ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
- data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
- data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
- data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
- data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
- data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
- data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
- data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
- data/bindings/bullet/interface/LinearMath/btList.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
- data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
- data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
- data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
- data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
- data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
- data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
- data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
- data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
- data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
- data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
- data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
- data/bindings/bullet/interface/Makefile +19 -0
- data/bindings/bullet/interface/bullet.i +9 -0
- data/bindings/bullet/interface/bullet_all.i +186 -0
- data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
- data/bindings/bullet/interface/bullet_wrap.h +106 -0
- data/bindings/bullet/interface/bullet_wrap.o +0 -0
- data/bindings/bullet/src/TickListener.h +22 -0
- data/deps/include/bullet/Bullet-C-Api.h +176 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
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/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "LinearMath/btVector3.h"
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#include "btRaycastVehicle.h"
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#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
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#include "LinearMath/btQuaternion.h"
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#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
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#include "btVehicleRaycaster.h"
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#include "btWheelInfo.h"
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#include "LinearMath/btMinMax.h"
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#include "LinearMath/btIDebugDraw.h"
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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#define ROLLING_INFLUENCE_FIX
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btRigidBody& btActionInterface::getFixedBody()
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{
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static btRigidBody s_fixed(0, 0,0);
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s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
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return s_fixed;
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}
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btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
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:m_vehicleRaycaster(raycaster),
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m_pitchControl(btScalar(0.))
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{
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m_chassisBody = chassis;
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m_indexRightAxis = 0;
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m_indexUpAxis = 2;
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m_indexForwardAxis = 1;
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defaultInit(tuning);
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}
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void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
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{
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(void)tuning;
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m_currentVehicleSpeedKmHour = btScalar(0.);
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m_steeringValue = btScalar(0.);
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}
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btRaycastVehicle::~btRaycastVehicle()
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{
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}
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//
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// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
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//
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btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
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{
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btWheelInfoConstructionInfo ci;
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ci.m_chassisConnectionCS = connectionPointCS;
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ci.m_wheelDirectionCS = wheelDirectionCS0;
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ci.m_wheelAxleCS = wheelAxleCS;
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ci.m_suspensionRestLength = suspensionRestLength;
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ci.m_wheelRadius = wheelRadius;
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ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
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ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
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ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
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ci.m_frictionSlip = tuning.m_frictionSlip;
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ci.m_bIsFrontWheel = isFrontWheel;
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ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
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ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
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m_wheelInfo.push_back( btWheelInfo(ci));
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btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
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updateWheelTransformsWS( wheel , false );
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updateWheelTransform(getNumWheels()-1,false);
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return wheel;
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}
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const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
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{
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btAssert(wheelIndex < getNumWheels());
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const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
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return wheel.m_worldTransform;
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}
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void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
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{
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btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
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updateWheelTransformsWS(wheel,interpolatedTransform);
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btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
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btVector3 fwd = up.cross(right);
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fwd = fwd.normalize();
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// up = right.cross(fwd);
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// up.normalize();
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//rotate around steering over de wheelAxleWS
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btScalar steering = wheel.m_steering;
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btQuaternion steeringOrn(up,steering);//wheel.m_steering);
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btMatrix3x3 steeringMat(steeringOrn);
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btQuaternion rotatingOrn(right,-wheel.m_rotation);
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btMatrix3x3 rotatingMat(rotatingOrn);
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btMatrix3x3 basis2(
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right[0],fwd[0],up[0],
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right[1],fwd[1],up[1],
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right[2],fwd[2],up[2]
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);
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wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
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wheel.m_worldTransform.setOrigin(
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wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
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);
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}
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void btRaycastVehicle::resetSuspension()
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{
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int i;
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for (i=0;i<m_wheelInfo.size(); i++)
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{
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btWheelInfo& wheel = m_wheelInfo[i];
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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//wheel_info.setContactFriction(btScalar(0.0));
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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}
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void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
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{
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wheel.m_raycastInfo.m_isInContact = false;
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btTransform chassisTrans = getChassisWorldTransform();
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if (interpolatedTransform && (getRigidBody()->getMotionState()))
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{
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getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
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}
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wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
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}
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btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
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{
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updateWheelTransformsWS( wheel,false);
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btScalar depth = -1;
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btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
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btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
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const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
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wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
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const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
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btScalar param = btScalar(0.);
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btVehicleRaycaster::btVehicleRaycasterResult rayResults;
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btAssert(m_vehicleRaycaster);
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void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
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wheel.m_raycastInfo.m_groundObject = 0;
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if (object)
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{
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param = rayResults.m_distFraction;
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depth = raylen * rayResults.m_distFraction;
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wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
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wheel.m_raycastInfo.m_isInContact = true;
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wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
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//wheel.m_raycastInfo.m_groundObject = object;
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btScalar hitDistance = param*raylen;
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wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
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//clamp on max suspension travel
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btScalar minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
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btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
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if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
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}
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if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
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}
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wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
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btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
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chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
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btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
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if ( denominator >= btScalar(-0.1))
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{
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
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}
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else
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{
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btScalar inv = btScalar(-1.) / denominator;
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wheel.m_suspensionRelativeVelocity = projVel * inv;
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wheel.m_clippedInvContactDotSuspension = inv;
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}
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} else
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{
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//put wheel info as in rest position
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = btScalar(0.0);
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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return depth;
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}
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const btTransform& btRaycastVehicle::getChassisWorldTransform() const
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{
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/*if (getRigidBody()->getMotionState())
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{
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btTransform chassisWorldTrans;
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getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
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return chassisWorldTrans;
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}
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*/
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return getRigidBody()->getCenterOfMassTransform();
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}
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void btRaycastVehicle::updateVehicle( btScalar step )
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{
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{
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for (int i=0;i<getNumWheels();i++)
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{
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updateWheelTransform(i,false);
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}
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}
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m_currentVehicleSpeedKmHour = btScalar(3.6) * getRigidBody()->getLinearVelocity().length();
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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+
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if (forwardW.dot(getRigidBody()->getLinearVelocity()) < btScalar(0.))
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{
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289
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m_currentVehicleSpeedKmHour *= btScalar(-1.);
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290
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}
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291
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+
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292
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//
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293
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// simulate suspension
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294
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//
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295
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int i=0;
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for (i=0;i<m_wheelInfo.size();i++)
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{
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btScalar depth;
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depth = rayCast( m_wheelInfo[i]);
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}
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302
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+
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updateSuspension(step);
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304
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+
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305
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+
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306
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for (i=0;i<m_wheelInfo.size();i++)
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{
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308
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//apply suspension force
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309
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btWheelInfo& wheel = m_wheelInfo[i];
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310
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+
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311
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btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
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312
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+
|
313
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if (suspensionForce > wheel.m_maxSuspensionForce)
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{
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315
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suspensionForce = wheel.m_maxSuspensionForce;
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316
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}
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317
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btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
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318
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
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319
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+
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320
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getRigidBody()->applyImpulse(impulse, relpos);
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321
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+
|
322
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}
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323
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+
|
324
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+
|
325
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+
|
326
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+
updateFriction( step);
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327
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+
|
328
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+
|
329
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for (i=0;i<m_wheelInfo.size();i++)
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330
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{
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331
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btWheelInfo& wheel = m_wheelInfo[i];
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332
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+
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
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333
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+
btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
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334
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+
|
335
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if (wheel.m_raycastInfo.m_isInContact)
|
336
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{
|
337
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const btTransform& chassisWorldTransform = getChassisWorldTransform();
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338
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+
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339
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btVector3 fwd (
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340
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chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
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341
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chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
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342
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chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
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343
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+
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344
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btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
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345
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fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
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346
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+
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347
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btScalar proj2 = fwd.dot(vel);
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348
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+
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349
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wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
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350
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+
wheel.m_rotation += wheel.m_deltaRotation;
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351
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+
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352
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} else
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353
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{
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354
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+
wheel.m_rotation += wheel.m_deltaRotation;
|
355
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+
}
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356
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+
|
357
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+
wheel.m_deltaRotation *= btScalar(0.99);//damping of rotation when not in contact
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358
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+
|
359
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+
}
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360
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+
|
361
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+
|
362
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+
|
363
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+
}
|
364
|
+
|
365
|
+
|
366
|
+
void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
|
367
|
+
{
|
368
|
+
btAssert(wheel>=0 && wheel < getNumWheels());
|
369
|
+
|
370
|
+
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
371
|
+
wheelInfo.m_steering = steering;
|
372
|
+
}
|
373
|
+
|
374
|
+
|
375
|
+
|
376
|
+
btScalar btRaycastVehicle::getSteeringValue(int wheel) const
|
377
|
+
{
|
378
|
+
return getWheelInfo(wheel).m_steering;
|
379
|
+
}
|
380
|
+
|
381
|
+
|
382
|
+
void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
|
383
|
+
{
|
384
|
+
btAssert(wheel>=0 && wheel < getNumWheels());
|
385
|
+
btWheelInfo& wheelInfo = getWheelInfo(wheel);
|
386
|
+
wheelInfo.m_engineForce = force;
|
387
|
+
}
|
388
|
+
|
389
|
+
|
390
|
+
const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
|
391
|
+
{
|
392
|
+
btAssert((index >= 0) && (index < getNumWheels()));
|
393
|
+
|
394
|
+
return m_wheelInfo[index];
|
395
|
+
}
|
396
|
+
|
397
|
+
btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
|
398
|
+
{
|
399
|
+
btAssert((index >= 0) && (index < getNumWheels()));
|
400
|
+
|
401
|
+
return m_wheelInfo[index];
|
402
|
+
}
|
403
|
+
|
404
|
+
void btRaycastVehicle::setBrake(btScalar brake,int wheelIndex)
|
405
|
+
{
|
406
|
+
btAssert((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
|
407
|
+
getWheelInfo(wheelIndex).m_brake = brake;
|
408
|
+
}
|
409
|
+
|
410
|
+
|
411
|
+
void btRaycastVehicle::updateSuspension(btScalar deltaTime)
|
412
|
+
{
|
413
|
+
(void)deltaTime;
|
414
|
+
|
415
|
+
btScalar chassisMass = btScalar(1.) / m_chassisBody->getInvMass();
|
416
|
+
|
417
|
+
for (int w_it=0; w_it<getNumWheels(); w_it++)
|
418
|
+
{
|
419
|
+
btWheelInfo &wheel_info = m_wheelInfo[w_it];
|
420
|
+
|
421
|
+
if ( wheel_info.m_raycastInfo.m_isInContact )
|
422
|
+
{
|
423
|
+
btScalar force;
|
424
|
+
// Spring
|
425
|
+
{
|
426
|
+
btScalar susp_length = wheel_info.getSuspensionRestLength();
|
427
|
+
btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
|
428
|
+
|
429
|
+
btScalar length_diff = (susp_length - current_length);
|
430
|
+
|
431
|
+
force = wheel_info.m_suspensionStiffness
|
432
|
+
* length_diff * wheel_info.m_clippedInvContactDotSuspension;
|
433
|
+
}
|
434
|
+
|
435
|
+
// Damper
|
436
|
+
{
|
437
|
+
btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
|
438
|
+
{
|
439
|
+
btScalar susp_damping;
|
440
|
+
if ( projected_rel_vel < btScalar(0.0) )
|
441
|
+
{
|
442
|
+
susp_damping = wheel_info.m_wheelsDampingCompression;
|
443
|
+
}
|
444
|
+
else
|
445
|
+
{
|
446
|
+
susp_damping = wheel_info.m_wheelsDampingRelaxation;
|
447
|
+
}
|
448
|
+
force -= susp_damping * projected_rel_vel;
|
449
|
+
}
|
450
|
+
}
|
451
|
+
|
452
|
+
// RESULT
|
453
|
+
wheel_info.m_wheelsSuspensionForce = force * chassisMass;
|
454
|
+
if (wheel_info.m_wheelsSuspensionForce < btScalar(0.))
|
455
|
+
{
|
456
|
+
wheel_info.m_wheelsSuspensionForce = btScalar(0.);
|
457
|
+
}
|
458
|
+
}
|
459
|
+
else
|
460
|
+
{
|
461
|
+
wheel_info.m_wheelsSuspensionForce = btScalar(0.0);
|
462
|
+
}
|
463
|
+
}
|
464
|
+
|
465
|
+
}
|
466
|
+
|
467
|
+
|
468
|
+
struct btWheelContactPoint
|
469
|
+
{
|
470
|
+
btRigidBody* m_body0;
|
471
|
+
btRigidBody* m_body1;
|
472
|
+
btVector3 m_frictionPositionWorld;
|
473
|
+
btVector3 m_frictionDirectionWorld;
|
474
|
+
btScalar m_jacDiagABInv;
|
475
|
+
btScalar m_maxImpulse;
|
476
|
+
|
477
|
+
|
478
|
+
btWheelContactPoint(btRigidBody* body0,btRigidBody* body1,const btVector3& frictionPosWorld,const btVector3& frictionDirectionWorld, btScalar maxImpulse)
|
479
|
+
:m_body0(body0),
|
480
|
+
m_body1(body1),
|
481
|
+
m_frictionPositionWorld(frictionPosWorld),
|
482
|
+
m_frictionDirectionWorld(frictionDirectionWorld),
|
483
|
+
m_maxImpulse(maxImpulse)
|
484
|
+
{
|
485
|
+
btScalar denom0 = body0->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
|
486
|
+
btScalar denom1 = body1->computeImpulseDenominator(frictionPosWorld,frictionDirectionWorld);
|
487
|
+
btScalar relaxation = 1.f;
|
488
|
+
m_jacDiagABInv = relaxation/(denom0+denom1);
|
489
|
+
}
|
490
|
+
|
491
|
+
|
492
|
+
|
493
|
+
};
|
494
|
+
|
495
|
+
btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
|
496
|
+
btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
|
497
|
+
{
|
498
|
+
|
499
|
+
btScalar j1=0.f;
|
500
|
+
|
501
|
+
const btVector3& contactPosWorld = contactPoint.m_frictionPositionWorld;
|
502
|
+
|
503
|
+
btVector3 rel_pos1 = contactPosWorld - contactPoint.m_body0->getCenterOfMassPosition();
|
504
|
+
btVector3 rel_pos2 = contactPosWorld - contactPoint.m_body1->getCenterOfMassPosition();
|
505
|
+
|
506
|
+
btScalar maxImpulse = contactPoint.m_maxImpulse;
|
507
|
+
|
508
|
+
btVector3 vel1 = contactPoint.m_body0->getVelocityInLocalPoint(rel_pos1);
|
509
|
+
btVector3 vel2 = contactPoint.m_body1->getVelocityInLocalPoint(rel_pos2);
|
510
|
+
btVector3 vel = vel1 - vel2;
|
511
|
+
|
512
|
+
btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
|
513
|
+
|
514
|
+
// calculate j that moves us to zero relative velocity
|
515
|
+
j1 = -vrel * contactPoint.m_jacDiagABInv;
|
516
|
+
btSetMin(j1, maxImpulse);
|
517
|
+
btSetMax(j1, -maxImpulse);
|
518
|
+
|
519
|
+
return j1;
|
520
|
+
}
|
521
|
+
|
522
|
+
|
523
|
+
|
524
|
+
|
525
|
+
btScalar sideFrictionStiffness2 = btScalar(1.0);
|
526
|
+
void btRaycastVehicle::updateFriction(btScalar timeStep)
|
527
|
+
{
|
528
|
+
|
529
|
+
//calculate the impulse, so that the wheels don't move sidewards
|
530
|
+
int numWheel = getNumWheels();
|
531
|
+
if (!numWheel)
|
532
|
+
return;
|
533
|
+
|
534
|
+
m_forwardWS.resize(numWheel);
|
535
|
+
m_axle.resize(numWheel);
|
536
|
+
m_forwardImpulse.resize(numWheel);
|
537
|
+
m_sideImpulse.resize(numWheel);
|
538
|
+
|
539
|
+
int numWheelsOnGround = 0;
|
540
|
+
|
541
|
+
|
542
|
+
//collapse all those loops into one!
|
543
|
+
for (int i=0;i<getNumWheels();i++)
|
544
|
+
{
|
545
|
+
btWheelInfo& wheelInfo = m_wheelInfo[i];
|
546
|
+
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
|
547
|
+
if (groundObject)
|
548
|
+
numWheelsOnGround++;
|
549
|
+
m_sideImpulse[i] = btScalar(0.);
|
550
|
+
m_forwardImpulse[i] = btScalar(0.);
|
551
|
+
|
552
|
+
}
|
553
|
+
|
554
|
+
{
|
555
|
+
|
556
|
+
for (int i=0;i<getNumWheels();i++)
|
557
|
+
{
|
558
|
+
|
559
|
+
btWheelInfo& wheelInfo = m_wheelInfo[i];
|
560
|
+
|
561
|
+
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
|
562
|
+
|
563
|
+
if (groundObject)
|
564
|
+
{
|
565
|
+
|
566
|
+
const btTransform& wheelTrans = getWheelTransformWS( i );
|
567
|
+
|
568
|
+
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
|
569
|
+
m_axle[i] = btVector3(
|
570
|
+
wheelBasis0[0][m_indexRightAxis],
|
571
|
+
wheelBasis0[1][m_indexRightAxis],
|
572
|
+
wheelBasis0[2][m_indexRightAxis]);
|
573
|
+
|
574
|
+
const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
|
575
|
+
btScalar proj = m_axle[i].dot(surfNormalWS);
|
576
|
+
m_axle[i] -= surfNormalWS * proj;
|
577
|
+
m_axle[i] = m_axle[i].normalize();
|
578
|
+
|
579
|
+
m_forwardWS[i] = surfNormalWS.cross(m_axle[i]);
|
580
|
+
m_forwardWS[i].normalize();
|
581
|
+
|
582
|
+
|
583
|
+
resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
|
584
|
+
*groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
|
585
|
+
btScalar(0.), m_axle[i],m_sideImpulse[i],timeStep);
|
586
|
+
|
587
|
+
m_sideImpulse[i] *= sideFrictionStiffness2;
|
588
|
+
|
589
|
+
}
|
590
|
+
|
591
|
+
|
592
|
+
}
|
593
|
+
}
|
594
|
+
|
595
|
+
btScalar sideFactor = btScalar(1.);
|
596
|
+
btScalar fwdFactor = 0.5;
|
597
|
+
|
598
|
+
bool sliding = false;
|
599
|
+
{
|
600
|
+
for (int wheel =0;wheel <getNumWheels();wheel++)
|
601
|
+
{
|
602
|
+
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
|
603
|
+
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
|
604
|
+
|
605
|
+
btScalar rollingFriction = 0.f;
|
606
|
+
|
607
|
+
if (groundObject)
|
608
|
+
{
|
609
|
+
if (wheelInfo.m_engineForce != 0.f)
|
610
|
+
{
|
611
|
+
rollingFriction = wheelInfo.m_engineForce* timeStep;
|
612
|
+
} else
|
613
|
+
{
|
614
|
+
btScalar defaultRollingFrictionImpulse = 0.f;
|
615
|
+
btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
|
616
|
+
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
|
617
|
+
rollingFriction = calcRollingFriction(contactPt);
|
618
|
+
}
|
619
|
+
}
|
620
|
+
|
621
|
+
//switch between active rolling (throttle), braking and non-active rolling friction (no throttle/break)
|
622
|
+
|
623
|
+
|
624
|
+
|
625
|
+
|
626
|
+
m_forwardImpulse[wheel] = btScalar(0.);
|
627
|
+
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
|
628
|
+
|
629
|
+
if (groundObject)
|
630
|
+
{
|
631
|
+
m_wheelInfo[wheel].m_skidInfo= btScalar(1.);
|
632
|
+
|
633
|
+
btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
|
634
|
+
btScalar maximpSide = maximp;
|
635
|
+
|
636
|
+
btScalar maximpSquared = maximp * maximpSide;
|
637
|
+
|
638
|
+
|
639
|
+
m_forwardImpulse[wheel] = rollingFriction;//wheelInfo.m_engineForce* timeStep;
|
640
|
+
|
641
|
+
btScalar x = (m_forwardImpulse[wheel] ) * fwdFactor;
|
642
|
+
btScalar y = (m_sideImpulse[wheel] ) * sideFactor;
|
643
|
+
|
644
|
+
btScalar impulseSquared = (x*x + y*y);
|
645
|
+
|
646
|
+
if (impulseSquared > maximpSquared)
|
647
|
+
{
|
648
|
+
sliding = true;
|
649
|
+
|
650
|
+
btScalar factor = maximp / btSqrt(impulseSquared);
|
651
|
+
|
652
|
+
m_wheelInfo[wheel].m_skidInfo *= factor;
|
653
|
+
}
|
654
|
+
}
|
655
|
+
|
656
|
+
}
|
657
|
+
}
|
658
|
+
|
659
|
+
|
660
|
+
|
661
|
+
|
662
|
+
if (sliding)
|
663
|
+
{
|
664
|
+
for (int wheel = 0;wheel < getNumWheels(); wheel++)
|
665
|
+
{
|
666
|
+
if (m_sideImpulse[wheel] != btScalar(0.))
|
667
|
+
{
|
668
|
+
if (m_wheelInfo[wheel].m_skidInfo< btScalar(1.))
|
669
|
+
{
|
670
|
+
m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
671
|
+
m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
672
|
+
}
|
673
|
+
}
|
674
|
+
}
|
675
|
+
}
|
676
|
+
|
677
|
+
// apply the impulses
|
678
|
+
{
|
679
|
+
for (int wheel = 0;wheel<getNumWheels() ; wheel++)
|
680
|
+
{
|
681
|
+
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
|
682
|
+
|
683
|
+
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
|
684
|
+
m_chassisBody->getCenterOfMassPosition();
|
685
|
+
|
686
|
+
if (m_forwardImpulse[wheel] != btScalar(0.))
|
687
|
+
{
|
688
|
+
m_chassisBody->applyImpulse(m_forwardWS[wheel]*(m_forwardImpulse[wheel]),rel_pos);
|
689
|
+
}
|
690
|
+
if (m_sideImpulse[wheel] != btScalar(0.))
|
691
|
+
{
|
692
|
+
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
|
693
|
+
|
694
|
+
btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
|
695
|
+
groundObject->getCenterOfMassPosition();
|
696
|
+
|
697
|
+
|
698
|
+
btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
|
699
|
+
|
700
|
+
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
|
701
|
+
btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
|
702
|
+
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
|
703
|
+
#else
|
704
|
+
rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
|
705
|
+
#endif
|
706
|
+
m_chassisBody->applyImpulse(sideImp,rel_pos);
|
707
|
+
|
708
|
+
//apply friction impulse on the ground
|
709
|
+
groundObject->applyImpulse(-sideImp,rel_pos2);
|
710
|
+
}
|
711
|
+
}
|
712
|
+
}
|
713
|
+
|
714
|
+
|
715
|
+
}
|
716
|
+
|
717
|
+
|
718
|
+
|
719
|
+
void btRaycastVehicle::debugDraw(btIDebugDraw* debugDrawer)
|
720
|
+
{
|
721
|
+
|
722
|
+
for (int v=0;v<this->getNumWheels();v++)
|
723
|
+
{
|
724
|
+
btVector3 wheelColor(0,1,1);
|
725
|
+
if (getWheelInfo(v).m_raycastInfo.m_isInContact)
|
726
|
+
{
|
727
|
+
wheelColor.setValue(0,0,1);
|
728
|
+
} else
|
729
|
+
{
|
730
|
+
wheelColor.setValue(1,0,1);
|
731
|
+
}
|
732
|
+
|
733
|
+
btVector3 wheelPosWS = getWheelInfo(v).m_worldTransform.getOrigin();
|
734
|
+
|
735
|
+
btVector3 axle = btVector3(
|
736
|
+
getWheelInfo(v).m_worldTransform.getBasis()[0][getRightAxis()],
|
737
|
+
getWheelInfo(v).m_worldTransform.getBasis()[1][getRightAxis()],
|
738
|
+
getWheelInfo(v).m_worldTransform.getBasis()[2][getRightAxis()]);
|
739
|
+
|
740
|
+
//debug wheels (cylinders)
|
741
|
+
debugDrawer->drawLine(wheelPosWS,wheelPosWS+axle,wheelColor);
|
742
|
+
debugDrawer->drawLine(wheelPosWS,getWheelInfo(v).m_raycastInfo.m_contactPointWS,wheelColor);
|
743
|
+
|
744
|
+
}
|
745
|
+
}
|
746
|
+
|
747
|
+
|
748
|
+
void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
|
749
|
+
{
|
750
|
+
// RayResultCallback& resultCallback;
|
751
|
+
|
752
|
+
btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
|
753
|
+
|
754
|
+
m_dynamicsWorld->rayTest(from, to, rayCallback);
|
755
|
+
|
756
|
+
if (rayCallback.hasHit())
|
757
|
+
{
|
758
|
+
|
759
|
+
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
|
760
|
+
if (body && body->hasContactResponse())
|
761
|
+
{
|
762
|
+
result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
|
763
|
+
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
|
764
|
+
result.m_hitNormalInWorld.normalize();
|
765
|
+
result.m_distFraction = rayCallback.m_closestHitFraction;
|
766
|
+
return body;
|
767
|
+
}
|
768
|
+
}
|
769
|
+
return 0;
|
770
|
+
}
|
771
|
+
|