ilikecats/stk-code_catmod
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revert to copying raycast info for wheel suspension.

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git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/irrlicht@3973 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
davemk 2009-09-01 15:38:38 +00:00
parent 8020d3eede
commit 00fab4a1f6
1 changed files with 7 additions and 16 deletions
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23
src/physics/btKart.cpp
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@ -437,27 +437,18 @@ void btKart::updateVehicle( btScalar step )
if(m_wheelInfo[i].m_raycastInfo.m_isInContact != m_wheelInfo[i+1].m_raycastInfo.m_isInContact)
{
int wheel_air_index = i;
int wheel_ground_index = i+1;
if (m_wheelInfo[i].m_raycastInfo.m_isInContact)
{
wheel_air_index = i+1;
wheel_ground_index = i;
}
btWheelInfo& wheel_air = m_wheelInfo[wheel_air_index];
btWheelInfo& wheel_ground = m_wheelInfo[wheel_ground_index];
wheel_air.m_raycastInfo.m_isInContact = true;
wheel_air.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
btScalar maxSuspensionLength =wheel_air.getSuspensionRestLength()+ wheel_air.m_maxSuspensionTravelCm*btScalar(0.01);
wheel_air.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
//extra fix to suspension
btVector3 chassis_velocity_at_contactPoint;
btVector3 relpos = wheel_air.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
btScalar projVel = wheel_air.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
wheel_air.m_suspensionRelativeVelocity = projVel;
wheel_air.m_raycastInfo = wheel_ground.m_raycastInfo;
}
} // for i=0; i<m_wheelInfo.size(); i+=2