ilikecats/stk-code_catmod
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Try to better handle small 'gaps' (or perhaps floating point

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rounding errors) in tracks that can cause odd physics behaviour
(e.g. being able td drive upp the walls).
This commit is contained in:
hiker 2017-03-30 00:08:30 +11:00
parent 6f293af93a
commit 1cd5bb66c9
2 changed files with 18 additions and 6 deletions
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19
src/physics/btKart.cpp
View File

@ -192,7 +192,8 @@ void btKart::resetSuspension()
// ----------------------------------------------------------------------------
void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
bool interpolatedTransform)
bool interpolatedTransform,
float fraction)
{
wheel.m_raycastInfo.m_isInContact = false;
@ -203,7 +204,7 @@ void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
}
wheel.m_raycastInfo.m_hardPointWS =
chassisTrans( wheel.m_chassisConnectionPointCS );
chassisTrans( wheel.m_chassisConnectionPointCS*fraction );
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *
wheel.m_wheelDirectionCS ;
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() *
@ -213,7 +214,7 @@ void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
// ----------------------------------------------------------------------------
/**
*/
btScalar btKart::rayCast(unsigned int index)
btScalar btKart::rayCast(unsigned int index, float fraction)
{
btWheelInfo &wheel = m_wheelInfo[index];
@ -229,7 +230,7 @@ btScalar btKart::rayCast(unsigned int index)
m_chassisBody->getBroadphaseHandle()->m_collisionFilterGroup = 0;
}
updateWheelTransformsWS( wheel,false);
updateWheelTransformsWS( wheel,false, fraction);
btScalar max_susp_len = wheel.getSuspensionRestLength()
+ wheel.m_maxSuspensionTravel;
@ -391,6 +392,16 @@ void btKart::updateVehicle( btScalar step )
rayCast( i);
if(m_wheelInfo[i].m_raycastInfo.m_isInContact)
m_num_wheels_on_ground++;
else
{
// If the original raycast did not hit the ground,
// try a little bit (5%) closer to the centre of the chassis.
// Some tracks have very minor gaps that would otherwise
// trigger odd physical behaviour.
rayCast(i, 0.95f);
if (m_wheelInfo[i].m_raycastInfo.m_isInContact)
m_num_wheels_on_ground++;
}
}
// Test if the kart is falling so fast

5
src/physics/btKart.hpp
View File

@ -150,7 +150,7 @@ public:
void reset();
void debugDraw(btIDebugDraw* debugDrawer);
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(unsigned int index);
btScalar rayCast(unsigned int index, float fraction=1.0f);
virtual void updateVehicle(btScalar step);
void resetSuspension();
btScalar getSteeringValue(int wheel) const;
@ -169,7 +169,8 @@ public:
const btWheelInfo& getWheelInfo(int index) const;
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel,
bool interpolatedTransform=true);
bool interpolatedTransform=true,
float fraction = 1.0f);
void setAllBrakes(btScalar brake);
void updateSuspension(btScalar deltaTime);
virtual void updateFriction(btScalar timeStep);