Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

Timestamp:

May 3, 2011, 5:07:42 AM (13 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

File:

• code/trunk/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp (modified) (2 diffs)

code/trunk/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -22 +22 @@
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
+
+#define ROLLING_INFLUENCE_FIX
+
 
 btRigidBody& btActionInterface::getFixedBody()
@@ -695 +698 @@
                                         btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
+#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
+                                        btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
+                                        rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
+#else
                                         rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
+#endif
                                         m_chassisBody->applyImpulse(sideImp,rel_pos);