mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-12-28 14:47:13 +01:00
52 lines
1.8 KiB
C++
52 lines
1.8 KiB
C++
/*
|
|
* Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
|
|
*
|
|
* 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.
|
|
* It is provided "as is" without express or implied warranty.
|
|
*/
|
|
#include "btWheelInfo.h"
|
|
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
|
|
|
|
btScalar btWheelInfo::getSuspensionRestLength() const
|
|
{
|
|
return m_suspensionRestLength1;
|
|
}
|
|
|
|
void btWheelInfo::updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo)
|
|
{
|
|
(void)raycastInfo;
|
|
|
|
if (m_raycastInfo.m_isInContact)
|
|
|
|
{
|
|
btScalar project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
|
|
btVector3 chassis_velocity_at_contactPoint;
|
|
btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
|
|
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint(relpos);
|
|
btScalar projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
|
|
if (project >= btScalar(-0.1))
|
|
{
|
|
m_suspensionRelativeVelocity = btScalar(0.0);
|
|
m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
|
|
}
|
|
else
|
|
{
|
|
btScalar inv = btScalar(-1.) / project;
|
|
m_suspensionRelativeVelocity = projVel * inv;
|
|
m_clippedInvContactDotSuspension = inv;
|
|
}
|
|
}
|
|
|
|
else // Not in contact : position wheel in a nice (rest length) position
|
|
{
|
|
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
|
|
m_suspensionRelativeVelocity = btScalar(0.0);
|
|
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
|
|
m_clippedInvContactDotSuspension = btScalar(1.0);
|
|
}
|
|
}
|