void HK_CALL VehicleApiUtils::syncDisplayWheels(hkDemoEnvironment* environment,
hkpVehicleInstance& vehicle,
const hkArray<int>& wheels,
int tag)
{
//
// Sync wheels. This is necessary only because they do not "exist" as bodies in simulation,
// and so are not automatically updated by the current display. We must explicity tell the
// display that some other "display obects" (objects which are drawn but are not physical)
// have moved.
//
for (int i = 0; i < wheels.getSize(); i++)
{
hkVector4 pos;
hkQuaternion rot;
//
// XXX Check if this is the same value as the m_hardPointWS in wheelsInfo
//
//
vehicle.calcCurrentPositionAndRotation( vehicle.getChassis(),
vehicle.m_suspension,
i,
pos, rot );
hkTransform trans(rot, pos);
environment->m_displayHandler->updateGeometry(trans, wheels[i], tag);
}
}
void TractorSetup::buildVehicle( const hkpWorld* world, hkpVehicleInstance& vehicle )
{
//
// All memory allocations are made here.
//
vehicle.m_data = new hkpVehicleData;
vehicle.m_driverInput = new hkpVehicleDefaultAnalogDriverInput;
vehicle.m_steering = new hkpVehicleDefaultSteering;
vehicle.m_engine = new hkpVehicleDefaultEngine;
vehicle.m_transmission = new hkpVehicleDefaultTransmission;
vehicle.m_brake = new hkpVehicleDefaultBrake;
vehicle.m_suspension = new hkpVehicleDefaultSuspension;
vehicle.m_aerodynamics = new hkpVehicleDefaultAerodynamics;
vehicle.m_velocityDamper = new hkpVehicleDefaultVelocityDamper;
// For illustrative purposes we use a custom hkpVehicleRayCastWheelCollide
// which implements varying 'ground' friction in a very simple way.
vehicle.m_wheelCollide = new FrictionMapVehicleRaycastWheelCollide;
setupVehicleData( world, *vehicle.m_data );
// The tyremarks controller is initialised with the number of tyremarks to keep.
vehicle.m_tyreMarks = new hkpTyremarksInfo( *vehicle.m_data, 128 );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAnalogDriverInput* >(vehicle.m_driverInput) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSteering*>(vehicle.m_steering));
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultEngine*>(vehicle.m_engine) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultTransmission*>(vehicle.m_transmission) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultBrake*>(vehicle.m_brake) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSuspension*>(vehicle.m_suspension) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper) );
setupWheelCollide( world, vehicle, *static_cast< hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide) );
//setupCamera( vehicle.m_camera );
setupTyremarks( *vehicle.m_data, *static_cast< hkpTyremarksInfo*>(vehicle.m_tyreMarks) );
//
// Check that all components are present.
//
HK_ASSERT(0x0, vehicle.m_data );
HK_ASSERT(0x7708674a, vehicle.m_driverInput );
HK_ASSERT(0x5a324a2d, vehicle.m_steering );
HK_ASSERT(0x7bcb2aff, vehicle.m_engine );
HK_ASSERT(0x29bddb50, vehicle.m_transmission );
HK_ASSERT(0x2b0323a2, vehicle.m_brake );
HK_ASSERT(0x7a7ade23, vehicle.m_suspension );
HK_ASSERT(0x6ec4d0ed, vehicle.m_aerodynamics );
HK_ASSERT(0x67161206, vehicle.m_wheelCollide );
HK_ASSERT(0x295015f1, vehicle.m_tyreMarks );
//
// Set up any variables that store cached data.
//
// Give driver input default values so that the vehicle (if this input is a default for non
// player cars) will drive, even if it is in circles!
// Accelerate.
vehicle.m_deviceStatus = new hkpVehicleDriverInputAnalogStatus;
hkpVehicleDriverInputAnalogStatus* deviceStatus= (hkpVehicleDriverInputAnalogStatus*)vehicle.m_deviceStatus;
deviceStatus->m_positionY = -0.4f;
// Turn.
deviceStatus->m_positionX = 0.3f;
// Defaults
deviceStatus->m_handbrakeButtonPressed = false;
deviceStatus->m_reverseButtonPressed = false;
//
// Don't forget to call init! (This function ensures all internal data is consistent)
//
vehicle.init();
//
{
hkOfstream statOutFile("stat.txt");
hkReportStatisticsCollector collector( hkBuiltinTypeRegistry::getInstance().getVtableClassRegistry(), statOutFile);
// Try dumping
collector.start();
collector.addReferencedObject(HK_NULL, &vehicle, collector.EXCLUDE_OBJECT_MEMORY);
collector.end();
}
}
void VehicleSetup::setupWheelCollide( const hkpWorld* world, const hkpVehicleInstance& vehicle, hkpVehicleRayCastWheelCollide& wheelCollide )
{
// Set the wheels to have the same collision filter info as the chassis.
wheelCollide.m_wheelCollisionFilterInfo = vehicle.getChassis()->getCollisionFilterInfo();
}
void VehicleSetup::buildVehicle( const hkpWorld* world, hkpVehicleInstance& vehicle )
{
//
// All memory allocations are made here.
//
vehicle.m_data = new hkpVehicleData;
vehicle.m_driverInput = new hkpVehicleDefaultAnalogDriverInput;
vehicle.m_steering = new hkpVehicleDefaultSteering;
vehicle.m_engine = new hkpVehicleDefaultEngine;
vehicle.m_transmission = new hkpVehicleDefaultTransmission;
vehicle.m_brake = new hkpVehicleDefaultBrake;
vehicle.m_suspension = new hkpVehicleDefaultSuspension;
vehicle.m_aerodynamics = new hkpVehicleDefaultAerodynamics;
vehicle.m_velocityDamper = new hkpVehicleDefaultVelocityDamper;
vehicle.m_wheelCollide = new hkpVehicleRayCastWheelCollide;
setupVehicleData( world, *vehicle.m_data );
// The tyremarks controller is initialised with the number of tyremarks to keep.
vehicle.m_tyreMarks = new hkpTyremarksInfo( *vehicle.m_data, 1 );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAnalogDriverInput* >(vehicle.m_driverInput) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSteering*>(vehicle.m_steering));
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultEngine*>(vehicle.m_engine) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultTransmission*>(vehicle.m_transmission) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultBrake*>(vehicle.m_brake) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSuspension*>(vehicle.m_suspension) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper) );
setupWheelCollide( world, vehicle, *static_cast< hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide) );
setupTyremarks( *vehicle.m_data, *static_cast< hkpTyremarksInfo*>(vehicle.m_tyreMarks) );
//
// Check that all components are present.
//
HK_ASSERT(0x549adbdc, vehicle.m_data );
HK_ASSERT(0x7708674a, vehicle.m_driverInput );
HK_ASSERT(0x5a324a2d, vehicle.m_steering );
HK_ASSERT(0x7bcb2aff, vehicle.m_engine );
HK_ASSERT(0x29bddb50, vehicle.m_transmission );
HK_ASSERT(0x2b0323a2, vehicle.m_brake );
HK_ASSERT(0x7a7ade23, vehicle.m_suspension );
HK_ASSERT(0x6ec4d0ed, vehicle.m_aerodynamics );
HK_ASSERT(0x67161206, vehicle.m_wheelCollide );
HK_ASSERT(0x295015f1, vehicle.m_tyreMarks );
//
// Set up any variables that store cached data.
//
// Give driver input default values so that the vehicle (if this input is a default for non
// player cars) will drive, even if it is in circles!
// Accelerate.
vehicle.m_deviceStatus = new hkpVehicleDriverInputAnalogStatus;
hkpVehicleDriverInputAnalogStatus* deviceStatus = (hkpVehicleDriverInputAnalogStatus*)vehicle.m_deviceStatus;
deviceStatus->m_positionY = 0.0f;
// Turn.
deviceStatus->m_positionX = 0.0f;
// Defaults
deviceStatus->m_handbrakeButtonPressed = false;
deviceStatus->m_reverseButtonPressed = false;
//
// Don't forget to call init! (This function ensures all internal data is consistent)
//
vehicle.init();
}
void SixWheelTruckSetup::setupWheelCollide( hkpWorld* world, const hkpVehicleInstance& vehicle, hkpVehicleRaycastWheelCollide& wheelCollide )
{
wheelCollide.m_wheelCollisionFilterInfo = vehicle.getChassis()->getCollisionFilterInfo();
}
void SixWheelTruckSetup::buildVehicle(hkpWorld* world, hkpVehicleInstance& vehicle )
{
//
// All memory allocations are made here.
//
vehicle.m_data = new hkpVehicleData;
vehicle.m_driverInput = new hkpVehicleDefaultAnalogDriverInput;
vehicle.m_steering = new hkpVehicleDefaultSteering;
vehicle.m_engine = new hkpVehicleDefaultEngine;
vehicle.m_transmission = new hkpVehicleDefaultTransmission;
vehicle.m_brake = new hkpVehicleDefaultBrake;
vehicle.m_suspension = new hkpVehicleDefaultSuspension;
vehicle.m_aerodynamics = new hkpVehicleDefaultAerodynamics;
vehicle.m_velocityDamper = new hkpVehicleDefaultVelocityDamper;
// For illustrative purposes we use a custom hkpVehicleRaycastWheelCollide
// which implements varying 'ground' friction in a very simple way.
vehicle.m_wheelCollide = new FrictionMapVehicleRaycastWheelCollide;
setupVehicleData( world, *vehicle.m_data );
// The tyremarks controller is initialised with the number of tyremarks to keep.
vehicle.m_tyreMarks = new hkpTyremarksInfo( *vehicle.m_data, 128 );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAnalogDriverInput* >(vehicle.m_driverInput) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSteering*>(vehicle.m_steering));
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultEngine*>(vehicle.m_engine) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultTransmission*>(vehicle.m_transmission) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultBrake*>(vehicle.m_brake) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultSuspension*>(vehicle.m_suspension) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics) );
setupComponent( *vehicle.m_data, *static_cast< hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper) );
setupWheelCollide( world, vehicle, *static_cast< hkpVehicleRaycastWheelCollide*>(vehicle.m_wheelCollide) );
//setupCamera( vehicle.m_camera );
setupTyremarks( *vehicle.m_data, *static_cast< hkpTyremarksInfo*>(vehicle.m_tyreMarks) );
//
// Check that all components are present.
//
HK_ASSERT(0x0, vehicle.m_data );
HK_ASSERT(0x7708674a, vehicle.m_driverInput );
HK_ASSERT(0x5a324a2d, vehicle.m_steering );
HK_ASSERT(0x7bcb2aff, vehicle.m_engine );
HK_ASSERT(0x29bddb50, vehicle.m_transmission );
HK_ASSERT(0x2b0323a2, vehicle.m_brake );
HK_ASSERT(0x7a7ade23, vehicle.m_suspension );
HK_ASSERT(0x6ec4d0ed, vehicle.m_aerodynamics );
HK_ASSERT(0x67161206, vehicle.m_wheelCollide );
HK_ASSERT(0x295015f1, vehicle.m_tyreMarks );
//
// Set up any variables that store cached data.
//
// Give driver input default values so that the vehicle (if this input is a default for non
// player cars) will drive, even if it is in circles!
// Accelerate.
vehicle.m_deviceStatus = new hkpVehicleDriverInputAnalogStatus;
hkpVehicleDriverInputAnalogStatus* deviceStatus= (hkpVehicleDriverInputAnalogStatus*)vehicle.m_deviceStatus;
deviceStatus->m_positionY = -0.4f;
// Turn.
deviceStatus->m_positionX = 0.3f;
// Defaults
deviceStatus->m_handbrakeButtonPressed = false;
deviceStatus->m_reverseButtonPressed = false;
//
// Don't forget to call init! (This function ensures all internal data is consistent)
//
vehicle.init();
//
// The phantom for collision detection needs to be explicitly added to the world
//
world->addPhantom( (hkpPhantom*)(static_cast< hkpVehicleRaycastWheelCollide*>(vehicle.m_wheelCollide)->m_phantom) );
}
void VehicleSetup::buildVehicle(World *world, const hkpWorld* physicsWorld, hkpVehicleInstance& vehicle, EntityID vehicleEntity, std::vector<EntityID> wheelEntities)
{
auto vehicleComponent = world->GetComponent<Components::Vehicle>(vehicleEntity);
auto tankSteeringComponent = world->GetComponent<Components::TankSteering>(vehicleEntity);
WheelData wheelData;
for (int i = 0; i < wheelEntities.size(); i++)
{
wheelData.WheelComponent = world->GetComponent<Components::Wheel>(wheelEntities[i]);
wheelData.TransformComponent = world->GetComponent<Components::Transform>(wheelEntities[i]);
m_Wheels.push_back(wheelData);
}
//
// All memory allocations are made here.
//
vehicle.m_data = new hkpVehicleData;
vehicle.m_driverInput = new hkpVehicleDefaultAnalogDriverInput;
if(tankSteeringComponent)
{
vehicle.m_steering = new TankSteering;
}
else
{
vehicle.m_steering = new hkpVehicleDefaultSteering;
}
vehicle.m_engine = new hkpVehicleDefaultEngine;
vehicle.m_transmission = new hkpVehicleDefaultTransmission;
vehicle.m_brake = new hkpVehicleDefaultBrake;
vehicle.m_suspension = new hkpVehicleDefaultSuspension;
vehicle.m_aerodynamics = new hkpVehicleDefaultAerodynamics;
vehicle.m_velocityDamper = new hkpVehicleDefaultVelocityDamper;
// For illustrative purposes we use a custom hkpVehicleRayCastWheelCollide
// which implements varying 'ground' friction in a very simple way.
vehicle.m_wheelCollide = new hkpVehicleRayCastWheelCollide;
setupVehicleData(physicsWorld, *vehicle.m_data);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultAnalogDriverInput*>(vehicle.m_driverInput));
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSteering*>(vehicle.m_steering), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultEngine*>(vehicle.m_engine), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultTransmission*>(vehicle.m_transmission), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultBrake*>(vehicle.m_brake), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultSuspension*>(vehicle.m_suspension), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultAerodynamics*>(vehicle.m_aerodynamics), *vehicleComponent);
setupComponent(*vehicle.m_data, *static_cast<hkpVehicleDefaultVelocityDamper*>(vehicle.m_velocityDamper), *vehicleComponent);
setupWheelCollide(physicsWorld, vehicle, *static_cast<hkpVehicleRayCastWheelCollide*>(vehicle.m_wheelCollide));
//
// Check that all components are present.
//
HK_ASSERT(0x0 , vehicle.m_data);
HK_ASSERT(0x7708674a, vehicle.m_driverInput);
HK_ASSERT(0x5a324a2d, vehicle.m_steering);
HK_ASSERT(0x7bcb2aff, vehicle.m_engine);
HK_ASSERT(0x29bddb50, vehicle.m_transmission);
HK_ASSERT(0x2b0323a2, vehicle.m_brake);
HK_ASSERT(0x7a7ade23, vehicle.m_suspension);
HK_ASSERT(0x6ec4d0ed, vehicle.m_aerodynamics);
HK_ASSERT(0x67161206, vehicle.m_wheelCollide);
//
// Set up any variables that store cached data.
//
// Give driver input default values so that the vehicle (if this input is a default for non
// player cars) will drive, even if it is in circles!
// Steering Defaults
vehicle.m_deviceStatus = new hkpVehicleDriverInputAnalogStatus;
hkpVehicleDriverInputAnalogStatus* deviceStatus = (hkpVehicleDriverInputAnalogStatus*)vehicle.m_deviceStatus;
deviceStatus->m_positionY = 0.f;
deviceStatus->m_positionX = 0.f;
deviceStatus->m_handbrakeButtonPressed = false;
deviceStatus->m_reverseButtonPressed = false;
//
// Don't forget to call init! (This function is necessary to set up derived data)
//
vehicle.init();
}
