diff options
Diffstat (limited to 'extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp')
| -rw-r--r-- | extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp | 72 |
1 files changed, 34 insertions, 38 deletions
diff --git a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp index d53de7f3687..fe65245c2a1 100644 --- a/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/extern/bullet2/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -23,12 +23,11 @@ #include "BulletDynamics/ConstraintSolver/btContactConstraint.h" - - static btRigidBody s_fixedObject( 0,0,0); btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster ) -:m_vehicleRaycaster(raycaster), +: btTypedConstraint(VEHICLE_CONSTRAINT_TYPE), +m_vehicleRaycaster(raycaster), m_pitchControl(btScalar(0.)) { m_chassisBody = chassis; @@ -487,6 +486,7 @@ struct btWheelContactPoint }; +btScalar calcRollingFriction(btWheelContactPoint& contactPoint); btScalar calcRollingFriction(btWheelContactPoint& contactPoint) { @@ -507,8 +507,8 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint) // calculate j that moves us to zero relative velocity j1 = -vrel * contactPoint.m_jacDiagABInv; - GEN_set_min(j1, maxImpulse); - GEN_set_max(j1, -maxImpulse); + btSetMin(j1, maxImpulse); + btSetMax(j1, -maxImpulse); return j1; } @@ -525,11 +525,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) if (!numWheel) return; - - btVector3* forwardWS = new btVector3[numWheel]; - btVector3* axle = new btVector3[numWheel]; - btScalar* forwardImpulse = new btScalar[numWheel]; - btScalar* sideImpulse = new btScalar[numWheel]; + m_forwardWS.resize(numWheel); + m_axle.resize(numWheel); + m_forwardImpulse.resize(numWheel); + m_sideImpulse.resize(numWheel); int numWheelsOnGround = 0; @@ -541,8 +540,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject; if (groundObject) numWheelsOnGround++; - sideImpulse[i] = btScalar(0.); - forwardImpulse[i] = btScalar(0.); + m_sideImpulse[i] = btScalar(0.); + m_forwardImpulse[i] = btScalar(0.); } @@ -561,25 +560,25 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) const btTransform& wheelTrans = getWheelTransformWS( i ); btMatrix3x3 wheelBasis0 = wheelTrans.getBasis(); - axle[i] = btVector3( + m_axle[i] = btVector3( wheelBasis0[0][m_indexRightAxis], wheelBasis0[1][m_indexRightAxis], wheelBasis0[2][m_indexRightAxis]); const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS; - btScalar proj = axle[i].dot(surfNormalWS); - axle[i] -= surfNormalWS * proj; - axle[i] = axle[i].normalize(); + btScalar proj = m_axle[i].dot(surfNormalWS); + m_axle[i] -= surfNormalWS * proj; + m_axle[i] = m_axle[i].normalize(); - forwardWS[i] = surfNormalWS.cross(axle[i]); - forwardWS[i].normalize(); + m_forwardWS[i] = surfNormalWS.cross(m_axle[i]); + m_forwardWS[i].normalize(); resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS, *groundObject, wheelInfo.m_raycastInfo.m_contactPointWS, - btScalar(0.), axle[i],sideImpulse[i],timeStep); + btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep); - sideImpulse[i] *= sideFrictionStiffness2; + m_sideImpulse[i] *= sideFrictionStiffness2; } @@ -608,7 +607,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) { btScalar defaultRollingFrictionImpulse = 0.f; btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse; - btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,forwardWS[wheel],maxImpulse); + btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse); rollingFriction = calcRollingFriction(contactPt); } } @@ -618,7 +617,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) - forwardImpulse[wheel] = btScalar(0.); + m_forwardImpulse[wheel] = btScalar(0.); m_wheelInfo[wheel].m_skidInfo= btScalar(1.); if (groundObject) @@ -631,10 +630,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btScalar maximpSquared = maximp * maximpSide; - forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep; + m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep; - btScalar x = (forwardImpulse[wheel] ) * fwdFactor; - btScalar y = (sideImpulse[wheel] ) * sideFactor; + btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor; + btScalar y = (m_sideImpulse[wheel] ) * sideFactor; btScalar impulseSquared = (x*x + y*y); @@ -658,12 +657,12 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) { for (int wheel = 0;wheel < getNumWheels(); wheel++) { - if (sideImpulse[wheel] != btScalar(0.)) + if (m_sideImpulse[wheel] != btScalar(0.)) { if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.)) { - forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; - sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; + m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo; } } } @@ -678,11 +677,11 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS - m_chassisBody->getCenterOfMassPosition(); - if (forwardImpulse[wheel] != btScalar(0.)) + if (m_forwardImpulse[wheel] != btScalar(0.)) { - m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos); + m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos); } - if (sideImpulse[wheel] != btScalar(0.)) + if (m_sideImpulse[wheel] != btScalar(0.)) { class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject; @@ -690,7 +689,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) groundObject->getCenterOfMassPosition(); - btVector3 sideImp = axle[wheel] * sideImpulse[wheel]; + btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel]; rel_pos[2] *= wheelInfo.m_rollInfluence; m_chassisBody->applyImpulse(sideImp,rel_pos); @@ -701,10 +700,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) } } - delete []forwardWS; - delete [] axle; - delete[]forwardImpulse; - delete[] sideImpulse; + } @@ -716,11 +712,11 @@ void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& m_dynamicsWorld->rayTest(from, to, rayCallback); - if (rayCallback.HasHit()) + if (rayCallback.hasHit()) { btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject); - if (body) + if (body && body->hasContactResponse()) { result.m_hitPointInWorld = rayCallback.m_hitPointWorld; result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld; |