ilikecats/stk-code_catmod
1
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Changed the default for the physics wheels to be just at

Browse Source 
the corners of the chassis (and not where the graphical
wheels are). Improved physics settings for hexley.


git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/trunk/supertuxkart@2479 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk 2008-11-19 22:43:21 +00:00
parent b4f16ef5cf
commit aa27ba317d
6 changed files with 70 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
data/stk_config.data
View File

@ -46,7 +46,15 @@
(corn-f 4 )
(corn-r 4 )
(wheelie-max-speed-ratio 0.7 ) ;; percentage of max speed for wheelies to work
(gravity-center-shift 0 0 0.3)
;; Shift of the chassis with regards to the center of mass. E.g. with the
;; the value commented out below the chassis will be 30 cm higher than the
;; center of mass - or the center of mass will be 30 cm lower than the
;; middle of the chassis. So this effectively lowers the center of mass,
;; making the kart more stable and less likely to topple over.
;; Default (if nothing is defined here) is that the center of the mass is
;; at the very bottom of the chassis!
;;(gravity-center-shift 0 0 0.3)
(wheelie-max-pitch 45.0 ) ;; maximum pitch to use when doing a wheelie
(wheelie-pitch-rate 60.0 ) ;; rate/sec with which the kart goes up
(wheelie-restore-rate 90.0 ) ;; rate/sec with which the kart does down

3
src/bullet/src/BulletDynamics/Vehicle/btKart.cpp
View File

@ -461,7 +461,8 @@ void btKart::updateFriction(btScalar timeStep)
if (m_forwardImpulse[wheel] != btScalar(0.))
{
m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),
btVector3(0,0,0));
}
if (m_sideImpulse[wheel] != btScalar(0.))
{

17
src/karts/kart.cpp
View File

@ -833,7 +833,22 @@ void Kart::updatePhysics (float dt)
m_engine_sound->speed(0.6f + (float)(m_speed / max_speed)*0.7f);
m_engine_sound->position(getXYZ());
}
#ifdef XX
printf("forward %f %f %f %f side %f %f %f %f angVel %f %f %f heading %f\n"
,m_vehicle->m_forwardImpulse[0]
,m_vehicle->m_forwardImpulse[1]
,m_vehicle->m_forwardImpulse[2]
,m_vehicle->m_forwardImpulse[3]
,m_vehicle->m_sideImpulse[0]
,m_vehicle->m_sideImpulse[1]
,m_vehicle->m_sideImpulse[2]
,m_vehicle->m_sideImpulse[3]
,m_body->getAngularVelocity().getX()
,m_body->getAngularVelocity().getY()
,m_body->getAngularVelocity().getZ()
,getHPR().getHeading()
);
#endif
} // updatePhysics
//-----------------------------------------------------------------------------

36
src/karts/kart_model.cpp
View File

@ -29,7 +29,6 @@ float KartModel::UNDEFINED = -99.9f;
/** The constructor reads the model file name and wheel specification from the
* kart config file.
* \param lisp Lisp object of the kart config file.
*/
KartModel::KartModel()
{
@ -104,16 +103,14 @@ void KartModel::loadModels()
for(unsigned int i=0; i<4; i++)
{
if(m_wheel_graphics_position[i].getX()==UNDEFINED)
{
m_wheel_graphics_position[i].setX( ( i==1||i==3)
? -0.5f*m_kart_width
: 0.5f*m_kart_width );
if(m_wheel_graphics_position[i].getY()==STKConfig::UNDEFINED)
m_wheel_graphics_position[i].setY( (i<2) ? 0.5f*m_kart_length
: -0.5f*m_kart_length);
if(m_wheel_graphics_position[i].getZ()==STKConfig::UNDEFINED)
m_wheel_graphics_position[i].setZ(0);
if(m_wheel_physics_position[i].getX()==UNDEFINED)
m_wheel_physics_position[i] = m_wheel_graphics_position[i];
}
}
// Load the wheel models. This can't be done early, since the default
@ -176,6 +173,35 @@ void KartModel::loadWheelInfo(const lisp::Lisp* const lisp,
wheel->get("physics-position", m_wheel_physics_position[index] );
} // loadWheelInfo
// ----------------------------------------------------------------------------
/** Sets the default position for the physical wheels if they are not defined
* in the data file. The default position is to have the wheels at the corner
* of the chassis. But since the position is relative to the center of mass,
* this must be specified.
* \param center_shift Amount the kart chassis is moved relative to the center
* of mass.
* \param wheel_radius Radius of the physics wheels.
*/
void KartModel::setDefaultPhysicsPosition(const Vec3 &center_shift,
float wheel_radius)
{
for(unsigned int i=0; i<4; i++)
{
if(m_wheel_physics_position[i].getX()==UNDEFINED)
{
m_wheel_physics_position[i].setX( ( i==1||i==3)
? -0.5f*m_kart_width
: 0.5f*m_kart_width
+center_shift.getX( ));
m_wheel_physics_position[i].setY( (0.5f*m_kart_length-wheel_radius)
* ( (i<2) ? 1 : -1)
+center_shift.getY());
m_wheel_physics_position[i].setZ(0);
} // if physics position is not defined
}
} // setDefaultPhysicsPosition
// ----------------------------------------------------------------------------
/** Rotates and turns the wheels appropriately, and adjust for suspension.
* \param rotation How far the wheels should rotate.

2
src/karts/kart_model.hpp
View File

@ -113,6 +113,6 @@ public:
void adjustWheels(float rotation, float steer,
const float suspension[4]);
void resetWheels();
void setDefaultPhysicsPosition(const Vec3 &center_shift, float wheel_radius);
}; // KartModel
#endif

6
src/karts/kart_properties.cpp
View File

@ -139,12 +139,14 @@ void KartProperties::load(const std::string &filename, const std::string &node,
{
m_kart_model.loadModels();
if(m_gravity_center_shift.getX()==UNDEFINED)
{
m_gravity_center_shift.setX(0);
if(m_gravity_center_shift.getY()==UNDEFINED)
m_gravity_center_shift.setY(0);
// Default: center at the very bottom of the kart.
if(m_gravity_center_shift.getZ()==UNDEFINED)
m_gravity_center_shift.setZ(m_kart_model.getHeight()*0.5f);
}
m_kart_model.setDefaultPhysicsPosition(m_gravity_center_shift,
m_wheel_radius);
// Useful when tweaking kart parameters
if(user_config->m_print_kart_sizes)
printf("%s:\twidth: %f\tlength: %f\theight: %f\n",getIdent().c_str(),