ilikecats/stk-code_catmod
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Removed debug output, added documentation.

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This commit is contained in:
hiker
2014-10-01 12:28:10 +10:00
parent 86b23f2d23
commit 49176dd348
1 changed files with 42 additions and 13 deletions
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55
src/physics/btKart.cpp
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@@ -390,6 +390,9 @@ void btKart::updateVehicle( btScalar step )
m_num_wheels_on_ground++;
}
// Test if the kart is falling so fast
// that the chassis might hit the track
// ------------------------------------
bool needs_cushioning_test = false;
for(int i=0; i<m_wheelInfo.size(); i++)
{
@@ -405,20 +408,33 @@ void btKart::updateVehicle( btScalar step )
const btVector3 &v = m_chassisBody->getLinearVelocity();
btVector3 down(0, 1, 0);
btVector3 v_down = (v * down) * down;
btScalar max_compensate_speed = m_wheelInfo[0].m_maxSuspensionForce * m_chassisBody->getInvMass() * step *4;
// Estimate what kind of downward speed can be compensated by the
// suspension. Atm the parameters are set that the suspension is
// actually capped at max suspension force, so the maximum
// speed that can be caught by the suspension without the chassis
// hitting the ground can be based on that. Note that there are
// 4 suspensions, all adding together.
btScalar max_compensate_speed = m_wheelInfo[0].m_maxSuspensionForce
* m_chassisBody->getInvMass()
* step * 4;
// If the downward speed is too fast to be caught by the suspension,
// slow down the falling speed by applying an appropriately impulse:
if(-v_down.getY() > max_compensate_speed)
{
btVector3 impulse = down * (-v_down.getY() - max_compensate_speed) / m_chassisBody->getInvMass();
float v_old = m_chassisBody->getLinearVelocity().getY();
btVector3 impulse = down * (-v_down.getY() - max_compensate_speed)
/ m_chassisBody->getInvMass();
//float v_old = m_chassisBody->getLinearVelocity().getY();
m_chassisBody->applyCentralImpulse(impulse);
Log::verbose("physics", "Cushioning %f from %f m/s to %f m/s", impulse.getY(),
v_old, m_chassisBody->getLinearVelocity().getY());
//Log::verbose("physics", "Cushioning %f from %f m/s to %f m/s", impulse.getY(),
// v_old, m_chassisBody->getLinearVelocity().getY());
}
}
for(int i=0; i<m_wheelInfo.size(); i++)
m_wheelInfo[i].m_was_on_ground = m_wheelInfo[i].m_raycastInfo.m_isInContact;
// If the kart is flying, try to keep it parallel to the ground.
// -------------------------------------------------------------
if(m_num_wheels_on_ground==0)
{
btVector3 kart_up = getChassisWorldTransform().getBasis().getColumn(1);
@@ -431,7 +447,8 @@ void btKart::updateVehicle( btScalar step )
// Work around: make sure that either both wheels on one axis
// are on ground, or none of them. This avoids the problem of
// the kart suddenly getting additional angular velocity because
// e.g. only one rear wheel is on the ground.
// e.g. only one rear wheel is on the ground and then the kart
// rotates very abruptly.
for(int i=0; i<m_wheelInfo.size(); i+=2)
{
if( m_wheelInfo[i ].m_raycastInfo.m_isInContact !=
@@ -453,8 +470,10 @@ void btKart::updateVehicle( btScalar step )
}
} // for i=0; i<m_wheelInfo.size(); i+=2
updateSuspension(step);
// Apply suspension forcen (i.e. upwards force)
// --------------------------------------------
updateSuspension(step);
for (int i=0;i<m_wheelInfo.size();i++)
{
@@ -476,9 +495,10 @@ void btKart::updateVehicle( btScalar step )
}
// Update friction (i.e. forward force)
// ------------------------------------
updateFriction( step);
for (int i=0;i<m_wheelInfo.size();i++)
{
btWheelInfo& wheel = m_wheelInfo[i];
@@ -512,13 +532,20 @@ void btKart::updateVehicle( btScalar step )
wheel.m_deltaRotation *= btScalar(0.99);
}
float f = -m_kart->getSpeed()
* m_kart->getKartProperties()->getDownwardImpulseFactor();
btVector3 downwards_impulse = m_chassisBody->getWorldTransform().getBasis()
* btVector3(0, f, 0);
m_chassisBody->applyCentralImpulse(downwards_impulse);
// If configured, add a force to keep karts on the track
// -----------------------------------------------------
float dif = m_kart->getKartProperties()->getDownwardImpulseFactor();
if(dif!=0)
{
float f = -m_kart->getSpeed() * dif;
btVector3 downwards_impulse = m_chassisBody->getWorldTransform().getBasis()
* btVector3(0, f, 0);
m_chassisBody->applyCentralImpulse(downwards_impulse);
}
// Apply additional impulse set by supertuxkart
// --------------------------------------------
if(m_time_additional_impulse>0)
{
float dt = step > m_time_additional_impulse
@@ -528,6 +555,8 @@ void btKart::updateVehicle( btScalar step )
m_time_additional_impulse -= dt;
}
// Apply additional rotation set by supertuxkart
// ---------------------------------------------
if(m_time_additional_rotation>0)
{
btTransform &t = m_chassisBody->getWorldTransform();