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remove excess side_impulse friction torque on karts

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git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/branches/irrlicht@3851 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
davemk
2009-08-13 12:24:19 +00:00
parent c27a807e64
commit ab5a57daff
1 changed files with 39 additions and 32 deletions
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71
src/physics/btKart.cpp
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@@ -4,8 +4,8 @@
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
@@ -27,7 +27,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
static btRigidBody s_fixedObject( 0,0,0);
btKart::btKart(const btVehicleTuning& tuning,btRigidBody* chassis,
btKart::btKart(const btVehicleTuning& tuning,btRigidBody* chassis,
btVehicleRaycaster* raycaster, float track_connect_accel )
: btRaycastVehicle(tuning, chassis, raycaster)
{
@@ -44,7 +44,7 @@ btScalar btKart::rayCast(btWheelInfo& wheel)
{
updateWheelTransformsWS( wheel,false);
btScalar depth = -1;
btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius+
@@ -70,7 +70,7 @@ btScalar btKart::rayCast(btWheelInfo& wheel)
param = rayResults.m_distFraction;
depth = raylen * rayResults.m_distFraction;
wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
wheel.m_raycastInfo.m_isInContact = true;
wheel.m_raycastInfo.m_isInContact = true;
wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
//wheel.m_raycastInfo.m_groundObject = object;
@@ -113,7 +113,7 @@ btScalar btKart::rayCast(btWheelInfo& wheel)
wheel.m_suspensionRelativeVelocity = projVel * inv;
wheel.m_clippedInvContactDotSuspension = inv;
}
} else
{
//put wheel info as in rest position
@@ -139,7 +139,7 @@ void btKart::updateVehicle( btScalar step )
m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = getChassisWorldTransform();
btVector3 forwardW (
@@ -155,11 +155,11 @@ void btKart::updateVehicle( btScalar step )
//
// simulate suspension
//
int i=0;
for (i=0;i<m_wheelInfo.size();i++)
{
btScalar depth;
btScalar depth;
depth = rayCast( m_wheelInfo[i]);
}
@@ -182,14 +182,14 @@ void btKart::updateVehicle( btScalar step )
} // for i=0; i<4; i+=2
updateSuspension(step);
for (i=0;i<m_wheelInfo.size();i++)
{
//apply suspension force
btWheelInfo& wheel = m_wheelInfo[i];
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
btScalar gMaxSuspensionForce = btScalar(6000.);
if (suspensionForce > gMaxSuspensionForce)
{
@@ -197,16 +197,16 @@ void btKart::updateVehicle( btScalar step )
}
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
getRigidBody()->applyImpulse(impulse, relpos);
}
getRigidBody()->applyImpulse(impulse, relpos);
}
updateFriction( step);
for (i=0;i<m_wheelInfo.size();i++)
{
btWheelInfo& wheel = m_wheelInfo[i];
@@ -226,7 +226,7 @@ void btKart::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;
@@ -234,7 +234,7 @@ void btKart::updateVehicle( btScalar step )
{
wheel.m_rotation += wheel.m_deltaRotation;
}
wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
}
@@ -247,11 +247,11 @@ void btKart::updateSuspension(btScalar deltaTime)
(void)deltaTime;
btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
for (int w_it=0; w_it<getNumWheels(); w_it++)
{
btWheelInfo &wheel_info = m_wheelInfo[w_it];
if ( wheel_info.m_raycastInfo.m_isInContact )
{
btScalar force;
@@ -265,7 +265,7 @@ void btKart::updateSuspension(btScalar deltaTime)
force = wheel_info.m_suspensionStiffness
* length_diff * wheel_info.m_clippedInvContactDotSuspension;
}
// Damper
{
btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
@@ -377,7 +377,7 @@ void btKart::updateFriction(btScalar timeStep)
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
m_axle[i] = btVector3(
m_axle[i] = btVector3(
wheelBasis0[0][m_indexRightAxis],
wheelBasis0[1][m_indexRightAxis],
wheelBasis0[2][m_indexRightAxis]);
@@ -426,9 +426,9 @@ void btKart::updateFriction(btScalar timeStep)
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
rollingFriction = calcRollingFriction(contactPt);
// This is a work around for the problem that a kart shakes
// if it is braking: we get a minor impulse forward, which
// bullet then tries to offset by applying a backward
// impulse - which is a bit too big, causing a impulse
// if it is braking: we get a minor impulse forward, which
// bullet then tries to offset by applying a backward
// impulse - which is a bit too big, causing a impulse
// backwards, ... till the kart is shaking backwards and
// forwards
if(wheelInfo.m_brake && fabsf(rollingFriction)<10)
@@ -445,9 +445,9 @@ void btKart::updateFriction(btScalar timeStep)
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
if (groundObject)
{
{
m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
}
}
}
}
@@ -462,7 +462,7 @@ void btKart::updateFriction(btScalar timeStep)
{
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
m_chassisBody->getCenterOfMassPosition();
if (m_forwardImpulse[wheel] != btScalar(0.))
@@ -474,9 +474,16 @@ void btKart::updateFriction(btScalar timeStep)
{
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
groundObject->getCenterOfMassPosition();
//adjust relative position above ground so that force only acts sideways
btVector3 delta_vec = (wheelInfo.m_raycastInfo.m_hardPointWS - wheelInfo.m_raycastInfo.m_contactPointWS);
if (delta_vec.length() != btScalar (0))
{
delta_vec = delta_vec.normalize();
rel_pos -= delta_vec * rel_pos.dot(delta_vec);
}
btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];