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Added (some) support for driving on walls, added documentation.

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This commit is contained in:
hiker 2014-09-29 11:54:46 +10:00
parent a86b4e489c
commit 79873e2d45
1 changed files with 23 additions and 5 deletions
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28
src/physics/btKart.cpp
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@ -314,15 +314,33 @@ btScalar btKart::rayCast(unsigned int index)
} else
{
// The raycast either hit nothing (object=NULL), or it hit something,
// but not in the maximum suspension range. If it hit something,
// check for the need of cushioning:
if(object)
{
// If the raycast hit something, see if the jump needs cushioning:
// i.e. a slowdown in fall speed in order to avoid that on landing
// the chassis hits the ground (causing a severe slowdown of the
// kart). The cushioning is done if the fall distance (v_down * dt)
// in this physics step is large enough that the kart would hit the
// ground, i.e. the maximum suspension length plus fall distance
// is larger than the distance to the object that was just detected.
if(depth + m_chassisBody->getLinearVelocity().getY() *1./60.f < max_susp_len)
// To allow for wall driving, properly project the velocity
// onto the normal
btVector3 v = m_chassisBody->getLinearVelocity();
btVector3 down(0, 1, 0);
btVector3 v_down = (v * down) * down;
if(depth < max_susp_len + v_down.length() *1./60.f)
{
btVector3 v = -0.25f*0.5f*m_chassisBody->getLinearVelocity();
v.setZ(0);
v.setX(0);
m_chassisBody->applyCentralImpulse(v/m_chassisBody->getInvMass());
// Apply an impulse that will roughly half the speed. Since
// there are 4 wheels, a single wheel should apply 1/4 of
// the necessary impulse:
btVector3 impulse = (-0.25f*0.5f/m_chassisBody->getInvMass())
* v_down;
m_chassisBody->applyCentralImpulse(impulse);
}
}
depth = btScalar(-1.0);