void btWheelInfoToSWheelInfo(const btWheelInfo &btInfo, SWheelInfo &info, btTransform &transform)
{
btTransformToIrrlichtMatrix(transform, info.worldTransform);
info.chassisConnectionPointCS = bulletToIrrlichtVector(btInfo.m_chassisConnectionPointCS);
info.wheelDirectionCS = bulletToIrrlichtVector(btInfo.m_wheelDirectionCS);
info.wheelAxleCS = bulletToIrrlichtVector(btInfo.m_wheelAxleCS);
info.suspensionRestLength = irr::f32(btInfo.m_suspensionRestLength1);
info.maxSuspensionTravelCm = irr::f32(btInfo.m_maxSuspensionTravelCm);
info.wheelRadius = irr::f32(btInfo.m_wheelsRadius);
info.suspensionStiffness = irr::f32(btInfo.m_suspensionStiffness);
info.wheelDampingCompression = irr::f32(btInfo.m_wheelsDampingCompression);
info.wheelDampingRelaxation = irr::f32(btInfo.m_wheelsDampingRelaxation);
info.frictionSlip = irr::f32(btInfo.m_frictionSlip);
info.steering = irr::f32(btInfo.m_steering);
info.wheelRotation = irr::f32(btInfo.m_rotation);
info.deltaRotation = irr::f32(btInfo.m_deltaRotation);
info.rollInfluence = irr::f32(btInfo.m_rollInfluence);
info.engineForce = irr::f32(btInfo.m_engineForce);
info.brake = irr::f32(btInfo.m_brake);
info.isFrontWheel = btInfo.m_bIsFrontWheel;
info.clippedInvContactDotSuspension = irr::f32(btInfo.m_clippedInvContactDotSuspension);
info.suspensionRelativeVelocity = irr::f32(btInfo.m_suspensionRelativeVelocity);
info.wheelSuspensionForce = irr::f32(btInfo.m_wheelsSuspensionForce);
info.skidInfo = irr::f32(btInfo.m_skidInfo);
info.raycastInfo.contactNormalWS = bulletToIrrlichtVector(btInfo.m_raycastInfo.m_contactNormalWS);
info.raycastInfo.contactPointWS = bulletToIrrlichtVector(btInfo.m_raycastInfo.m_contactPointWS);
info.raycastInfo.suspensionLength = irr::f32(btInfo.m_raycastInfo.m_suspensionLength);
info.raycastInfo.hardPointWS = bulletToIrrlichtVector(btInfo.m_raycastInfo.m_hardPointWS);
info.raycastInfo.wheelDirectionWS = bulletToIrrlichtVector(btInfo.m_raycastInfo.m_wheelDirectionWS);
info.raycastInfo.wheelAxleWS = bulletToIrrlichtVector(btInfo.m_raycastInfo.m_wheelAxleWS);
info.raycastInfo.isInContact = btInfo.m_raycastInfo.m_isInContact;
info.raycastInfo.groundObject = btInfo.m_raycastInfo.m_groundObject;
}
const irr::core::matrix4 IKinematicCharacterController::getWorldTransform() const
{
irr::core::matrix4 mat;
btTransformToIrrlichtMatrix(GhostObject->getWorldTransform(), mat);
return mat;
}
