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source: code/branches/physics/src/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp @ 1963

Last change on this file since 1963 was 1963, checked in by rgrieder, 15 years ago

Added Bullet physics engine.

  • Property svn:eol-style set to native
File size: 1.8 KB
Line 
1/*
2 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
3 *
4 * Permission to use, copy, modify, distribute and sell this software
5 * and its documentation for any purpose is hereby granted without fee,
6 * provided that the above copyright notice appear in all copies.
7 * Erwin Coumans makes no representations about the suitability
8 * of this software for any purpose. 
9 * It is provided "as is" without express or implied warranty.
10*/
11#include "btWheelInfo.h"
12#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
13
14
15btScalar btWheelInfo::getSuspensionRestLength() const
16{
17
18        return m_suspensionRestLength1;
19
20}
21
22void    btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
23{
24        (void)raycastInfo;
25
26       
27        if (m_raycastInfo.m_isInContact)
28
29        {
30                btScalar        project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
31                btVector3        chassis_velocity_at_contactPoint;
32                btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
33                chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
34                btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
35                if ( project >= btScalar(-0.1))
36                {
37                        m_suspensionRelativeVelocity = btScalar(0.0);
38                        m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
39                }
40                else
41                {
42                        btScalar inv = btScalar(-1.) / project;
43                        m_suspensionRelativeVelocity = projVel * inv;
44                        m_clippedInvContactDotSuspension = inv;
45                }
46               
47        }
48
49        else    // Not in contact : position wheel in a nice (rest length) position
50        {
51                m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
52                m_suspensionRelativeVelocity = btScalar(0.0);
53                m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
54                m_clippedInvContactDotSuspension = btScalar(1.0);
55        }
56}
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