forked from bartvdbraak/blender
56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
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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 "WheelInfo.h"
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#include "Dynamics/RigidBody.h" // for pointvelocity
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SimdScalar WheelInfo::GetSuspensionRestLength() const
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{
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return m_suspensionRestLength1;
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}
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void WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
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{
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if (m_raycastInfo.m_isInContact)
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{
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SimdScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
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SimdVector3 chassis_velocity_at_contactPoint;
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SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
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chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
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SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
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if ( project >= -0.1f)
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{
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m_suspensionRelativeVelocity = 0.0f;
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m_clippedInvContactDotSuspension = 1.0f / 0.1f;
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}
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else
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{
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SimdScalar inv = -1.f / 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 = 0.0f;
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m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
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m_clippedInvContactDotSuspension = 1.0f;
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}
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}
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