51 lines
1.8 KiB
C++
51 lines
1.8 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans https://bulletphysics.org
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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 "btWheelInfo.h"
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#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
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btScalar btWheelInfo::getSuspensionRestLength() const
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{
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return m_suspensionRestLength1;
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}
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void btWheelInfo::updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo)
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{
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(void)raycastInfo;
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if (m_raycastInfo.m_isInContact)
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{
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btScalar project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS);
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
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chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint(relpos);
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btScalar projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint);
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if (project >= btScalar(-0.1))
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{
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m_suspensionRelativeVelocity = btScalar(0.0);
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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.) / project;
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m_suspensionRelativeVelocity = projVel * inv;
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m_clippedInvContactDotSuspension = inv;
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}
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}
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else // Not in contact : position wheel in a nice (rest length) position
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{
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m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
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m_suspensionRelativeVelocity = btScalar(0.0);
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m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
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m_clippedInvContactDotSuspension = btScalar(1.0);
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}
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}
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