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project karts with rest suspension in wheel direction

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git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/irrlicht@3885 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
davemk 2009-08-19 13:43:17 +00:00
parent a4b2c3f4b5
commit 361174536a
1 changed files with 17 additions and 8 deletions
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25
src/physics/btKart.cpp
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@ -174,6 +174,11 @@ btScalar btKart::rayCast(btWheelInfo& wheel, const btVector3& ray)
//Please align wheel direction with ray direction first. //Please align wheel direction with ray direction first.
bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicle) bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicle)
{ {
if (ray.length() <= btScalar(0))
return false;
btVector3 ray_dir = ray / ray.length();
for (int i=0;i<getNumWheels();i++) for (int i=0;i<getNumWheels();i++)
{ {
updateWheelTransform(i,false); updateWheelTransform(i,false);
@ -240,17 +245,12 @@ bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicl
btWheelInfo& min_wheel2 = m_wheelInfo[min_wheel_index2]; btWheelInfo& min_wheel2 = m_wheelInfo[min_wheel_index2];
btWheelInfo& min_wheel3 = m_wheelInfo[min_wheel_index3]; btWheelInfo& min_wheel3 = m_wheelInfo[min_wheel_index3];
btVector3 ray_dir = btVector3(0,0,0);
if (ray.length() > btScalar(0))
ray_dir = ray / ray.length();
btTransform trans = getRigidBody()->getCenterOfMassTransform(); btTransform trans = getRigidBody()->getCenterOfMassTransform();
btTransform rot_trans; btTransform rot_trans;
rot_trans.setIdentity(); rot_trans.setIdentity();
rot_trans.setRotation(trans.getRotation()); rot_trans.setRotation(trans.getRotation());
rot_trans = rot_trans.inverse(); rot_trans = rot_trans.inverse();
btTransform offset_trans; btTransform offset_trans;
offset_trans.setIdentity(); offset_trans.setIdentity();
btVector3 offset= min_wheel.m_raycastInfo.m_hardPointWS + min_wheel.m_wheelsRadius * ray_dir; btVector3 offset= min_wheel.m_raycastInfo.m_hardPointWS + min_wheel.m_wheelsRadius * ray_dir;
@ -264,8 +264,8 @@ bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicl
//Note - For possible complex surfaces with lots of bumps directly under vehicle, //Note - For possible complex surfaces with lots of bumps directly under vehicle,
// the raycast needs to be done from a slightly higher above the surface. // the raycast needs to be done from a slightly higher above the surface.
// For such surfaces, the end result should be that no wheel is below the // For such surfaces, the end result should be that at least 1 wheel touches
// surface, but there can be not all wheels touching surface. // the surface, and no wheel goes below the surface.
//We need to rotate vehicle, using above contact point as a pivot to put //We need to rotate vehicle, using above contact point as a pivot to put
//2nd closest wheel nearer to the surface of the track //2nd closest wheel nearer to the surface of the track
@ -352,6 +352,12 @@ bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicl
if (!translate_vehicle) if (!translate_vehicle)
return true; return true;
for (int i=0;i<getNumWheels();i++)
{
updateWheelTransform(i,false);
}
min_depth = btScalar(-1); //minimum distance of wheel to surface min_depth = btScalar(-1); //minimum distance of wheel to surface
for (int i=0;i<m_wheelInfo.size();i++) for (int i=0;i<m_wheelInfo.size();i++)
@ -371,7 +377,10 @@ bool btKart::projectVehicleToSurface(const btVector3& ray, bool translate_vehicl
} }
//translate along ray so wheel closest to surface is exactly on the surface //translate along ray so wheel closest to surface is exactly on the surface
getRigidBody()->translate((min_depth - min_wheel.getSuspensionRestLength()) * ray_dir); getRigidBody()->translate((min_depth) * ray_dir);
//offset for suspension rest length
getRigidBody()->translate(-min_wheel.getSuspensionRestLength() *
min_wheel.m_raycastInfo.m_wheelDirectionWS);
return true; return true;
} }