diff options
author | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
---|---|---|
committer | Joshua Leung <aligorith@gmail.com> | 2010-06-17 06:42:43 +0400 |
commit | ed59822857de7e7b41b33b79c306f5e9b8755c62 (patch) | |
tree | aa15011ba1df16a98d023acf2a276b265bd3ceda /extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp | |
parent | 22bca493b23904c4dee7130f5737005f8558a26d (diff) |
== SoC Bullet - Bullet Upgrade to 2.76 ==
Updated Blender's Bullet to 2.76 in this branch only.
This update was done by:
1) deleting the contents of the existing extern/bullet2/src directory (leaving the .svn folder in place),
2) copy/pasting the contents of the bullet/src directory (from unzipped Bullet archive) into this newly cleared folder.
Hopefully there aren't any patches that are still needed from the Bullet we had in source.
---
Note: I didn't use Moguri's patch, since that was giving me compile errors with headers not being able to be found.
[[Split portion of a mixed commit.]]
Diffstat (limited to 'extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp')
-rw-r--r-- | extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp | 56 |
1 files changed, 56 insertions, 0 deletions
diff --git a/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp b/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp new file mode 100644 index 00000000000..ef93c16fffc --- /dev/null +++ b/extern/bullet2/BulletDynamics/Vehicle/btWheelInfo.cpp @@ -0,0 +1,56 @@ +/* + * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ + * + * Permission to use, copy, modify, distribute and sell this software + * and its documentation for any purpose is hereby granted without fee, + * provided that the above copyright notice appear in all copies. + * Erwin Coumans makes no representations about the suitability + * of this software for any purpose. + * It is provided "as is" without express or implied warranty. +*/ +#include "btWheelInfo.h" +#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity + + +btScalar btWheelInfo::getSuspensionRestLength() const +{ + + return m_suspensionRestLength1; + +} + +void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo) +{ + (void)raycastInfo; + + + if (m_raycastInfo.m_isInContact) + + { + btScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS ); + btVector3 chassis_velocity_at_contactPoint; + btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition(); + chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos ); + btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint ); + if ( project >= btScalar(-0.1)) + { + m_suspensionRelativeVelocity = btScalar(0.0); + m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1); + } + else + { + btScalar inv = btScalar(-1.) / project; + m_suspensionRelativeVelocity = projVel * inv; + m_clippedInvContactDotSuspension = inv; + } + + } + + else // Not in contact : position wheel in a nice (rest length) position + { + m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength(); + m_suspensionRelativeVelocity = btScalar(0.0); + m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS; + m_clippedInvContactDotSuspension = btScalar(1.0); + } +} |