random_racer/src/BuggyCar.h

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#ifndef _VRSODE_BUGGY_CAR_H_
#define _VRSODE_BUGGY_CAR_H_

#include "Car.h"

#include "vrsode/CollisionSpaceSimple.h"
#include "vrsode/PhysicsBody.h"
#include "vrsode/PhysicsJointHinge.h"
#include "vrsode/PhysicsJointHinge2.h"
#include "vrsode/PhysicsJointSlider.h"

#include <vrs/sharedobj.h>
#include <vrs/camera.h>
#include <vrs/sg/scenething.h>

namespace VRS
{
class Translation;
} // namespace VRS


namespace random_racer
{

class BuggyCar : public Car
{
    double m_springLengthFront;
    double m_springLengthRear;
    double m_springPowerFront;
    double m_springPowerRear;
    double m_springSpeedFront;
    double m_springSpeedRear;

    double m_wheelRad;
    double m_wheelWidth;

    double m_wheelMass;
    double m_bodyMass;
    double m_helperMass;

    double m_carMaxSpeed;
    double m_carPower;
    
    double m_suspensionSoftness;
    
    double m_steeringRadius;
    
    double m_wheelMu;
    double m_wheelSlip1;
    double m_wheelSlip2;
    
    VRS::Vector m_wheelOffsetFL;
    VRS::Vector m_wheelOffsetFR;
    VRS::Vector m_wheelOffsetRL;
    VRS::Vector m_wheelOffsetRR;
    VRS::Vector m_axisOffsetFL;
    VRS::Vector m_axisOffsetFR;
    VRS::Vector m_axisOffsetRL;
    VRS::Vector m_axisOffsetRR;
    VRS::Vector m_chassisOffset;

    VRS::Vector m_suspensionOffsetFL;
    VRS::Vector m_suspensionOffsetFR;
    VRS::Vector m_suspensionOffsetRL;
    VRS::Vector m_suspensionOffsetRR;

    VRS::Vector m_steerOffsetFL;
    VRS::Vector m_steerOffsetFR;
    
    VRS::Vector m_suspensionSoftnessOffsetFL;
    VRS::Vector m_suspensionSoftnessOffsetFR;
    VRS::Vector m_suspensionSoftnessOffsetRL;
    VRS::Vector m_suspensionSoftnessOffsetRR;
    
    
    VRS::SO<vrsode::PhysicsBody> m_hook;
    VRS::SO<vrsode::PhysicsJointSlider> m_hookJoint;
    
    VRS::SO<VRS::SceneThing> m_rootNode;
    VRS::SO<vrsode::PhysicsBody> m_chassis;

    VRS::SO<vrsode::PhysicsBody> m_wheelFL;
    VRS::SO<vrsode::PhysicsBody> m_wheelFR;
    VRS::SO<vrsode::PhysicsBody> m_wheelRL;
    VRS::SO<vrsode::PhysicsBody> m_wheelRR;

    VRS::SO<vrsode::PhysicsBody> m_springFL;
    VRS::SO<vrsode::PhysicsBody> m_springFR;
    VRS::SO<vrsode::PhysicsBody> m_springRL;
    VRS::SO<vrsode::PhysicsBody> m_springRR;

    VRS::SO<vrsode::PhysicsBody> m_suspensionFL;
    VRS::SO<vrsode::PhysicsBody> m_suspensionFR;
    VRS::SO<vrsode::PhysicsBody> m_suspensionRL;
    VRS::SO<vrsode::PhysicsBody> m_suspensionRR;

    VRS::SO<vrsode::PhysicsBody> m_steerFL;
    VRS::SO<vrsode::PhysicsBody> m_steerFR;

    VRS::SO<vrsode::PhysicsJointHinge> m_axisFL;
    VRS::SO<vrsode::PhysicsJointHinge> m_axisFR;
    VRS::SO<vrsode::PhysicsJointHinge> m_axisRL;
    VRS::SO<vrsode::PhysicsJointHinge> m_axisRR;

    VRS::SO<vrsode::PhysicsJointHinge> m_suspensionSoftnessFL;
    VRS::SO<vrsode::PhysicsJointHinge> m_suspensionSoftnessFR;
    VRS::SO<vrsode::PhysicsJointHinge> m_suspensionSoftnessRL;
    VRS::SO<vrsode::PhysicsJointHinge> m_suspensionSoftnessRR;

    VRS::SO<vrsode::PhysicsJointHinge> m_steerControlFL;
    VRS::SO<vrsode::PhysicsJointHinge> m_steerControlFR;

    VRS::SO<vrsode::PhysicsJointSlider> m_springSliderFL;
    VRS::SO<vrsode::PhysicsJointSlider> m_springSliderFR;
    VRS::SO<vrsode::PhysicsJointSlider> m_springSliderRL;
    VRS::SO<vrsode::PhysicsJointSlider> m_springSliderRR;

    void enableAllBodies();

public:
    BuggyCar(VRS::SO<VRS::SceneThing>);
    ~BuggyCar();

    void accelerate(double);

    void steer(double);

    void handBreak(double);

    void nitro(double);

    VRS::SO<VRS::SceneThing> sceneThing();

    void attachCamera(VRS::SO<VRS::Camera>);

    void setPosition(VRS::Vector);

    void setPosition(double, double, double);

    VRS::Vector position();

     inline VRS::SO<vrsode::CollisionBody> cameraHook()
     {
         return m_hook;
     }
     
     inline VRS::SO<vrsode::CollisionBody> chassis()
     {
         return m_chassis;
     }
    
    
};

}

#endif

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