ilikecats/stk-code_catmod
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Fixed #539 (elephpant has problems with wheels when using convex hull

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as collision shape). This appears to be a bullet problem (raycast for
wheels is hitting the chassis), worked around this by disabling
raycast collisions with chassis completely.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/trunk@10556 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2012-01-03 00:29:34 +00:00
parent 324c976f2d
commit a720994036
1 changed files with 18 additions and 1 deletions
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19
src/physics/btKart.cpp
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@ -205,6 +205,18 @@ void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
// ----------------------------------------------------------------------------
btScalar btKart::rayCast(btWheelInfo& wheel)
{
// Work around a bullet problem: when using a convex hull the raycast
// would sometimes hit the chassis (which does not happen when using a
// box shape). Therefore set the collision mask in the chassis body so
// that it is not hit anymore.
short int old_group=0;
if(m_chassisBody->getBroadphaseHandle())
{
old_group = m_chassisBody->getBroadphaseHandle()
->m_collisionFilterGroup;
m_chassisBody->getBroadphaseHandle()->m_collisionFilterGroup = 0;
}
updateWheelTransformsWS( wheel,false);
@ -292,6 +304,11 @@ btScalar btKart::rayCast(btWheelInfo& wheel)
wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
}
if(m_chassisBody->getBroadphaseHandle())
{
m_chassisBody->getBroadphaseHandle()->m_collisionFilterGroup
= old_group;
}
return depth;
} // rayCast
@ -321,7 +338,7 @@ void btKart::updateVehicle( btScalar step )
m_num_wheels_on_ground = 0;
for (int i=0;i<m_wheelInfo.size();i++)
{
btScalar depth;
btScalar depth;
depth = rayCast( m_wheelInfo[i]);
if(m_wheelInfo[i].m_raycastInfo.m_isInContact)
m_num_wheels_on_ground++;