ilikecats/stk-code_catmod
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(Re-)Added support for disablind sliding and zipper (based

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on implementation in trunk). Now the physics branch (with
disabled new features) behaves like current trunk.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/physics@10287 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2011-11-30 23:33:00 +00:00
parent 31aed84b82
commit 4dbdc5c588
2 changed files with 50 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
src/physics/btKart.cpp
View File

@ -38,17 +38,14 @@ btRigidBody& btActionInterface::getFixedBody()
// ============================================================================
btKart::btKart(btRigidBody* chassis, btVehicleRaycaster* raycaster,
Kart *kart)
: m_vehicleRaycaster(raycaster),
m_pitchControl(btScalar(0.))
: m_vehicleRaycaster(raycaster)
{
m_chassisBody = chassis;
m_indexRightAxis = 0;
m_indexUpAxis = 2;
m_indexForwardAxis = 1;
m_currentVehicleSpeedKmHour = btScalar(0.);
m_steeringValue = btScalar(0.);
m_num_wheels_on_ground = 0;
m_kart = kart;
reset();
} // btKart
// ----------------------------------------------------------------------------
@ -108,6 +105,11 @@ void btKart::reset()
wheel.m_rotation = 0;
updateWheelTransformsWS(wheel);
}
m_zipper_active = false;
m_zipper_velocity = btScalar(0);
m_allow_sliding = false;
m_currentVehicleSpeedKmHour = btScalar(0.);
m_num_wheels_on_ground = 0;
} // reset
// ----------------------------------------------------------------------------
@ -662,6 +664,21 @@ void btKart::updateFriction(btScalar timeStep)
(btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if(!groundObject) continue;
if(m_zipper_active && m_zipper_velocity > 0)
{
if (wheel==2 || wheel==3)
{
// The zipper velocity is the speed that should be
// reached. So compute the impulse to accelerate the
// kart up to that speed:
m_forwardImpulse[wheel] =
0.5f*(m_zipper_velocity -
getRigidBody()->getLinearVelocity().length())
/ m_chassisBody->getInvMass();
}
}
btScalar rollingFriction = 0.f;
if (wheelInfo.m_engineForce != 0.f)
@ -713,12 +730,15 @@ void btKart::updateFriction(btScalar timeStep)
} // for (int wheel=0; wheel<getNumWheels(); wheel++)
m_zipper_active = false;
m_zipper_velocity = 0;
if (sliding)
{
for (int wheel = 0; wheel < getNumWheels(); wheel++)
{
if (m_sideImpulse[wheel] != btScalar(0.) &&
m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
if (m_sideImpulse[wheel] != btScalar(0.) &&
m_allow_sliding &&
m_wheelInfo[wheel].m_skidInfo< btScalar(1.) )
{
m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
@ -818,18 +838,29 @@ void btKart::debugDraw(btIDebugDraw* debugDrawer)
// ----------------------------------------------------------------------------
/** Enables or disables sliding.
* \param active Enable (true) or disable sliding.
*/
void btKart::setSliding(bool active)
{
m_allow_sliding = active;
} // setSliding
// ----------------------------------------------------------------------------
/** Activates an additional speedup for the kart so that it reaches the
* specified speed.
* \param speed The speed to reach.
*/
void btKart::activateZipper(float speed)
{
m_zipper_active = true;
m_zipper_velocity = speed;
} // activateZipper
// ----------------------------------------------------------------------------
void btKart::deactivateZipper()
{
m_zipper_active = false;
} // deactivateZipper
// ----------------------------------------------------------------------------

24
src/physics/btKart.hpp
View File

@ -25,7 +25,7 @@ class Kart;
///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
class btKart : public btActionInterface
{
protected:
private:
btAlignedObjectArray<btVector3> m_forwardWS;
btAlignedObjectArray<btVector3> m_axle;
btAlignedObjectArray<btScalar> m_forwardImpulse;
@ -59,12 +59,17 @@ public:
};
protected:
btScalar m_tau;
btScalar m_damping;
btVehicleRaycaster* m_vehicleRaycaster;
btScalar m_pitchControl;
btScalar m_steeringValue;
btScalar m_currentVehicleSpeedKmHour;
btScalar m_damping;
btVehicleRaycaster *m_vehicleRaycaster;
btScalar m_currentVehicleSpeedKmHour;
bool m_zipper_active;
btScalar m_zipper_velocity;
/** Sliding (skidding) will only be permited when this is true. Also check
* the friction parameter in the wheels since friction directly affects
* skidding.
*/
bool m_allow_sliding;
btRigidBody* m_chassisBody;
@ -139,11 +144,6 @@ public:
void setBrake(btScalar brake,int wheelIndex);
void setPitchControl(btScalar pitch)
{
m_pitchControl = pitch;
}
void updateSuspension(btScalar deltaTime);