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Completely removed the usage of a physical wheel radius in the physics, it was

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never really necessary, the phsyics are basically the same). Wheel rotation is
was refactored to be completely done in KartModel now.
This commit is contained in:
hiker 2015-07-09 23:59:53 +10:00
parent 0345565ea8
commit 93282f8abf
11 changed files with 46 additions and 85 deletions
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4
data/stk_config.xml
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@ -394,12 +394,12 @@
exp-spring-response="false" max-force="12000"/>
<!-- Wheel related parameters: damping-relaxation/compression: for
bullet, damping parameters. Radius and width of wheel.
bullet, damping parameters.
front-right, front-left, rear-right and rear-left give the
position of the physics raycast wheels relative to the center of
gravity. Default is to use the corners of the chassis to attach
the wheels to. -->
<wheels damping-relaxation="35" damping-compression="5" radius="0.25">
<wheels damping-relaxation="35" damping-compression="5">
<front-right position="0.38 0 0.6" />
<front-left position="-0.38 0 0.6" />
<rear-right position="0.38 0 -0.6" />

12
lib/bullet/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@ -118,7 +118,7 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
btQuaternion steeringOrn(up,steering);//wheel.m_steering);
btMatrix3x3 steeringMat(steeringOrn);
btQuaternion rotatingOrn(right,-wheel.m_rotation);
btQuaternion rotatingOrn(right,0);
btMatrix3x3 rotatingMat(rotatingOrn);
btMatrix3x3 basis2(
@ -345,17 +345,7 @@ void btRaycastVehicle::updateVehicle( btScalar step )
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
btScalar proj2 = fwd.dot(vel);
wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
wheel.m_rotation += wheel.m_deltaRotation;
} else
{
wheel.m_rotation += wheel.m_deltaRotation;
}
wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
}

4
lib/bullet/src/BulletDynamics/Vehicle/btWheelInfo.h
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@ -67,8 +67,6 @@ struct btWheelInfo
btScalar m_wheelsDampingRelaxation;//const
btScalar m_frictionSlip;
btScalar m_steering;
btScalar m_rotation;
btScalar m_deltaRotation;
btScalar m_rollInfluence;
btScalar m_maxSuspensionForce;
@ -99,8 +97,6 @@ struct btWheelInfo
m_frictionSlip = ci.m_frictionSlip;
m_steering = btScalar(0.);
m_engineForce = btScalar(0.);
m_rotation = btScalar(0.);
m_deltaRotation = btScalar(0.);
m_brake = btScalar(0.);
m_rollInfluence = btScalar(0.1);
m_bIsFrontWheel = ci.m_bIsFrontWheel;

43
src/karts/kart.cpp
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@ -142,8 +142,6 @@ Kart::Kart (const std::string& ident, unsigned int world_kart_id,
// Set position and heading:
m_reset_transform = init_transform;
m_speed = 0.0f;
m_wheel_rotation = 0;
m_wheel_rotation_dt = 0;
m_kart_model->setKart(this);
@ -347,7 +345,6 @@ void Kart::reset()
m_node->setScale(core::vector3df(1.0f, 1.0f, 1.0f));
m_collected_energy = 0;
m_has_started = false;
m_wheel_rotation = 0;
m_bounce_back_time = 0.0f;
m_brake_time = 0.0f;
m_time_last_crash = 0.0f;
@ -385,22 +382,6 @@ void Kart::reset()
{
m_vehicle->reset();
}
// Randomize wheel rotation if needed
if (m_kart_properties->hasRandomWheels() && m_vehicle && m_kart_model)
{
scene::ISceneNode** graphic_wheels = m_kart_model->getWheelNodes();
// FIXME Hardcoded i < 4 comes from the arrays in KartModel
for (int i = 0; i < m_vehicle->getNumWheels() && i < 4; i++)
{
// Physics
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_rotation = btScalar(rand() % 360);
// And graphics
core::vector3df wheel_rotation(wheel.m_rotation, 0, 0);
if (graphic_wheels[i])
graphic_wheels[i]->setRotation(wheel_rotation);
} // for wheels
} // if random wheel rotation
setTrans(m_reset_transform);
@ -618,17 +599,12 @@ void Kart::createPhysics()
// All wheel positions are relative to the center of
// the collision shape.
wheel_pos[index].setX(x*0.5f*kart_width);
float radius = getKartProperties()->getWheelRadius();
// The y position of the wheels (i.e. the points where
// the suspension is attached to) is just at the
// bottom of the kart. That is half the kart height
// down. The wheel radius is added to the suspension
// length in the physics, so we move the connection
// point 'radius' up. That means that if the suspension
// is fully compressed (0), the wheel will just be at
// the bottom of the kart chassis and touch the ground
wheel_pos[index].setY(- 0.5f*kart_height + radius);
wheel_pos[index].setZ((0.5f*kart_length - radius)* z);
// down.
wheel_pos[index].setY(- 0.5f*kart_height);
wheel_pos[index].setZ((0.5f*kart_length-0.25f)* z);
}
else
@ -683,7 +659,6 @@ void Kart::createPhysics()
// Add wheels
// ----------
float wheel_radius = m_kart_properties->getWheelRadius();
float suspension_rest = m_kart_properties->getSuspensionRest();
btVector3 wheel_direction(0.0f, -1.0f, 0.0f);
@ -702,7 +677,8 @@ void Kart::createPhysics()
btWheelInfo& wheel = m_vehicle->addWheel(
wheel_pos[i]+cs,
wheel_direction, wheel_axle, suspension_rest,
wheel_radius, tuning, is_front_wheel);
m_kart_model->getWheelGraphicsRadius(i),
tuning, is_front_wheel);
wheel.m_suspensionStiffness = m_kart_properties->getSuspensionStiffness();
wheel.m_wheelsDampingRelaxation = m_kart_properties->getWheelDampingRelaxation();
wheel.m_wheelsDampingCompression = m_kart_properties->getWheelDampingCompression();
@ -1180,11 +1156,6 @@ void Kart::update(float dt)
m_kart_properties->getChassisAngularDamping());
}
//m_wheel_rotation gives the rotation around the X-axis
m_wheel_rotation_dt = m_speed*dt / m_kart_properties->getWheelRadius();
m_wheel_rotation += m_wheel_rotation_dt;
m_wheel_rotation = fmodf(m_wheel_rotation, 2*M_PI);
if(m_kart_animation)
m_kart_animation->update(dt);
@ -2601,7 +2572,9 @@ void Kart::updateGraphics(float dt, const Vec3& offset_xyz,
}
}
m_kart_model->update(dt, m_wheel_rotation_dt, getSteerPercent(), m_speed);
// m_speed*dt is the distance the kart has moved, which determines
// how much the wheels need to rotate.
m_kart_model->update(dt, m_speed*dt, getSteerPercent(), m_speed);
// If the kart is leaning, part of the kart might end up 'in' the track.
// To avoid this, raise the kart enough to offset the leaning.

6
src/karts/kart.hpp
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@ -188,12 +188,6 @@ private:
/** Handles all slipstreaming. */
SlipStream *m_slipstream;
/** Rotation compared to the start position, same for all wheels */
float m_wheel_rotation;
/** Rotation change in the last time delta, same for all wheels */
float m_wheel_rotation_dt;
/** The skidmarks object for this kart. */
SkidMarks *m_skidmarks;

17
src/karts/kart_model.cpp
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@ -654,6 +654,15 @@ void KartModel::loadWheelInfo(const XMLNode &node,
*/
void KartModel::reset()
{
for (unsigned int i = 0; i < 4; i++)
{
m_wheel_rotation[i] = btScalar(rand() % 360);
m_wheel_rotation_dt[i] = 0.0f;
core::vector3df wheel_rotation(0, 0, 0);
if (m_wheel_node[i])
m_wheel_node[i]->setRotation(wheel_rotation);
}
update(0.0f, 0.0f, 0.0f, 0.0f);
// Stop any animations currently being played.
@ -784,7 +793,7 @@ void KartModel::setDefaultSuspension()
* \param speed The speed of the kart in meters/sec, used for the
* speed-weighted objects' animations
*/
void KartModel::update(float dt, float rotation_dt, float steer, float speed)
void KartModel::update(float dt, float distance, float steer, float speed)
{
core::vector3df wheel_steer(0, steer*30.0f, 0);
@ -802,6 +811,10 @@ void KartModel::update(float dt, float rotation_dt, float steer, float speed)
}
}
#endif
//m_wheel_rotation gives the rotation around the X-axis
m_wheel_rotation_dt[i] = distance / m_wheel_graphics_radius[i];
m_wheel_rotation[i] += m_wheel_rotation_dt[i];
m_wheel_rotation[i] = fmodf(m_wheel_rotation[i], 2 * M_PI);
core::vector3df pos = m_wheel_graphics_position[i].toIrrVector();
@ -811,7 +824,7 @@ void KartModel::update(float dt, float rotation_dt, float steer, float speed)
// Now calculate the new rotation: (old + change) mod 360
float new_rotation = m_wheel_node[i]->getRotation().X
+ rotation_dt * RAD_TO_DEGREE;
+ m_wheel_rotation_dt[i] * RAD_TO_DEGREE;
new_rotation = fmodf(new_rotation, 360);
core::vector3df wheel_rotation(new_rotation, 0, 0);
// Only apply steer to first 2 wheels.

10
src/karts/kart_model.hpp
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@ -185,6 +185,14 @@ private:
of wheels in bullet is too large and looks strange). 1=no change, 2=half the amplitude */
float m_dampen_suspension_amplitude[4];
/** Rotation compared to the start position, same for all wheels */
float m_wheel_rotation[4];
/** Rotation change in the last time delta, same for all wheels */
float m_wheel_rotation_dt[4];
/** Which animation is currently being played. This is used to overwrite
* the default steering animations while being in race. If this is set
* to AF_DEFAULT the default steering animation is shown. */
@ -232,7 +240,7 @@ public:
void loadInfo(const XMLNode &node);
bool loadModels(const KartProperties &kart_properties);
void setDefaultSuspension();
void update(float dt, float rotation_dt, float steer,
void update(float dt, float distance, float steer,
float speed);
void finishedRace();
scene::ISceneNode*

9
src/karts/kart_properties.cpp
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@ -70,7 +70,7 @@ KartProperties::KartProperties(const std::string &filename)
m_nitro_max_speed_increase = m_nitro_duration = m_nitro_fade_out_time =
m_suspension_stiffness = m_wheel_damping_relaxation = m_wheel_base =
m_wheel_damping_compression = m_friction_slip = m_roll_influence =
m_wheel_radius = m_chassis_linear_damping = m_max_suspension_force =
m_chassis_linear_damping = m_max_suspension_force =
m_chassis_angular_damping = m_suspension_rest =
m_max_speed_reverse_ratio = m_rescue_vert_offset =
m_collision_terrain_impulse = m_collision_impulse = m_restitution =
@ -298,7 +298,10 @@ void KartProperties::load(const std::string &filename, const std::string &node)
// moved to be on the corner of the shape. In order to retain the same
// steering behaviour, the wheel base (which in turn determines the
// turn angle at certain speeds) is shortened by 2*wheel_radius
m_wheel_base = fabsf(m_kart_model->getLength() - 2*m_wheel_radius);
// Wheel radius was always 0.25, and is now not used anymore, but in order
// to keep existing steering behaviour, the same formula is still
// used.
m_wheel_base = fabsf(m_kart_model->getLength() - 2*0.25f);
// Now convert the turn radius into turn angle:
for(unsigned int i=0; i<m_turn_angle_at_speed.size(); i++)
@ -372,7 +375,6 @@ void KartProperties::getAllData(const XMLNode * root)
{
wheels_node->get("damping-relaxation", &m_wheel_damping_relaxation );
wheels_node->get("damping-compression", &m_wheel_damping_compression);
wheels_node->get("radius", &m_wheel_radius );
}
if(const XMLNode *speed_weighted_objects_node = root->getNode("speed-weighted-objects"))
@ -687,7 +689,6 @@ void KartProperties::checkAllSet(const std::string &filename)
CHECK_NEG(m_time_reset_steer, "turn time-reset-steer" );
CHECK_NEG(m_wheel_damping_relaxation, "wheels damping-relaxation" );
CHECK_NEG(m_wheel_damping_compression, "wheels damping-compression" );
CHECK_NEG(m_wheel_radius, "wheels radius" );
CHECK_NEG(m_friction_slip, "friction slip" );
CHECK_NEG(m_roll_influence, "stability roll-influence" );
CHECK_NEG(m_chassis_linear_damping, "stability chassis-linear-damping" );

5
src/karts/kart_properties.hpp
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@ -288,7 +288,6 @@ private:
float m_max_suspension_force;
float m_friction_slip;
float m_roll_influence;
float m_wheel_radius;
/** Parameters for the speed-weighted objects */
SpeedWeightedObject::Properties m_speed_weighted_object_properties;
@ -571,10 +570,6 @@ public:
/** Returns roll influence. */
float getRollInfluence () const {return m_roll_influence; }
// ------------------------------------------------------------------------
/** Returns wheel radius. */
float getWheelRadius () const {return m_wheel_radius; }
// ------------------------------------------------------------------------
/** Return the additional Y offset added to the y position of the graphical
* chassis. Useful for karts that don't have enough space for suspension

14
src/physics/btKart.cpp
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@ -112,7 +112,6 @@ void btKart::reset()
{
btWheelInfo &wheel = m_wheelInfo[i];
wheel.m_raycastInfo.m_suspensionLength = 0;
wheel.m_rotation = 0;
updateWheelTransform(i, true);
}
m_visual_wheels_touch_ground = false;
@ -159,7 +158,7 @@ void btKart::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
btQuaternion steeringOrn(up,steering);//wheel.m_steering);
btMatrix3x3 steeringMat(steeringOrn);
btQuaternion rotatingOrn(right,-wheel.m_rotation);
btQuaternion rotatingOrn(right,0);
btMatrix3x3 rotatingMat(rotatingOrn);
btMatrix3x3 basis2(
@ -235,7 +234,7 @@ btScalar btKart::rayCast(unsigned int index)
updateWheelTransformsWS( wheel,false);
btScalar max_susp_len = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
btScalar max_susp_len = wheel.getSuspensionRestLength()
+ wheel.m_maxSuspensionTravel;
// Do a slightly longer raycast to see if the kart might soon hit the
@ -266,7 +265,7 @@ btScalar btKart::rayCast(unsigned int index)
wheel.m_raycastInfo.m_triangle_index = rayResults.m_triangle_index;;
wheel.m_raycastInfo.m_groundObject = &getFixedBody();
wheel.m_raycastInfo.m_suspensionLength = depth - wheel.m_wheelsRadius;
wheel.m_raycastInfo.m_suspensionLength = depth;
//clamp on max suspension travel
btScalar minSuspensionLength = wheel.getSuspensionRestLength()
@ -524,15 +523,8 @@ void btKart::updateVehicle( btScalar step )
btScalar proj2 = fwd.dot(vel);
wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
wheel.m_rotation += wheel.m_deltaRotation;
} else
{
wheel.m_rotation += wheel.m_deltaRotation;
}
//damping of rotation when not in contact
wheel.m_deltaRotation *= btScalar(0.99);
}

3
src/tracks/track.cpp
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@ -2444,8 +2444,7 @@ bool Track::findGround(AbstractKart *kart)
// length of the suspension with the weight of the kart resting on
// it). On the other hand this initial bouncing looks nice imho
// - so I'll leave it in for now.
float offset = kart->getKartProperties()->getSuspensionRest() +
kart->getKartProperties()->getWheelRadius();
float offset = kart->getKartProperties()->getSuspensionRest();
t.setOrigin(hit_point+Vec3(0, offset, 0) );
kart->getBody()->setCenterOfMassTransform(t);
kart->setTrans(t);