Method genRaycasts

src/Physics/Car.cpp:345–395

void Car::genRaycasts(btDynamicsWorld* dynamicsWorld){
    btTransform trans;
    vehicleMotionState->getWorldTransform(trans);
    glm::vec3 carBodyPosition = Utils::bulletToGlm(trans.getOrigin());

    glm::vec3 carUp = car_body_model.ModelMatrix * glm::vec4(0,1,0,0);
    glm::vec3 carRight = car_body_model.ModelMatrix * glm::vec4(1,0,0,0);
    glm::vec3 carForward = car_body_model.ModelMatrix * glm::vec4(0,0,-1,0);

    forwardCastPosition = carBodyPosition + carForward;
    upCastPosition = carBodyPosition + carUp;
    rightCastPosition = carBodyPosition + (carRight + carForward);
    leftCastPosition = carBodyPosition - (carRight - carForward);

    btCollisionWorld::ClosestRayResultCallback ForwardRayCallback(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(forwardCastPosition));
    btCollisionWorld::ClosestRayResultCallback UpRayCallback(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(upCastPosition));
    btCollisionWorld::ClosestRayResultCallback RightRayCallback(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(rightCastPosition));
    btCollisionWorld::ClosestRayResultCallback LeftRayCallback(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(leftCastPosition));

    // Don't Raycast against other opponents for now. Ghost through them.
    ForwardRayCallback.m_collisionFilterMask = COL_TRACK;
    UpRayCallback.m_collisionFilterMask      = COL_TRACK;
    RightRayCallback.m_collisionFilterMask   = COL_TRACK;
    LeftRayCallback.m_collisionFilterMask    = COL_TRACK;

    dynamicsWorld->rayTest(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(forwardCastPosition * castDistance), ForwardRayCallback);
    dynamicsWorld->rayTest(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(upCastPosition * castDistance), UpRayCallback);
    dynamicsWorld->rayTest(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(rightCastPosition * castDistance), RightRayCallback);
    dynamicsWorld->rayTest(Utils::glmToBullet(carBodyPosition), Utils::glmToBullet(leftCastPosition * castDistance), LeftRayCallback);

    if(ForwardRayCallback.hasHit()){
        forwardDistance = glm::distance(carBodyPosition,  glm::vec3(ForwardRayCallback.m_hitPointWorld.getX(), ForwardRayCallback.m_hitPointWorld.getY(),ForwardRayCallback.m_hitPointWorld.getZ()));
    } else {
        forwardDistance = castDistance;
    }
    if(UpRayCallback.hasHit()){
        upDistance = glm::distance(carBodyPosition,  glm::vec3(ForwardRayCallback.m_hitPointWorld.getX(), ForwardRayCallback.m_hitPointWorld.getY(),ForwardRayCallback.m_hitPointWorld.getZ()));
    } else {
        upDistance = castDistance;
    }
    if(RightRayCallback.hasHit()){
        rightDistance = glm::distance(carBodyPosition,  glm::vec3(RightRayCallback.m_hitPointWorld.getX(), RightRayCallback.m_hitPointWorld.getY(),RightRayCallback.m_hitPointWorld.getZ()));
    } else {
        rightDistance = castDistance;
    }
    if(LeftRayCallback.hasHit()){
        leftDistance = glm::distance(carBodyPosition,  glm::vec3(LeftRayCallback.m_hitPointWorld.getX(), LeftRayCallback.m_hitPointWorld.getY(),LeftRayCallback.m_hitPointWorld.getZ()));
    }  else {
        leftDistance = castDistance;
    }
}

void Car::applyAccelerationForce(bool accelerate, bool reverse)
{