vrsode/include/vrsode/CarSimple.h

Go to the documentation of this file.

#ifndef _VRSODE_CAR_SIMPLE_H_
#define _VRSODE_CAR_SIMPLE_H_

#include "CollisionSpaceSimple.h"

#include "PhysicsBody.h"
#include "PhysicsJointHinge.h"
#include "PhysicsJointHinge2.h"
#include "PhysicsJointSlider.h"

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

namespace VRS
{
class Translation;
} // namespace VRS


namespace vrsode
{

class CarSimple : public VRS::SharedObj
{
    bool   m_debugNodes;

    double m_springLengthFront;
    double m_springLengthRear;
    double m_springPowerFront;
    double m_springPowerRear;
    double m_springSpeedFront;
    double m_springSpeedRear;

    double m_wheelSizeFront;
    double m_wheelSizeRear;

    double m_wheelMass;
    double m_bodyMass;

    double m_wheelMu;
    
    double m_carMaxSpeed;
    double m_carPower;
    
    VRS::Vector m_wheelOffsetFL;
    VRS::Vector m_wheelOffsetFR;
    VRS::Vector m_wheelOffsetRL;
    VRS::Vector m_wheelOffsetRR;
    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::SO<VRS::SceneThing> m_rootNode;
    VRS::SO<CollisionSpace> m_space;
    VRS::SO<PhysicsBody> m_chassis;

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

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

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

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

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

    VRS::SO<PhysicsJointSlider> m_springFL;
    VRS::SO<PhysicsJointSlider> m_springFR;
    VRS::SO<PhysicsJointSlider> m_springRL;
    VRS::SO<PhysicsJointSlider> m_springRR;

    void enableAllBodies();

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

    void accelerate(double);

    void steerLeft(double);
    void steerRight(double);

    void handBreak(bool);

    void nos(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<CollisionBody> cameraHook()
    {
        return m_chassis;
    }
};

}

#endif

---