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btWheelInfo.cpp - Hosted on DriveHQ Cloud IT Platform
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Ruta de la carpeta: \\game3dprogramming\materials\DarkPuzzle\libs\bullet_src\BulletDynamics\Vehicle\btWheelInfo.cpp
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/* * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ * * 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); } }
btWheelInfo.cpp
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