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First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.

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Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
2006-09-25 08:58:57 +00:00
parent 86f5b09623
commit 0e04cfc806
398 changed files with 4135 additions and 7019 deletions
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55
src/BulletDynamics/Vehicle/btWheelInfo.cpp Normal file
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/*
* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
*
* Permission to use, copy, modify, distribute and sell this software
* and its documentation for any purpose is hereby granted without fee,
* provided that the above copyright notice appear in all copies.
* Erwin Coumans makes no representations about the suitability
* of this software for any purpose.
* It is provided "as is" without express or implied warranty.
*/
#include "btWheelInfo.h"
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
SimdScalar WheelInfo::GetSuspensionRestLength() const
{
return m_suspensionRestLength1;
}
void WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
{
if (m_raycastInfo.m_isInContact)
{
SimdScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
SimdVector3 chassis_velocity_at_contactPoint;
SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
{
m_suspensionRelativeVelocity = 0.0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
SimdScalar inv = -1.f / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
m_suspensionRelativeVelocity = 0.0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1.0f;
}
}