Logo Search packages:      
Sourcecode: blender version File versions  Download package

btWheelInfo.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 "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);
      }
}

Generated by  Doxygen 1.6.0   Back to index