OgreNewt_RayCastVehicle.h

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/* 
    OgreNewt Library
 
    Ogre implementation of Newton Game Dynamics SDK
 
    OgreNewt basically has no license, you may use any or all of the library however you desire... I hope it can help you in any way.
 
    by Walaber
    some changes by melven
 
*/
#ifndef _INCLUDE_OGRENEWT_RAYCASTVEHICLE
#define _INCLUDE_OGRENEWT_RAYCASTVEHICLE
 
#include <CustomDGRayCastCar.h>
#include "OgreNewt_Prerequisites.h"
#include "OgreNewt_Joint.h"
 
 
namespace OgreNewt
{
  class RaycastVehicle: public CustomDGRayCastCar
  {
    class Tire
    {
    public:
        /*
            this is the all-important constructor.
            \param RaycastVehicle the parent vehicle to which you want to add this tire.
            \param ogre node
            \param susShock spring damper coefficient
            \param susSpring spring strength
            \param susLength spring length
            \param colID collision ID used to determine collision in material callbacks.
        */
        Tire(RaycastVehicle* vehicle, Ogre::Node* node, const bool steer, const bool driving, const int id);
 
        virtual ~Tire();
        bool isSteer(){return m_steer;}
        bool isDriving(){return m_driving;}
 
        const int getId() const {return m_tireId;}
 
        const Ogre::Node* getNode() const {return m_node;}
 
        RaycastVehicle* getVehicle() const {return m_vehicle;}
 
        void getTireMatrix(dMatrix &matrix);
 
        void updateNodePosition();
 
        void showDebug(Ogre::SceneNode* debugRootNode);
        
    protected:
        RaycastVehicle* m_vehicle;
        int m_tireId;
        Ogre::Node* m_node;
        bool m_steer;
        bool m_driving;
 
    private:
                    struct DebugInfo 
                    {
                            Ogre::SceneNode* m_node;
                            Ogre::ManualObject* m_visualDebug;
                    };
 
        DebugInfo m_debug;
    };
 
    private:
    std::vector<Tire*> m_lTires;
    OgreNewt::Body* m_body;
 
    void setTireTransformCallback(OgreNewt::Body* carBody);
 
                public:
 
    RaycastVehicle(const dMatrix carMatrix, OgreNewt::Body* carBody);
 
                virtual ~RaycastVehicle();
 
    OgreNewt::Body* getCarBody();
          void ApplyTorque(dFloat torque);
          void ApplySteering(dFloat angle);
          void ApplyBrake(dFloat brakeTorque);          
 
    void getTireMatrix(unsigned int index, dMatrix &outMatrix);
    bool getTireOnAir(unsigned int index);
    Ogre::Real getTireAngularVelocity(unsigned int index);
    int getTireIndexByNode(Ogre::Node* node);
 
    void addTire(Ogre::Node* node, const Ogre::Real mass, const Ogre::Real radius, const Ogre::Real width, const Ogre::Real friction, const Ogre::Real susLength, const Ogre::Real susSpring, const Ogre::Real susShock, const bool steer, const bool driving);
 
    RaycastVehicle::Tire* getTire(unsigned int index);
 
 
                void showDebugData(Ogre::SceneNode* debugRootNode);
 
          /*virtual void SubmitConstraints(dFloat timestep, int threadIndex);
          virtual void GetInfo(NewtonJointRecord* info) const;
    */
  };
}   // end NAMESPACE OgreNewt
 
#endif