Replaced tabs.
git-svn-id: svn+ssh://svn.code.sf.net/p/supertuxkart/code/main/trunk@10295 178a84e3-b1eb-0310-8ba1-8eac791a3b58
This commit is contained in:
hikerstk
parent
fdafbd4588
commit
bb6e9f6f2c
@ -29,10 +29,10 @@
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btRigidBody& btKart::getFixedBody()
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{
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static btRigidBody s_fixed(0, 0,0);
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s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),
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static btRigidBody s_fixed(0, 0,0);
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s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),
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btScalar(0.),btScalar(0.)));
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return s_fixed;
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return s_fixed;
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}
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// ============================================================================
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@ -40,14 +40,14 @@ btKart::btKart(btRigidBody* chassis, btVehicleRaycaster* raycaster,
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Kart *kart)
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: m_vehicleRaycaster(raycaster)
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{
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m_chassisBody = chassis;
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m_indexRightAxis = 0;
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m_indexUpAxis = 2;
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m_indexForwardAxis = 1;
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m_chassisBody = chassis;
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m_indexRightAxis = 0;
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m_indexUpAxis = 2;
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m_indexForwardAxis = 1;
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m_kart = kart;
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reset();
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} // btKart
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// ----------------------------------------------------------------------------
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btKart::~btKart()
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{
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@ -68,28 +68,28 @@ btWheelInfo& btKart::addWheel(const btVector3& connectionPointCS,
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bool isFrontWheel)
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{
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btWheelInfoConstructionInfo ci;
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btWheelInfoConstructionInfo ci;
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ci.m_chassisConnectionCS = connectionPointCS;
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ci.m_wheelDirectionCS = wheelDirectionCS0;
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ci.m_wheelAxleCS = wheelAxleCS;
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ci.m_suspensionRestLength = suspensionRestLength;
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ci.m_wheelRadius = wheelRadius;
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ci.m_bIsFrontWheel = isFrontWheel;
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ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
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ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
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ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
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ci.m_frictionSlip = tuning.m_frictionSlip;
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ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
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ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
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ci.m_chassisConnectionCS = connectionPointCS;
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ci.m_wheelDirectionCS = wheelDirectionCS0;
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ci.m_wheelAxleCS = wheelAxleCS;
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ci.m_suspensionRestLength = suspensionRestLength;
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ci.m_wheelRadius = wheelRadius;
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ci.m_bIsFrontWheel = isFrontWheel;
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ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
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ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
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ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
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ci.m_frictionSlip = tuning.m_frictionSlip;
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ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
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ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
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m_wheelInfo.push_back( btWheelInfo(ci));
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btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
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updateWheelTransformsWS( wheel , false );
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updateWheelTransform(getNumWheels()-1,false);
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return wheel;
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m_wheelInfo.push_back( btWheelInfo(ci));
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btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
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updateWheelTransformsWS( wheel , false );
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updateWheelTransform(getNumWheels()-1,false);
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return wheel;
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} // addWheel
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// ----------------------------------------------------------------------------
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@ -108,50 +108,48 @@ void btKart::reset()
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m_zipper_active = false;
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m_zipper_velocity = btScalar(0);
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m_allow_sliding = false;
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m_currentVehicleSpeedKmHour = btScalar(0.);
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m_currentVehicleSpeedKmHour = btScalar(0.);
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m_num_wheels_on_ground = 0;
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} // reset
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// ----------------------------------------------------------------------------
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const btTransform& btKart::getWheelTransformWS( int wheelIndex ) const
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const btTransform& btKart::getWheelTransformWS( int wheelIndex ) const
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{
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btAssert(wheelIndex < getNumWheels());
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const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
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return wheel.m_worldTransform;
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btAssert(wheelIndex < getNumWheels());
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const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
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return wheel.m_worldTransform;
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} // getWheelTransformWS
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// ----------------------------------------------------------------------------
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void btKart::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
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{
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btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
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updateWheelTransformsWS(wheel,interpolatedTransform);
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btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
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btVector3 fwd = up.cross(right);
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fwd = fwd.normalize();
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// up = right.cross(fwd);
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// up.normalize();
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btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
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updateWheelTransformsWS(wheel,interpolatedTransform);
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btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
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btVector3 fwd = up.cross(right);
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fwd = fwd.normalize();
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//rotate around steering over de wheelAxleWS
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btScalar steering = wheel.m_steering;
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btQuaternion steeringOrn(up,steering);//wheel.m_steering);
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btMatrix3x3 steeringMat(steeringOrn);
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//rotate around steering over de wheelAxleWS
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btScalar steering = wheel.m_steering;
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btQuaternion steeringOrn(up,steering);//wheel.m_steering);
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btMatrix3x3 steeringMat(steeringOrn);
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btQuaternion rotatingOrn(right,-wheel.m_rotation);
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btMatrix3x3 rotatingMat(rotatingOrn);
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btQuaternion rotatingOrn(right,-wheel.m_rotation);
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btMatrix3x3 rotatingMat(rotatingOrn);
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btMatrix3x3 basis2(
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right[0],fwd[0],up[0],
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right[1],fwd[1],up[1],
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right[2],fwd[2],up[2]
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);
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wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
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wheel.m_worldTransform.setOrigin(
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wheel.m_raycastInfo.m_hardPointWS
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btMatrix3x3 basis2(
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right[0],fwd[0],up[0],
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right[1],fwd[1],up[1],
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right[2],fwd[2],up[2]
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);
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wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
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wheel.m_worldTransform.setOrigin(
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wheel.m_raycastInfo.m_hardPointWS
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+ wheel.m_raycastInfo.m_wheelDirectionWS
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*wheel.m_raycastInfo.m_suspensionLength);
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} // updateWheelTransform
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@ -160,138 +158,138 @@ void btKart::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
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void btKart::resetSuspension()
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{
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int i;
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for (i=0;i<m_wheelInfo.size(); i++)
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{
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btWheelInfo& wheel = m_wheelInfo[i];
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wheel.m_raycastInfo.m_suspensionLength =
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int i;
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for (i=0;i<m_wheelInfo.size(); i++)
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{
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btWheelInfo& wheel = m_wheelInfo[i];
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wheel.m_raycastInfo.m_suspensionLength =
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wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS =
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS =
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- wheel.m_raycastInfo.m_wheelDirectionWS;
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//wheel_info.setContactFriction(btScalar(0.0));
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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//wheel_info.setContactFriction(btScalar(0.0));
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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} // resetSuspension
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// ----------------------------------------------------------------------------
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void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
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bool interpolatedTransform)
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{
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wheel.m_raycastInfo.m_isInContact = false;
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wheel.m_raycastInfo.m_isInContact = false;
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btTransform chassisTrans = getChassisWorldTransform();
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if (interpolatedTransform && (getRigidBody()->getMotionState()))
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{
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getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
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}
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btTransform chassisTrans = getChassisWorldTransform();
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if (interpolatedTransform && (getRigidBody()->getMotionState()))
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{
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getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
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}
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wheel.m_raycastInfo.m_hardPointWS =
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wheel.m_raycastInfo.m_hardPointWS =
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chassisTrans( wheel.m_chassisConnectionPointCS );
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *
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wheel.m_wheelDirectionCS ;
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() *
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() *
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wheel.m_wheelAxleCS;
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} // updateWheelTransformsWS
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// ----------------------------------------------------------------------------
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btScalar btKart::rayCast(btWheelInfo& wheel)
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{
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updateWheelTransformsWS( wheel,false);
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updateWheelTransformsWS( wheel,false);
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btScalar depth = -1;
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btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
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btScalar depth = -1;
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btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
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+ wheel.m_maxSuspensionTravelCm*0.01f;
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btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
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const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
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wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
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const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
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btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
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const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
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wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
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const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
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btScalar param = btScalar(0.);
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btVehicleRaycaster::btVehicleRaycasterResult rayResults;
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btScalar param = btScalar(0.);
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btVehicleRaycaster::btVehicleRaycasterResult rayResults;
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btAssert(m_vehicleRaycaster);
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btAssert(m_vehicleRaycaster);
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void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
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void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
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wheel.m_raycastInfo.m_groundObject = 0;
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wheel.m_raycastInfo.m_groundObject = 0;
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if (object)
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{
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param = rayResults.m_distFraction;
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depth = raylen * rayResults.m_distFraction;
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wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
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wheel.m_raycastInfo.m_isInContact = true;
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if (object)
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{
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param = rayResults.m_distFraction;
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depth = raylen * rayResults.m_distFraction;
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wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
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wheel.m_raycastInfo.m_isInContact = true;
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///@todo for driving on dynamic/movable objects!;
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wheel.m_raycastInfo.m_groundObject = &getFixedBody();
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wheel.m_raycastInfo.m_groundObject = &getFixedBody();
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btScalar hitDistance = param*raylen;
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wheel.m_raycastInfo.m_suspensionLength =
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btScalar hitDistance = param*raylen;
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wheel.m_raycastInfo.m_suspensionLength =
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hitDistance - wheel.m_wheelsRadius;
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//clamp on max suspension travel
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//clamp on max suspension travel
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btScalar minSuspensionLength = wheel.getSuspensionRestLength()
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btScalar minSuspensionLength = wheel.getSuspensionRestLength()
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- wheel.m_maxSuspensionTravelCm*btScalar(0.01);
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btScalar maxSuspensionLength = wheel.getSuspensionRestLength()
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btScalar maxSuspensionLength = wheel.getSuspensionRestLength()
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+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
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if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
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}
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if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
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}
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if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
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}
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if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
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}
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wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
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wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
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btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(
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btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(
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wheel.m_raycastInfo.m_wheelDirectionWS );
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
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- getRigidBody()->getCenterOfMassPosition();
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chassis_velocity_at_contactPoint =
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chassis_velocity_at_contactPoint =
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getRigidBody()->getVelocityInLocalPoint(relpos);
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btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(
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btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(
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chassis_velocity_at_contactPoint );
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if ( denominator >= btScalar(-0.1))
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{
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
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}
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else
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{
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btScalar inv = btScalar(-1.) / denominator;
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wheel.m_suspensionRelativeVelocity = projVel * inv;
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wheel.m_clippedInvContactDotSuspension = inv;
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}
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} else
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{
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//put wheel info as in rest position
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS =
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if ( denominator >= btScalar(-0.1))
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{
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
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}
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else
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{
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btScalar inv = btScalar(-1.) / denominator;
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wheel.m_suspensionRelativeVelocity = projVel * inv;
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wheel.m_clippedInvContactDotSuspension = inv;
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}
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} else
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{
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//put wheel info as in rest position
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS =
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- wheel.m_raycastInfo.m_wheelDirectionWS;
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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return depth;
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return depth;
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} // rayCast
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// ----------------------------------------------------------------------------
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const btTransform& btKart::getChassisWorldTransform() const
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{
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return getRigidBody()->getCenterOfMassTransform();
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{
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return getRigidBody()->getCenterOfMassTransform();
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} // getChassisWorldTransform
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// ----------------------------------------------------------------------------
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@ -302,37 +300,36 @@ void btKart::updateVehicle( btScalar step )
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updateWheelTransform(i,false);
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}
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m_currentVehicleSpeedKmHour =
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m_currentVehicleSpeedKmHour =
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btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
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const btTransform& chassisTrans = getChassisWorldTransform();
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW(chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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btVector3 forwardW(chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
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{
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m_currentVehicleSpeedKmHour *= btScalar(-1.);
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}
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if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
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{
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m_currentVehicleSpeedKmHour *= btScalar(-1.);
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}
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// Simulate suspension
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// -------------------
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int i=0;
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// Simulate suspension
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// -------------------
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m_num_wheels_on_ground = 0;
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for (i=0;i<m_wheelInfo.size();i++)
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{
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btScalar depth;
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depth = rayCast( m_wheelInfo[i]);
|
||||
for (int i=0;i<m_wheelInfo.size();i++)
|
||||
{
|
||||
btScalar depth;
|
||||
depth = rayCast( m_wheelInfo[i]);
|
||||
if(m_wheelInfo[i].m_raycastInfo.m_isInContact)
|
||||
m_num_wheels_on_ground++;
|
||||
}
|
||||
}
|
||||
// Work around: make sure that either both wheels on one axis
|
||||
// are on ground, or none of them. This avoids the problem of
|
||||
// the kart suddenly getting additional angular velocity because
|
||||
// e.g. only one rear wheel is on the ground.
|
||||
for(i=0; i<m_wheelInfo.size(); i+=2)
|
||||
for(int i=0; i<m_wheelInfo.size(); i+=2)
|
||||
{
|
||||
if( m_wheelInfo[i ].m_raycastInfo.m_isInContact !=
|
||||
m_wheelInfo[i+1].m_raycastInfo.m_isInContact)
|
||||
@ -353,65 +350,65 @@ void btKart::updateVehicle( btScalar step )
|
||||
}
|
||||
} // for i=0; i<m_wheelInfo.size(); i+=2
|
||||
|
||||
updateSuspension(step);
|
||||
updateSuspension(step);
|
||||
|
||||
|
||||
for (i=0;i<m_wheelInfo.size();i++)
|
||||
{
|
||||
//apply suspension force
|
||||
btWheelInfo& wheel = m_wheelInfo[i];
|
||||
|
||||
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
|
||||
|
||||
if (suspensionForce > wheel.m_maxSuspensionForce)
|
||||
{
|
||||
suspensionForce = wheel.m_maxSuspensionForce;
|
||||
}
|
||||
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS
|
||||
|
||||
for (int i=0;i<m_wheelInfo.size();i++)
|
||||
{
|
||||
//apply suspension force
|
||||
btWheelInfo& wheel = m_wheelInfo[i];
|
||||
|
||||
btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
|
||||
|
||||
if (suspensionForce > wheel.m_maxSuspensionForce)
|
||||
{
|
||||
suspensionForce = wheel.m_maxSuspensionForce;
|
||||
}
|
||||
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS
|
||||
* suspensionForce * step;
|
||||
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
|
||||
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
|
||||
- getRigidBody()->getCenterOfMassPosition();
|
||||
|
||||
getRigidBody()->applyImpulse(impulse, relpos);
|
||||
|
||||
}
|
||||
|
||||
updateFriction( step);
|
||||
|
||||
getRigidBody()->applyImpulse(impulse, relpos);
|
||||
|
||||
}
|
||||
|
||||
updateFriction( step);
|
||||
|
||||
|
||||
for (i=0;i<m_wheelInfo.size();i++)
|
||||
{
|
||||
btWheelInfo& wheel = m_wheelInfo[i];
|
||||
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS
|
||||
|
||||
for (int i=0;i<m_wheelInfo.size();i++)
|
||||
{
|
||||
btWheelInfo& wheel = m_wheelInfo[i];
|
||||
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS
|
||||
- getRigidBody()->getCenterOfMassPosition();
|
||||
btVector3 vel = getRigidBody()->getVelocityInLocalPoint(relpos);
|
||||
btVector3 vel = getRigidBody()->getVelocityInLocalPoint(relpos);
|
||||
|
||||
if (wheel.m_raycastInfo.m_isInContact)
|
||||
{
|
||||
const btTransform& chassisWorldTransform =
|
||||
if (wheel.m_raycastInfo.m_isInContact)
|
||||
{
|
||||
const btTransform& chassisWorldTransform =
|
||||
getChassisWorldTransform();
|
||||
|
||||
btVector3 fwd (
|
||||
chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
|
||||
chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
|
||||
chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
|
||||
btVector3 fwd (
|
||||
chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
|
||||
chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
|
||||
chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
|
||||
|
||||
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
|
||||
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
|
||||
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
|
||||
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;
|
||||
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);
|
||||
} else
|
||||
{
|
||||
wheel.m_rotation += wheel.m_deltaRotation;
|
||||
}
|
||||
//damping of rotation when not in contact
|
||||
wheel.m_deltaRotation *= btScalar(0.99);
|
||||
|
||||
}
|
||||
}
|
||||
float f = -m_kart->getSpeed()
|
||||
* m_kart->getKartProperties()->getDownwardImpulseFactor();
|
||||
btVector3 downwards_impulse = m_chassisBody->getWorldTransform().getBasis()
|
||||
@ -423,62 +420,62 @@ void btKart::updateVehicle( btScalar step )
|
||||
// ----------------------------------------------------------------------------
|
||||
void btKart::setSteeringValue(btScalar steering, int wheel)
|
||||
{
|
||||
btAssert(wheel>=0 && wheel < getNumWheels());
|
||||
btAssert(wheel>=0 && wheel < getNumWheels());
|
||||
|
||||
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
||||
wheelInfo.m_steering = steering;
|
||||
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
||||
wheelInfo.m_steering = steering;
|
||||
} // setSteeringValue
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
btScalar btKart::getSteeringValue(int wheel) const
|
||||
btScalar btKart::getSteeringValue(int wheel) const
|
||||
{
|
||||
return getWheelInfo(wheel).m_steering;
|
||||
return getWheelInfo(wheel).m_steering;
|
||||
}
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
void btKart::applyEngineForce(btScalar force, int wheel)
|
||||
void btKart::applyEngineForce(btScalar force, int wheel)
|
||||
{
|
||||
btAssert(wheel>=0 && wheel < getNumWheels());
|
||||
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
||||
wheelInfo.m_engineForce = force;
|
||||
btAssert(wheel>=0 && wheel < getNumWheels());
|
||||
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
||||
wheelInfo.m_engineForce = force;
|
||||
}
|
||||
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
const btWheelInfo& btKart::getWheelInfo(int index) const
|
||||
const btWheelInfo& btKart::getWheelInfo(int index) const
|
||||
{
|
||||
btAssert((index >= 0) && (index < getNumWheels()));
|
||||
|
||||
return m_wheelInfo[index];
|
||||
btAssert((index >= 0) && (index < getNumWheels()));
|
||||
|
||||
return m_wheelInfo[index];
|
||||
}
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
btWheelInfo& btKart::getWheelInfo(int index)
|
||||
btWheelInfo& btKart::getWheelInfo(int index)
|
||||
{
|
||||
btAssert((index >= 0) && (index < getNumWheels()));
|
||||
|
||||
return m_wheelInfo[index];
|
||||
btAssert((index >= 0) && (index < getNumWheels()));
|
||||
|
||||
return m_wheelInfo[index];
|
||||
}
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
void btKart::setBrake(btScalar brake,int wheelIndex)
|
||||
{
|
||||
btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
|
||||
getWheelInfo(wheelIndex).m_brake = brake;
|
||||
btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
|
||||
getWheelInfo(wheelIndex).m_brake = brake;
|
||||
}
|
||||
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
void btKart::updateSuspension(btScalar deltaTime)
|
||||
{
|
||||
(void)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 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 )
|
||||
{
|
||||
// A very unphysical thing to handle slopes that are a bit too
|
||||
// steep or uneven (resulting in only one wheel on the ground)
|
||||
@ -494,7 +491,7 @@ void btKart::updateSuspension(btScalar deltaTime)
|
||||
|
||||
btScalar force;
|
||||
|
||||
// Spring
|
||||
// Spring
|
||||
btScalar susp_length = wheel_info.getSuspensionRestLength();
|
||||
btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
|
||||
btScalar length_diff = (susp_length - current_length);
|
||||
@ -517,38 +514,38 @@ void btKart::updateSuspension(btScalar deltaTime)
|
||||
{
|
||||
wheel_info.m_wheelsSuspensionForce = btScalar(0.);
|
||||
}
|
||||
} // for (int w_it=0; w_it<getNumWheels(); w_it++)
|
||||
} // for (int w_it=0; w_it<getNumWheels(); w_it++)
|
||||
|
||||
} // updateSuspension
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
struct btWheelContactPoint
|
||||
{
|
||||
btRigidBody* m_body0;
|
||||
btRigidBody* m_body1;
|
||||
btVector3 m_frictionPositionWorld;
|
||||
btVector3 m_frictionDirectionWorld;
|
||||
btScalar m_jacDiagABInv;
|
||||
btScalar m_maxImpulse;
|
||||
btRigidBody* m_body0;
|
||||
btRigidBody* m_body1;
|
||||
btVector3 m_frictionPositionWorld;
|
||||
btVector3 m_frictionDirectionWorld;
|
||||
btScalar m_jacDiagABInv;
|
||||
btScalar m_maxImpulse;
|
||||
|
||||
|
||||
btWheelContactPoint(btRigidBody* body0, btRigidBody* body1,
|
||||
btWheelContactPoint(btRigidBody* body0, btRigidBody* body1,
|
||||
const btVector3& frictionPosWorld,
|
||||
const btVector3& frictionDirectionWorld,
|
||||
btScalar maxImpulse)
|
||||
:m_body0(body0),
|
||||
m_body1(body1),
|
||||
m_frictionPositionWorld(frictionPosWorld),
|
||||
m_frictionDirectionWorld(frictionDirectionWorld),
|
||||
m_maxImpulse(maxImpulse)
|
||||
{
|
||||
btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,
|
||||
:m_body0(body0),
|
||||
m_body1(body1),
|
||||
m_frictionPositionWorld(frictionPosWorld),
|
||||
m_frictionDirectionWorld(frictionDirectionWorld),
|
||||
m_maxImpulse(maxImpulse)
|
||||
{
|
||||
btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,
|
||||
frictionDirectionWorld);
|
||||
btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,
|
||||
btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,
|
||||
frictionDirectionWorld);
|
||||
btScalar relaxation = 1.f;
|
||||
m_jacDiagABInv = relaxation/(denom0+denom1);
|
||||
}
|
||||
btScalar relaxation = 1.f;
|
||||
m_jacDiagABInv = relaxation/(denom0+denom1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -558,29 +555,29 @@ struct btWheelContactPoint
|
||||
btScalar btKart::calcRollingFriction(btWheelContactPoint& contactPoint)
|
||||
{
|
||||
|
||||
btScalar j1=0.f;
|
||||
btScalar j1=0.f;
|
||||
|
||||
const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
|
||||
const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
|
||||
|
||||
btVector3 rel_pos1 = contactPosWorld
|
||||
btVector3 rel_pos1 = contactPosWorld
|
||||
- contactPoint.m_body0->getCenterOfMassPosition();
|
||||
btVector3 rel_pos2 = contactPosWorld
|
||||
btVector3 rel_pos2 = contactPosWorld
|
||||
- contactPoint.m_body1->getCenterOfMassPosition();
|
||||
|
||||
btScalar maxImpulse = contactPoint.m_maxImpulse;
|
||||
|
||||
btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
|
||||
btScalar maxImpulse = contactPoint.m_maxImpulse;
|
||||
|
||||
btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
|
||||
btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
|
||||
btVector3 vel = vel1 - vel2;
|
||||
|
||||
btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
|
||||
btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
|
||||
|
||||
// calculate j that moves us to zero relative velocity
|
||||
j1 = -vrel * contactPoint.m_jacDiagABInv;
|
||||
btSetMin(j1, maxImpulse);
|
||||
btSetMax(j1, -maxImpulse);
|
||||
// calculate j that moves us to zero relative velocity
|
||||
j1 = -vrel * contactPoint.m_jacDiagABInv;
|
||||
btSetMin(j1, maxImpulse);
|
||||
btSetMax(j1, -maxImpulse);
|
||||
|
||||
return j1;
|
||||
return j1;
|
||||
} // calcRollingFriction
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
@ -613,7 +610,7 @@ void btKart::updateFriction(btScalar timeStep)
|
||||
m_forwardImpulse[i] = btScalar(0.);
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
for (int i=0;i<getNumWheels();i++)
|
||||
{
|
||||
@ -650,10 +647,10 @@ void btKart::updateFriction(btScalar timeStep)
|
||||
m_sideImpulse[i] *= sideFrictionStiffness2;
|
||||
}
|
||||
|
||||
btScalar sideFactor = btScalar(1.);
|
||||
btScalar fwdFactor = 0.5;
|
||||
btScalar sideFactor = btScalar(1.);
|
||||
btScalar fwdFactor = 0.5;
|
||||
|
||||
bool sliding = false;
|
||||
bool sliding = false;
|
||||
for (int wheel=0; wheel<getNumWheels(); wheel++)
|
||||
{
|
||||
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
|
||||
@ -679,7 +676,7 @@ void btKart::updateFriction(btScalar timeStep)
|
||||
|
||||
}
|
||||
|
||||
btScalar rollingFriction = 0.f;
|
||||
btScalar rollingFriction = 0.f;
|
||||
|
||||
if (wheelInfo.m_engineForce != 0.f)
|
||||
{
|
||||
@ -740,7 +737,7 @@ void btKart::updateFriction(btScalar timeStep)
|
||||
m_allow_sliding &&
|
||||
m_wheelInfo[wheel].m_skidInfo< btScalar(1.) )
|
||||
{
|
||||
m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
||||
m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
||||
m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
||||
}
|
||||
} // for wheel <getNumWheels
|
||||
@ -802,38 +799,38 @@ void btKart::updateFriction(btScalar timeStep)
|
||||
} // for wheel<getNumWheels()
|
||||
|
||||
|
||||
|
||||
|
||||
} // updateFriction
|
||||
|
||||
// ----------------------------------------------------------------------------
|
||||
void btKart::debugDraw(btIDebugDraw* debugDrawer)
|
||||
{
|
||||
|
||||
for (int v=0;v<getNumWheels();v++)
|
||||
{
|
||||
btVector3 wheelColor(0,1,1);
|
||||
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
|
||||
{
|
||||
wheelColor.setValue(0,0,1);
|
||||
} else
|
||||
{
|
||||
wheelColor.setValue(1,0,1);
|
||||
}
|
||||
for (int v=0;v<getNumWheels();v++)
|
||||
{
|
||||
btVector3 wheelColor(0,1,1);
|
||||
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
|
||||
{
|
||||
wheelColor.setValue(0,0,1);
|
||||
} else
|
||||
{
|
||||
wheelColor.setValue(1,0,1);
|
||||
}
|
||||
|
||||
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
|
||||
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
|
||||
|
||||
btVector3 axle = btVector3(
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
|
||||
btVector3 axle = btVector3(
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
|
||||
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
|
||||
|
||||
//debug wheels (cylinders)
|
||||
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
|
||||
debugDrawer->drawLine(wheelPosWS,
|
||||
//debug wheels (cylinders)
|
||||
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
|
||||
debugDrawer->drawLine(wheelPosWS,
|
||||
getWheelInfo(v).m_raycastInfo.m_contactPointWS,
|
||||
wheelColor);
|
||||
|
||||
} // for i < getNumWheels
|
||||
} // for i < getNumWheels
|
||||
} // debugDraw
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user