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WheelInfo.cpp

/*
 * 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 "WheelInfo.h"
#include "Dynamics/RigidBody.h" // for pointvelocity


SimdScalar WheelInfo::GetSuspensionRestLength() const
{

      return m_suspensionRestLength1;

}

void  WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
{

      
      if (m_raycastInfo.m_isInContact)

      {
            SimdScalar  project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
            SimdVector3  chassis_velocity_at_contactPoint;
            SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
            chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
            SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
            if ( project >= -0.1f)
            {
                  m_suspensionRelativeVelocity = 0.0f;
                  m_clippedInvContactDotSuspension = 1.0f / 0.1f;
            }
            else
            {
                  SimdScalar inv = -1.f / 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 = 0.0f;
            m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
            m_clippedInvContactDotSuspension = 1.0f;
      }
}

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