar rayCast(btWheelInfo& wheel, const btVector3& ray);
public:
void setSliding(bool active);
void activateZipper(float speed);
void deactivateZipper();
bool projectVehicleToSurface(const btVector3& ray,
bool translate_vehicle);
/** Constructor to create a car from an existing rigidbody.
* \param chassis The rigid body to use as chassis.
* \param raycaster The raycast object to use.
* \paran kart The STK kart object that uses this vehicle
* (this is used to get access to the kart properties).
*/
btKart(btRigidBody* chassis,
btVehicleRaycaster* raycaster,
Kart *kart);
virtual ~btKart();
void reset();
void debugDraw(btIDebugDraw* debugDrawer);
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(btWheelInfo& wheel);
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 updateWheelTransformsWS(btWheelInfo& wheel,
bool interpolatedTransform=true);
void setBrake(btScalar brake,int wheelIndex);
void updateSuspension(btScalar deltaTime);
virtual void updateFriction(btScalar timeStep);
public:
void setSliding(bool active);
void activateZipper(float speed);
void deactivateZipper();
bool projectVehicleToSurface(const btVector3& ray,
bool translate_vehicle);
// ------------------------------------------------------------------------
/** btActionInterface interface. */
virtual void updateAction(btCollisionWorld* collisionWorld,
btScalar step)
{
(void) collisionWorld;
updateVehicle(step);
} // updateAction
// ------------------------------------------------------------------------
/** Returns the number of wheels of this vehicle. */
inline int getNumWheels() const { return int(m_wheelInfo.size());}
// ------------------------------------------------------------------------
/** Returns the chassis (rigid) body. */
inline btRigidBody* getRigidBody() { return m_chassisBody; }
// ------------------------------------------------------------------------
/** Returns the chassis (rigid) body. */
const btRigidBody* getRigidBody() const { return m_chassisBody; }
// ------------------------------------------------------------------------
/** Returns the index of the right axis. */
inline int getRightAxis() const { return m_indexRightAxis; }
// ------------------------------------------------------------------------
/** Returns the index of the up axis. */
inline int getUpAxis() const { return m_indexUpAxis; }
// ------------------------------------------------------------------------
/** Returns the index of the forward axis. */
inline int getForwardAxis() const { return m_indexForwardAxis; }
// ------------------------------------------------------------------------
/** Backwards compatibility. */
int getUserConstraintType() const { return m_userConstraintType ; }
// ------------------------------------------------------------------------
void setUserConstraintType(int userConstraintType)
{
m_userConstraintType = userConstraintType;
} // setUserConstraintType
// ------------------------------------------------------------------------
void setUserConstraintId(int uid) { m_userConstraintId = uid; }
// ------------------------------------------------------------------------
int getUserConstraintId() const { return m_userConstraintId; }
// ------------------------------------------------------------------------
/** Sets the angular velocity to be used when skidding
* (0 means no skidding). */
@ -259,4 +202,3 @@ public:
}; // class btKart
#endif //BT_RAYCASTVEHICLE_H