SO3VehicleContraint.cpp

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#include "SO3PhysicGraph/SO3VehicleContraint.h"
#include "SO3PhysicGraph/SO3MaterialID.h"
#include "SO3SceneGraph/SO3Scene.h"
#include "External/ogrenewt/OgreNewt_Vehicle.h"
 
namespace SO3
{
 
SVehicleContraint::SVehicleContraint() : SPhysicContraint(0, 0, 0, SPhysicContraint::SO3_VEHICLE_CONTRAINT)
{
  // Forbiden, private.
}
 
SVehicleContraint::SVehicleContraint(SScene* scene, SBody* son) : SPhysicContraint(scene, son, 0, SPhysicContraint::SO3_VEHICLE_CONTRAINT)
{
  UpdateJoint();
}
 
SVehicleContraint::~SVehicleContraint()
{
  //mjoint deleted in SPhysicContraint
}
 
void SVehicleContraint::SetParentBody(SBody* body)
{
}
 
void SVehicleContraint::SetSonBody(SBody* body)
{
  mSonBody = body;
  UpdateJoint();
}
 
void SVehicleContraint::UpdateJoint()
{
  mScene->GetPhysicsWorld()->GetPhysicWorld()->waitForUpdateToFinish();
  SAFE_DELETE(mJoint);
  
  if (mSonBody)
  {
    mJoint = static_cast<OgreNewt::Joint*>(new OgreNewt::Vehicle(mSonBody->getOgreNewtBodyPointer()));
  }
}
 
Ogre::Real SVehicleContraint::GetSpeed()
{
  if (mJoint == NULL)
    return 0.0f;
  else
    return static_cast<OgreNewt::Vehicle*>(mJoint)->getSpeed();
}
 
void SVehicleContraint::AddTire(SNode* node, Ogre::Real mass, Ogre::Real radius, Ogre::Real width, Ogre::Real friction, Ogre::Real susLength, Ogre::Real susSpring, Ogre::Real susShock, bool steer, bool driving)
{
  if (mJoint == NULL)
    return;
  
  //set a minimum friction
  if (friction <= 0.0f)
    friction = 0.01f;
 
  //set a minimum mass
  if (mass <= 0.0f)
    mass = 0.001f;
 
  static_cast<OgreNewt::Vehicle*>(mJoint)->AddSingleSuspensionTire(node->GetOgreSceneNodePointer(), mass, radius, width, friction, susLength, susSpring, susShock, steer, driving);
}
 
void SVehicleContraint::SetSteerAngle(Ogre::Radian angle)
{
  if (mJoint == NULL)
    return;
 
  static_cast<OgreNewt::Vehicle*>(mJoint)->setSteerAngle(angle);
}
 
void SVehicleContraint::SetDrivingTorque(Ogre::Radian torque)
{
  if (mJoint == NULL)
    return;
 
  static_cast<OgreNewt::Vehicle*>(mJoint)->setDrivingTorque(torque);
}
 
void SVehicleContraint::SetBrake(Ogre::Real brake)
{
  if (mJoint == NULL)
    return;
 
  static_cast<OgreNewt::Vehicle*>(mJoint)->setBrake(brake);
}
 
bool SVehicleContraint::GetVehicleOnAir()
{
  if (mJoint == NULL)
    return true;
 
  return static_cast<OgreNewt::Vehicle*>(mJoint)->getVehicleOnAir();
}
 
bool SVehicleContraint::GetTireOnAir(SNode* node)
{
  return static_cast<OgreNewt::Vehicle*>(mJoint)->getTireOnAir(node->GetOgreSceneNodePointer());
}
 
Ogre::Real SVehicleContraint::GetTireAngularVelocity(SNode* node)
{
  return static_cast<OgreNewt::Vehicle*>(mJoint)->getTireAngularVelocity(node->GetOgreSceneNodePointer());
}
 
}