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First version of 'smooth landing' in physics.

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This commit is contained in:
hiker 2014-09-28 23:18:52 +10:00
parent fe569797a3
commit a86b4e489c
1 changed files with 21 additions and 4 deletions
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25
src/physics/btKart.cpp
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@ -234,8 +234,13 @@ btScalar btKart::rayCast(unsigned int index)
btScalar depth = -1;
btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
+ wheel.m_maxSuspensionTravelCm*0.01f;
btScalar max_susp_len = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
+ wheel.m_maxSuspensionTravelCm*0.01f;
// Do a slightly longer raycast to see if the kart might soon hit the
// ground and some 'cushioning' is needed to avoid that the chassis
// hits the ground.
btScalar raylen = max_susp_len + 0.5f;
btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
@ -252,10 +257,10 @@ btScalar btKart::rayCast(unsigned int index)
wheel.m_raycastInfo.m_groundObject = 0;
if (object)
depth = raylen * rayResults.m_distFraction;
if (object && depth < max_susp_len)
{
param = rayResults.m_distFraction;
depth = raylen * rayResults.m_distFraction;
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_contactNormalWS.normalize();
wheel.m_raycastInfo.m_isInContact = true;
@ -309,6 +314,18 @@ btScalar btKart::rayCast(unsigned int index)
} else
{
if(object)
{
if(depth + m_chassisBody->getLinearVelocity().getY() *1./60.f < max_susp_len)
{
btVector3 v = -0.25f*0.5f*m_chassisBody->getLinearVelocity();
v.setZ(0);
v.setX(0);
m_chassisBody->applyCentralImpulse(v/m_chassisBody->getInvMass());
}
}
depth = btScalar(-1.0);
//put wheel info as in rest position
wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = btScalar(0.0);