diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp | 29 |
1 files changed, 21 insertions, 8 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp index 031fcb5b447..345dca6a11c 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -22,7 +22,15 @@ #include "LinearMath/btIDebugDraw.h" #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" -static btRigidBody s_fixedObject( 0,0,0); +#define ROLLING_INFLUENCE_FIX + + +btRigidBody& btActionInterface::getFixedBody() +{ + static btRigidBody s_fixed(0, 0,0); + s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.))); + return s_fixed; +} btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) :m_vehicleRaycaster(raycaster), @@ -70,6 +78,7 @@ btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con ci.m_frictionSlip = tuning.m_frictionSlip; ci.m_bIsFrontWheel = isFrontWheel; ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm; + ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce; m_wheelInfo.push_back( btWheelInfo(ci)); @@ -186,7 +195,7 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel) wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld; wheel.m_raycastInfo.m_isInContact = true; - wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!; + wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!; //wheel.m_raycastInfo.m_groundObject = object; @@ -301,10 +310,9 @@ void btRaycastVehicle::updateVehicle( btScalar step ) btScalar suspensionForce = wheel.m_wheelsSuspensionForce; - btScalar gMaxSuspensionForce = btScalar(6000.); - if (suspensionForce > gMaxSuspensionForce) + if (suspensionForce > wheel.m_maxSuspensionForce) { - suspensionForce = gMaxSuspensionForce; + suspensionForce = wheel.m_maxSuspensionForce; } btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step; btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition(); @@ -689,7 +697,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; +#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT. + btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(1); + rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence)); +#else rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence; +#endif m_chassisBody->applyImpulse(sideImp,rel_pos); //apply friction impulse on the ground @@ -708,13 +721,13 @@ void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer) for (int v=0;v<this->getNumWheels();v++) { - btVector3 wheelColor(0,255,255); + btVector3 wheelColor(0,1,1); if (getWheelInfo(v).m_raycastInfo.m_isInContact) { - wheelColor.setValue(0,0,255); + wheelColor.setValue(0,0,1); } else { - wheelColor.setValue(255,0,255); + wheelColor.setValue(1,0,1); } btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin(); |