コード例 #1
0
ファイル: vehicleObject.cpp プロジェクト: TEXStudio/texengine
		void VehicleObject::init_vehicle_physics(const Vector3f& box_size, const PhysObjInfo& info,
											     const VehicleProperties& properties)
		{

			m_iright_index = 0;
			m_iup_index = 1;
			m_iforward_index = 2;

			set_vehicle_properties(properties);

			m_box_size = btVector3((btScalar)box_size.x, (btScalar)box_size.y, (btScalar)box_size.z);

			//Physics stuff
			btCollisionShape* pChassisShape = new btBoxShape(m_box_size);
			m_pListOfCollisionShapes.push_back(pChassisShape);

			btCompoundShape* pCompoundShape = new btCompoundShape();
			m_pListOfCollisionShapes.push_back(pCompoundShape);

			btTransform localTrans;
			localTrans.setIdentity();
			localTrans.setOrigin(btVector3(0, 1, 0));

			pCompoundShape->addChildShape(localTrans, pChassisShape);

			//Setup chassis
			btTransform chassisTrans;
			chassisTrans.setIdentity();
			chassisTrans.setOrigin(btVector3(0, 0, 0));

			btVector3 localInertia(0, 0, 0);
			pCompoundShape->calculateLocalInertia(info.mass, localInertia);
			btDefaultMotionState* vehicleMotionState = new btDefaultMotionState(chassisTrans);
			btRigidBody::btRigidBodyConstructionInfo cInfo(info.mass, vehicleMotionState, pCompoundShape, localInertia);

			if(m_rbody)
			{
				delete m_rbody;
				m_rbody = 0;
			}

			m_rbody = new btRigidBody(cInfo);
			m_rbody->setContactProcessingThreshold(1e18f);
			m_rbody->setUserPointer(&m_entity_id);

			//initialise other parts of the vehicle
			init_engine();
			init_vehicle();
			init_wheels();

		}
コード例 #2
0
ファイル: scenario.c プロジェクト: ghitakouadri/simbot
void init_robot()
{
    init_bumper();
    init_body();
    init_wheels();
}