OgreNewt_Vehicle.cpp

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#include "External/ogrenewt/OgreNewt_Stdafx.h"
#include "External/ogrenewt/OgreNewt_Body.h"
#include "External/ogrenewt/OgreNewt_World.h"
#include "External/ogrenewt/OgreNewt_Tools.h"
#include "External/ogrenewt/OgreNewt_CollisionPrimitives.h"
#include "External/ogrenewt/OgreNewt_RayCastVehicle.h"
#include "External/ogrenewt/OgreNewt_Vehicle.h"
#include <CustomDGRayCastCar.h>
 
namespace OgreNewt
{
// TIRE FUNCTIONS
  // constructor
        Vehicle::Vehicle(OgreNewt::Body* carBody) : Joint()
  {
    m_body = carBody;
          // make a matrix to indicate the cal local coordinate system
    dMatrix carCordenatSytem;
                carCordenatSytem.m_front = dVector (0.0f, 0.0f, -1.0f, 0.0f);                                   // Ogre front direction is is -z axis
                carCordenatSytem.m_up    = dVector (0.0f, 1.0f,  0.0f, 0.0f);                                   // Ogre vertical direction is y up axis
                carCordenatSytem.m_right = carCordenatSytem.m_front * carCordenatSytem.m_up;    // tire coordinate system perpendicular front and up
                carCordenatSytem.m_posit = dVector (0.0f, 0.0f,  0.0f, 1.0f);                                   // this most be a zero vector
 
          RaycastVehicle* controller = new RaycastVehicle(carCordenatSytem, carBody);
          SetSupportJoint(controller);
  }
 
        Vehicle::~Vehicle()
        {
        }
 
  OgreNewt::Body* Vehicle::getVehicleBody()
  {
    return m_body;
  }
 
  void Vehicle::AddSingleSuspensionTire(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* veh = (RaycastVehicle*)m_joint;
    veh->addTire(node, mass, radius, width, friction, susLength, susSpring, susShock, steer, driving);
  }
 
        int Vehicle::GetTiresCount() const
        {
                RaycastVehicle* veh = (RaycastVehicle*)m_joint;
                return veh->GetTiresCount();
        }
 
  Ogre::Real Vehicle::getSpeed()
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
                return veh->GetSpeed();
    /*Ogre::Vector3 vel = getBody0()->getVelocity();
    Ogre::Real speed = sqrt((vel.x * vel.x) + (vel.y * vel.y) + (vel.z * vel.z));
    return speed;*/
  }
 
  void Vehicle::setSteerAngle(Ogre::Radian angle)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    return veh->ApplySteering(angle.valueRadians());
  }
 
  void Vehicle::setDrivingTorque(Ogre::Radian torque)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    return veh->ApplyTorque(torque.valueRadians());
  }
 
  void Vehicle::setBrake(Ogre::Real brake)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    return veh->ApplyBrake(brake);
  }
 
  bool Vehicle::getVehicleOnAir()
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
 
    return veh->GetVehicleOnAir() ? true : false;
  }
 
  void Vehicle::showDebugData(Ogre::SceneNode* debugRootNode)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    veh->showDebugData(debugRootNode);
  }
 
  bool Vehicle::getTireOnAir(Ogre::Node* node)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    int index = veh->getTireIndexByNode(node);
    if (index == -1)
      return true;
 
    return veh->getTireOnAir(index);
  }
 
  Ogre::Real Vehicle::getTireAngularVelocity(Ogre::Node* node)
  {
    RaycastVehicle* veh = (RaycastVehicle*)m_joint;
    int index = veh->getTireIndexByNode(node);
    if (index == -1)
      return 0.0f;
 
    return veh->getTireAngularVelocity(index);
  }
 
}   // end NAMESPACE OgreNewt