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CryPhysics/wheeledvehicleentity.h

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+//////////////////////////////////////////////////////////////////////
+//
+//	Wheeled Vehicle Entity header
+//	
+//	File: wheeledvehicleentity.h
+//	Description : CWheeledVehicleEntity class declaration
+//
+//	History:
+//	-:Created by Anton Knyazev
+//
+//////////////////////////////////////////////////////////////////////
+
+#ifndef wheeledvehicleentity_h
+#define wheeledvehicleentity_h
+#pragma once
+
+struct suspension_point {
+	int bDriving; // if the corresponding wheel a driving wheel
+	int iAxle;
+	vectorf pt; // the uppermost suspension point in car frame
+	float fullen; // unconstrained length
+	float kStiffness; // stiffness coefficient
+	float kDamping,kDamping0; // damping coefficient
+	float len0; // initial length in model
+	float Mpt; // hull "mass" at suspension upper point along suspension direction
+	quaternionf q0;	// used to calculate geometry transformation from wheel transformation
+	vectorf pos0,ptc0; // ...
+	float Iinv;
+	float minFriction,maxFriction;
+	int flags0,flagsCollider0;
+	int bCanBrake;
+	int iBuddy;
+	float r,rinv; // wheel radius, 1.0/radius
+	float width;
+
+	float curlen; // current length
+	float steer; // steering angle
+	float rot; // current wheel rotation angle
+	float w; // current rotation speed
+	float wa; // current angular acceleration
+	float T; // wheel's net torque
+	float prevTdt;
+	float prevw;
+
+	vectorf ncontact,ptcontact; // filled in RegisterPendingCollisions
+	int bSlip,bSlipPull;
+	int bContact;
+	int surface_idx[2];
+	vectorf vrel;
+	vectorf rworld;
+	float vworld;
+	float PN;
+	RigidBody *pbody;
+	CPhysicalEntity *pent;
+	int ipart;
+};
+
+class CWheeledVehicleEntity : public CRigidEntity, public IRigidBodyOwner {
+ public:
+	CWheeledVehicleEntity(CPhysicalWorld *pworld);
+	virtual pe_type GetType() { return PE_WHEELEDVEHICLE; }
+
+	virtual int SetParams(pe_params*);
+	virtual int GetParams(pe_params*);
+	virtual int Action(pe_action*);
+	virtual int GetStatus(pe_status*);
+
+	enum snapver { SNAPSHOT_VERSION = 1 };
+	virtual int GetSnapshotVersion() { return SNAPSHOT_VERSION; }
+	virtual int GetStateSnapshot(class CStream &stm, float time_back=0, int flags=0);
+	virtual int SetStateFromSnapshot(class CStream &stm, int flags=0);
+
+	virtual int AddGeometry(phys_geometry *pgeom, pe_geomparams* params,int id=-1);
+	virtual void RemoveGeometry(int id);
+
+	virtual float GetMaxTimeStep(float time_interval);
+	virtual float GetDamping(float time_interval);
+	virtual void CheckAdditionalGeometry(float time_interval, masktype &contact_mask);
+	virtual int HasContactsWith(CPhysicalEntity *pent);
+	virtual void AddAdditionalImpulses(float time_interval);
+	virtual int Update(float time_interval, float damping);
+	virtual void ComputeBBox();
+
+	//virtual RigidBody *GetRigidBody(int ipart=-1) { return &m_bodyStatic; }
+	virtual void AddImpulseAtContact(entity_contact *pcontact, int iop, const vectorf &dP) {};
+	virtual vectorf GetVelocityAtContact(entity_contact *pcontact, int iop) { return vectorf(zero); };
+	virtual int OnRegisterContact(entity_contact *pcontact, int iop);
+	virtual void OnSolverEvent(int iEvent) {};
+
+	virtual void GetMemoryStatistics(ICrySizer *pSizer);
+
+	void UpdateWheelsGeoms();
+	void RecalcSuspStiffness();
+	float ComputeDrivingTorque(float time_interval);
+
+	suspension_point m_susp[8];
+	float m_enginePower,m_maxSteer;
+	float m_engineMaxw,m_engineMinw,m_engineIdlew,m_engineShiftUpw,m_engineShiftDownw,m_gearDirSwitchw,m_engineStartw;
+	float m_axleFriction,m_brakeTorque,m_clutchSpeed,m_maxBrakingFriction,m_kDynFriction,m_slipThreshold;
+	float m_kStabilizer;
+	float m_enginePedal,m_steer,m_clutch,m_wengine;
+	float m_gears[8];
+	int m_nGears,m_iCurGear;
+	int m_bHandBrake;
+	int m_nHullParts;
+	int m_iIntegrationType;
+	float m_EminRigid,m_EminVehicle;
+	float m_maxAllowedStepVehicle,m_maxAllowedStepRigid;
+	float m_dampingVehicle;
+	vectorf m_Ffriction,m_Tfriction;
+	float m_timeNoContacts;
+	int m_nContacts,m_bHasContacts;
+};
+
+#endif