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[Supertuxkart-commit] SF.net SVN: supertuxkart:[10295] main/trunk/src/physics/btKart.cpp
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From: <hik...@us...> - 2011-12-01 11:33:45
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Revision: 10295
http://supertuxkart.svn.sourceforge.net/supertuxkart/?rev=10295&view=rev
Author: hikerstk
Date: 2011-12-01 11:33:37 +0000 (Thu, 01 Dec 2011)
Log Message:
-----------
Replaced tabs.
Modified Paths:
--------------
main/trunk/src/physics/btKart.cpp
Modified: main/trunk/src/physics/btKart.cpp
===================================================================
--- main/trunk/src/physics/btKart.cpp 2011-12-01 02:57:39 UTC (rev 10294)
+++ main/trunk/src/physics/btKart.cpp 2011-12-01 11:33:37 UTC (rev 10295)
@@ -29,10 +29,10 @@
btRigidBody& btKart::getFixedBody()
{
- static btRigidBody s_fixed(0, 0,0);
- s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),
+ static btRigidBody s_fixed(0, 0,0);
+ s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),
btScalar(0.),btScalar(0.)));
- return s_fixed;
+ return s_fixed;
}
// ============================================================================
@@ -40,14 +40,14 @@
Kart *kart)
: m_vehicleRaycaster(raycaster)
{
- m_chassisBody = chassis;
- m_indexRightAxis = 0;
- m_indexUpAxis = 2;
- m_indexForwardAxis = 1;
+ m_chassisBody = chassis;
+ m_indexRightAxis = 0;
+ m_indexUpAxis = 2;
+ m_indexForwardAxis = 1;
m_kart = kart;
reset();
} // btKart
-
+
// ----------------------------------------------------------------------------
btKart::~btKart()
{
@@ -68,28 +68,28 @@
bool isFrontWheel)
{
- btWheelInfoConstructionInfo ci;
+ btWheelInfoConstructionInfo ci;
- ci.m_chassisConnectionCS = connectionPointCS;
- ci.m_wheelDirectionCS = wheelDirectionCS0;
- ci.m_wheelAxleCS = wheelAxleCS;
- ci.m_suspensionRestLength = suspensionRestLength;
- ci.m_wheelRadius = wheelRadius;
- ci.m_bIsFrontWheel = isFrontWheel;
- ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
- ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
- ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
- ci.m_frictionSlip = tuning.m_frictionSlip;
- ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
- ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
+ ci.m_chassisConnectionCS = connectionPointCS;
+ ci.m_wheelDirectionCS = wheelDirectionCS0;
+ ci.m_wheelAxleCS = wheelAxleCS;
+ ci.m_suspensionRestLength = suspensionRestLength;
+ ci.m_wheelRadius = wheelRadius;
+ ci.m_bIsFrontWheel = isFrontWheel;
+ ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
+ ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
+ ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
+ ci.m_frictionSlip = tuning.m_frictionSlip;
+ ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
+ ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
- m_wheelInfo.push_back( btWheelInfo(ci));
-
- btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
-
- updateWheelTransformsWS( wheel , false );
- updateWheelTransform(getNumWheels()-1,false);
- return wheel;
+ m_wheelInfo.push_back( btWheelInfo(ci));
+
+ btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
+
+ updateWheelTransformsWS( wheel , false );
+ updateWheelTransform(getNumWheels()-1,false);
+ return wheel;
} // addWheel
// ----------------------------------------------------------------------------
@@ -108,50 +108,48 @@
m_zipper_active = false;
m_zipper_velocity = btScalar(0);
m_allow_sliding = false;
- m_currentVehicleSpeedKmHour = btScalar(0.);
+ m_currentVehicleSpeedKmHour = btScalar(0.);
m_num_wheels_on_ground = 0;
} // reset
// ----------------------------------------------------------------------------
-const btTransform& btKart::getWheelTransformWS( int wheelIndex ) const
+const btTransform& btKart::getWheelTransformWS( int wheelIndex ) const
{
- btAssert(wheelIndex < getNumWheels());
- const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
- return wheel.m_worldTransform;
+ btAssert(wheelIndex < getNumWheels());
+ const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
+ return wheel.m_worldTransform;
} // getWheelTransformWS
// ----------------------------------------------------------------------------
void btKart::updateWheelTransform(int wheelIndex, bool interpolatedTransform)
{
-
- btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
- updateWheelTransformsWS(wheel,interpolatedTransform);
- btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
- const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
- btVector3 fwd = up.cross(right);
- fwd = fwd.normalize();
-// up = right.cross(fwd);
-// up.normalize();
+
+ btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
+ updateWheelTransformsWS(wheel,interpolatedTransform);
+ btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
+ const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
+ btVector3 fwd = up.cross(right);
+ fwd = fwd.normalize();
- //rotate around steering over de wheelAxleWS
- btScalar steering = wheel.m_steering;
-
- btQuaternion steeringOrn(up,steering);//wheel.m_steering);
- btMatrix3x3 steeringMat(steeringOrn);
+ //rotate around steering over de wheelAxleWS
+ btScalar steering = wheel.m_steering;
+
+ btQuaternion steeringOrn(up,steering);//wheel.m_steering);
+ btMatrix3x3 steeringMat(steeringOrn);
- btQuaternion rotatingOrn(right,-wheel.m_rotation);
- btMatrix3x3 rotatingMat(rotatingOrn);
+ btQuaternion rotatingOrn(right,-wheel.m_rotation);
+ btMatrix3x3 rotatingMat(rotatingOrn);
- btMatrix3x3 basis2(
- right[0],fwd[0],up[0],
- right[1],fwd[1],up[1],
- right[2],fwd[2],up[2]
- );
-
- wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
- wheel.m_worldTransform.setOrigin(
- wheel.m_raycastInfo.m_hardPointWS
+ btMatrix3x3 basis2(
+ right[0],fwd[0],up[0],
+ right[1],fwd[1],up[1],
+ right[2],fwd[2],up[2]
+ );
+
+ wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
+ wheel.m_worldTransform.setOrigin(
+ wheel.m_raycastInfo.m_hardPointWS
+ wheel.m_raycastInfo.m_wheelDirectionWS
*wheel.m_raycastInfo.m_suspensionLength);
} // updateWheelTransform
@@ -160,138 +158,138 @@
void btKart::resetSuspension()
{
- int i;
- for (i=0;i<m_wheelInfo.size(); i++)
- {
- btWheelInfo& wheel = m_wheelInfo[i];
- wheel.m_raycastInfo.m_suspensionLength =
+ int i;
+ for (i=0;i<m_wheelInfo.size(); i++)
+ {
+ btWheelInfo& wheel = m_wheelInfo[i];
+ wheel.m_raycastInfo.m_suspensionLength =
wheel.getSuspensionRestLength();
- wheel.m_suspensionRelativeVelocity = btScalar(0.0);
-
- wheel.m_raycastInfo.m_contactNormalWS =
+ wheel.m_suspensionRelativeVelocity = btScalar(0.0);
+
+ wheel.m_raycastInfo.m_contactNormalWS =
- wheel.m_raycastInfo.m_wheelDirectionWS;
- //wheel_info.setContactFriction(btScalar(0.0));
- wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
- }
+ //wheel_info.setContactFriction(btScalar(0.0));
+ wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
+ }
} // resetSuspension
// ----------------------------------------------------------------------------
void btKart::updateWheelTransformsWS(btWheelInfo& wheel,
bool interpolatedTransform)
{
- wheel.m_raycastInfo.m_isInContact = false;
+ wheel.m_raycastInfo.m_isInContact = false;
- btTransform chassisTrans = getChassisWorldTransform();
- if (interpolatedTransform && (getRigidBody()->getMotionState()))
- {
- getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
- }
+ btTransform chassisTrans = getChassisWorldTransform();
+ if (interpolatedTransform && (getRigidBody()->getMotionState()))
+ {
+ getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
+ }
- wheel.m_raycastInfo.m_hardPointWS =
+ wheel.m_raycastInfo.m_hardPointWS =
chassisTrans( wheel.m_chassisConnectionPointCS );
- wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *
+ wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() *
wheel.m_wheelDirectionCS ;
- wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() *
+ wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() *
wheel.m_wheelAxleCS;
} // updateWheelTransformsWS
// ----------------------------------------------------------------------------
btScalar btKart::rayCast(btWheelInfo& wheel)
{
- updateWheelTransformsWS( wheel,false);
+ updateWheelTransformsWS( wheel,false);
-
- btScalar depth = -1;
-
- btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
+
+ btScalar depth = -1;
+
+ btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius
+ wheel.m_maxSuspensionTravelCm*0.01f;
- btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
- const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
- wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
- const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
+ btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
+ const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
+ wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
+ const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
- btScalar param = btScalar(0.);
-
- btVehicleRaycaster::btVehicleRaycasterResult rayResults;
+ btScalar param = btScalar(0.);
+
+ btVehicleRaycaster::btVehicleRaycasterResult rayResults;
- btAssert(m_vehicleRaycaster);
+ btAssert(m_vehicleRaycaster);
- void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
+ void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
- wheel.m_raycastInfo.m_groundObject = 0;
+ wheel.m_raycastInfo.m_groundObject = 0;
- if (object)
- {
- param = rayResults.m_distFraction;
- depth = raylen * rayResults.m_distFraction;
- wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
- wheel.m_raycastInfo.m_isInContact = true;
+ if (object)
+ {
+ param = rayResults.m_distFraction;
+ depth = raylen * rayResults.m_distFraction;
+ wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
+ wheel.m_raycastInfo.m_isInContact = true;
///@todo for driving on dynamic/movable objects!;
- wheel.m_raycastInfo.m_groundObject = &getFixedBody();
+ wheel.m_raycastInfo.m_groundObject = &getFixedBody();
- btScalar hitDistance = param*raylen;
- wheel.m_raycastInfo.m_suspensionLength =
+ btScalar hitDistance = param*raylen;
+ wheel.m_raycastInfo.m_suspensionLength =
hitDistance - wheel.m_wheelsRadius;
- //clamp on max suspension travel
+ //clamp on max suspension travel
- btScalar minSuspensionLength = wheel.getSuspensionRestLength()
+ btScalar minSuspensionLength = wheel.getSuspensionRestLength()
- wheel.m_maxSuspensionTravelCm*btScalar(0.01);
- btScalar maxSuspensionLength = wheel.getSuspensionRestLength()
+ btScalar maxSuspensionLength = wheel.getSuspensionRestLength()
+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
- if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
- {
- wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
- }
- if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
- {
- wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
- }
+ if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
+ {
+ wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
+ }
+ if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
+ {
+ wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
+ }
- wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
+ wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
- btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(
+ btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(
wheel.m_raycastInfo.m_wheelDirectionWS );
- btVector3 chassis_velocity_at_contactPoint;
- btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
+ btVector3 chassis_velocity_at_contactPoint;
+ btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
- getRigidBody()->getCenterOfMassPosition();
- chassis_velocity_at_contactPoint =
+ chassis_velocity_at_contactPoint =
getRigidBody()->getVelocityInLocalPoint(relpos);
- btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(
+ btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(
chassis_velocity_at_contactPoint );
- if ( denominator >= btScalar(-0.1))
- {
- wheel.m_suspensionRelativeVelocity = btScalar(0.0);
- wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
- }
- else
- {
- btScalar inv = btScalar(-1.) / denominator;
- wheel.m_suspensionRelativeVelocity = projVel * inv;
- wheel.m_clippedInvContactDotSuspension = inv;
- }
-
- } else
- {
- //put wheel info as in rest position
- wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
- wheel.m_suspensionRelativeVelocity = btScalar(0.0);
- wheel.m_raycastInfo.m_contactNormalWS =
+ if ( denominator >= btScalar(-0.1))
+ {
+ wheel.m_suspensionRelativeVelocity = btScalar(0.0);
+ wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
+ }
+ else
+ {
+ btScalar inv = btScalar(-1.) / denominator;
+ wheel.m_suspensionRelativeVelocity = projVel * inv;
+ wheel.m_clippedInvContactDotSuspension = inv;
+ }
+
+ } else
+ {
+ //put wheel info as in rest position
+ wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
+ wheel.m_suspensionRelativeVelocity = btScalar(0.0);
+ wheel.m_raycastInfo.m_contactNormalWS =
- wheel.m_raycastInfo.m_wheelDirectionWS;
- wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
- }
+ wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
+ }
- return depth;
+ return depth;
} // rayCast
// ----------------------------------------------------------------------------
const btTransform& btKart::getChassisWorldTransform() const
-{
- return getRigidBody()->getCenterOfMassTransform();
+{
+ return getRigidBody()->getCenterOfMassTransform();
} // getChassisWorldTransform
// ----------------------------------------------------------------------------
@@ -302,37 +300,36 @@
updateWheelTransform(i,false);
}
- m_currentVehicleSpeedKmHour =
+ m_currentVehicleSpeedKmHour =
btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
-
- const btTransform& chassisTrans = getChassisWorldTransform();
+
+ const btTransform& chassisTrans = getChassisWorldTransform();
- btVector3 forwardW(chassisTrans.getBasis()[0][m_indexForwardAxis],
- chassisTrans.getBasis()[1][m_indexForwardAxis],
- chassisTrans.getBasis()[2][m_indexForwardAxis]);
+ btVector3 forwardW(chassisTrans.getBasis()[0][m_indexForwardAxis],
+ chassisTrans.getBasis()[1][m_indexForwardAxis],
+ chassisTrans.getBasis()[2][m_indexForwardAxis]);
- if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
- {
- m_currentVehicleSpeedKmHour *= btScalar(-1.);
- }
+ if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
+ {
+ m_currentVehicleSpeedKmHour *= btScalar(-1.);
+ }
- // Simulate suspension
- // -------------------
-
- int i=0;
+ // Simulate suspension
+ // -------------------
+
m_num_wheels_on_ground = 0;
- for (i=0;i<m_wheelInfo.size();i++)
- {
- btScalar depth;
- 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 @@
}
} // 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::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 @@
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 @@
{
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 @@
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 @@
m_forwardImpulse[i] = btScalar(0.);
}
-
+
for (int i=0;i<getNumWheels();i++)
{
@@ -650,10 +647,10 @@
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 @@
}
- btScalar rollingFriction = 0.f;
+ btScalar rollingFriction = 0.f;
if (wheelInfo.m_engineForce != 0.f)
{
@@ -740,7 +737,7 @@
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 @@
} // 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
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