Refactoring: another huge number of changes, renamed methods to start with lower-case.
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ejcoumans committed
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185 files changed
+2103
-2095
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@@ -33,11 +33,11 @@ m_pitchControl(0.f)
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m_indexRightAxis = 0;
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m_indexUpAxis = 2;
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m_indexForwardAxis = 1;
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DefaultInit(tuning);
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defaultInit(tuning);
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}
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void btRaycastVehicle::DefaultInit(const btVehicleTuning& tuning)
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void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
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{
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m_currentVehicleSpeedKmHour = 0.f;
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m_steeringValue = 0.f;
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@@ -54,7 +54,7 @@ btRaycastVehicle::~btRaycastVehicle()
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//
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// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
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//
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btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
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btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
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{
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btWheelInfoConstructionInfo ci;
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@@ -73,29 +73,29 @@ btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, con
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m_wheelInfo.push_back( btWheelInfo(ci));
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btWheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
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btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
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UpdateWheelTransformsWS( wheel );
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UpdateWheelTransform(GetNumWheels()-1);
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updateWheelTransformsWS( wheel );
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updateWheelTransform(getNumWheels()-1);
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return wheel;
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}
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const btTransform& btRaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
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const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
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{
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assert(wheelIndex < GetNumWheels());
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assert(wheelIndex < getNumWheels());
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const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
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return wheel.m_worldTransform;
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}
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void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
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void btRaycastVehicle::updateWheelTransform( int wheelIndex )
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{
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btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
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UpdateWheelTransformsWS(wheel);
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updateWheelTransformsWS(wheel);
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btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
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btVector3 fwd = up.cross(right);
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@@ -121,7 +121,7 @@ void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
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);
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}
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void btRaycastVehicle::ResetSuspension()
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void btRaycastVehicle::resetSuspension()
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{
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std::vector<btWheelInfo>::iterator wheelIt;
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@@ -129,7 +129,7 @@ void btRaycastVehicle::ResetSuspension()
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!(wheelIt == m_wheelInfo.end());wheelIt++)
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{
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btWheelInfo& wheel = *wheelIt;
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wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = 0.0f;
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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@@ -138,25 +138,25 @@ void btRaycastVehicle::ResetSuspension()
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}
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}
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void btRaycastVehicle::UpdateWheelTransformsWS(btWheelInfo& wheel )
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void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
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{
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wheel.m_raycastInfo.m_isInContact = false;
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const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
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const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
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wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
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}
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btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
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{
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UpdateWheelTransformsWS( wheel );
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updateWheelTransformsWS( wheel );
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btScalar depth = -1;
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btScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
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btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
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btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
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const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
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@@ -167,7 +167,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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btVehicleRaycaster::btVehicleRaycasterResult rayResults;
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void* object = m_vehicleRaycaster->CastRay(source,target,rayResults);
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void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
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wheel.m_raycastInfo.m_groundObject = 0;
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@@ -186,8 +186,8 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
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//clamp on max suspension travel
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float minSuspensionLength = wheel.GetSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
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float maxSuspensionLength = wheel.GetSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
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float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
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float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
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if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
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@@ -202,9 +202,9 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
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chassis_velocity_at_contactPoint = GetRigidBody()->getVelocityInLocalPoint(relpos);
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chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
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btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
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@@ -223,7 +223,7 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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} else
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{
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//put wheel info as in rest position
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wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = 0.0f;
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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wheel.m_clippedInvContactDotSuspension = 1.0f;
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@@ -233,18 +233,18 @@ btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
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}
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void btRaycastVehicle::UpdateVehicle( btScalar step )
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void btRaycastVehicle::updateVehicle( btScalar step )
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{
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m_currentVehicleSpeedKmHour = 3.6f * GetRigidBody()->getLinearVelocity().length();
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m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
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const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
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const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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if (forwardW.dot(GetRigidBody()->getLinearVelocity()) < 0.f)
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if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
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{
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m_currentVehicleSpeedKmHour *= -1.f;
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}
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@@ -258,10 +258,10 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
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!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
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{
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btScalar depth;
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depth = Raycast( *wheelIt );
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depth = rayCast( *wheelIt );
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}
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UpdateSuspension(step);
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updateSuspension(step);
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for (wheelIt = m_wheelInfo.begin();
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@@ -278,30 +278,30 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
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suspensionForce = gMaxSuspensionForce;
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}
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btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
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GetRigidBody()->applyImpulse(impulse, relpos);
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getRigidBody()->applyImpulse(impulse, relpos);
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}
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UpdateFriction( step);
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updateFriction( step);
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for (wheelIt = m_wheelInfo.begin();
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!(wheelIt == m_wheelInfo.end());wheelIt++)
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{
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btWheelInfo& wheel = *wheelIt;
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btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
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btVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
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btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
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btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
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if (wheel.m_raycastInfo.m_isInContact)
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{
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btVector3 fwd (
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GetRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
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GetRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
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GetRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
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getRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
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getRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
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getRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
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btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
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fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
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@@ -325,57 +325,57 @@ void btRaycastVehicle::UpdateVehicle( btScalar step )
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}
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void btRaycastVehicle::SetSteeringValue(btScalar steering,int wheel)
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void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
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{
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assert(wheel>=0 && wheel < GetNumWheels());
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assert(wheel>=0 && wheel < getNumWheels());
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btWheelInfo& wheelInfo = GetWheelInfo(wheel);
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btWheelInfo& wheelInfo = getWheelInfo(wheel);
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wheelInfo.m_steering = steering;
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}
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btScalar btRaycastVehicle::GetSteeringValue(int wheel) const
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btScalar btRaycastVehicle::getSteeringValue(int wheel) const
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{
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return GetWheelInfo(wheel).m_steering;
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return getWheelInfo(wheel).m_steering;
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}
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void btRaycastVehicle::ApplyEngineForce(btScalar force, int wheel)
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void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
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{
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assert(wheel>=0 && wheel < GetNumWheels());
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btWheelInfo& wheelInfo = GetWheelInfo(wheel);
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assert(wheel>=0 && wheel < getNumWheels());
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btWheelInfo& wheelInfo = getWheelInfo(wheel);
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wheelInfo.m_engineForce = force;
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}
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const btWheelInfo& btRaycastVehicle::GetWheelInfo(int index) const
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const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
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{
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ASSERT((index >= 0) && (index < GetNumWheels()));
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ASSERT((index >= 0) && (index < getNumWheels()));
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return m_wheelInfo[index];
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}
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btWheelInfo& btRaycastVehicle::GetWheelInfo(int index)
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btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
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{
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ASSERT((index >= 0) && (index < GetNumWheels()));
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ASSERT((index >= 0) && (index < getNumWheels()));
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return m_wheelInfo[index];
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}
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void btRaycastVehicle::SetBrake(float brake,int wheelIndex)
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void btRaycastVehicle::setBrake(float brake,int wheelIndex)
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{
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ASSERT((wheelIndex >= 0) && (wheelIndex < GetNumWheels()));
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GetWheelInfo(wheelIndex).m_brake;
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ASSERT((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
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getWheelInfo(wheelIndex).m_brake;
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}
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void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
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void btRaycastVehicle::updateSuspension(btScalar deltaTime)
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{
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btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
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for (int w_it=0; w_it<GetNumWheels(); w_it++)
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for (int w_it=0; w_it<getNumWheels(); w_it++)
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{
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btWheelInfo &wheel_info = m_wheelInfo[w_it];
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@@ -384,7 +384,7 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
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btScalar force;
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// Spring
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{
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btScalar susp_length = wheel_info.GetSuspensionRestLength();
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btScalar susp_length = wheel_info.getSuspensionRestLength();
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btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
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btScalar length_diff = (susp_length - current_length);
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@@ -426,11 +426,11 @@ void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
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}
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float sideFrictionStiffness2 = 1.0f;
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void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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void btRaycastVehicle::updateFriction(btScalar timeStep)
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{
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//calculate the impulse, so that the wheels don't move sidewards
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int numWheel = GetNumWheels();
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int numWheel = getNumWheels();
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if (!numWheel)
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return;
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@@ -444,7 +444,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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//collapse all those loops into one!
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for (int i=0;i<GetNumWheels();i++)
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for (int i=0;i<getNumWheels();i++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[i];
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class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
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@@ -457,7 +457,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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{
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for (int i=0;i<GetNumWheels();i++)
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for (int i=0;i<getNumWheels();i++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[i];
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@@ -467,7 +467,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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if (groundObject)
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{
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const btTransform& wheelTrans = GetWheelTransformWS( i );
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const btTransform& wheelTrans = getWheelTransformWS( i );
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btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
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axle[i] = btVector3(
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@@ -501,7 +501,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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bool sliding = false;
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{
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for (int wheel =0;wheel <GetNumWheels();wheel++)
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for (int wheel =0;wheel <getNumWheels();wheel++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[wheel];
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class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
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@@ -544,7 +544,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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if (sliding)
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{
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for (int wheel = 0;wheel < GetNumWheels(); wheel++)
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for (int wheel = 0;wheel < getNumWheels(); wheel++)
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{
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if (sideImpulse[wheel] != 0.f)
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{
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@@ -559,7 +559,7 @@ void btRaycastVehicle::UpdateFriction(btScalar timeStep)
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// apply the impulses
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{
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for (int wheel = 0;wheel<GetNumWheels() ; wheel++)
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for (int wheel = 0;wheel<getNumWheels() ; wheel++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[wheel];
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@@ -20,7 +20,7 @@ struct btMassProps;
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struct btVehicleRaycaster;
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class btVehicleTuning;
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///Raycast vehicle, very special constraint that turn a rigidbody into a vehicle.
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///rayCast vehicle, very special constraint that turn a rigidbody into a vehicle.
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class btRaycastVehicle : public btTypedConstraint
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{
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public:
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@@ -58,7 +58,7 @@ private:
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int m_indexUpAxis;
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int m_indexForwardAxis;
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void DefaultInit(const btVehicleTuning& tuning);
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void defaultInit(const btVehicleTuning& tuning);
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public:
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@@ -71,91 +71,91 @@ public:
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btScalar Raycast(btWheelInfo& wheel);
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btScalar rayCast(btWheelInfo& wheel);
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virtual void UpdateVehicle(btScalar step);
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virtual void updateVehicle(btScalar step);
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void ResetSuspension();
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void resetSuspension();
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btScalar GetSteeringValue(int wheel) const;
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btScalar getSteeringValue(int wheel) const;
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void SetSteeringValue(btScalar steering,int wheel);
|
||||
void setSteeringValue(btScalar steering,int wheel);
|
||||
|
||||
|
||||
void ApplyEngineForce(btScalar force, int wheel);
|
||||
void applyEngineForce(btScalar force, int wheel);
|
||||
|
||||
const btTransform& GetWheelTransformWS( int wheelIndex ) const;
|
||||
const btTransform& getWheelTransformWS( int wheelIndex ) const;
|
||||
|
||||
void UpdateWheelTransform( int wheelIndex );
|
||||
void updateWheelTransform( int wheelIndex );
|
||||
|
||||
void SetRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
|
||||
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
|
||||
|
||||
btWheelInfo& AddWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
|
||||
btWheelInfo& addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
|
||||
|
||||
inline int GetNumWheels() const {
|
||||
inline int getNumWheels() const {
|
||||
return m_wheelInfo.size();
|
||||
}
|
||||
|
||||
std::vector<btWheelInfo> m_wheelInfo;
|
||||
|
||||
|
||||
const btWheelInfo& GetWheelInfo(int index) const;
|
||||
const btWheelInfo& getWheelInfo(int index) const;
|
||||
|
||||
btWheelInfo& GetWheelInfo(int index);
|
||||
btWheelInfo& getWheelInfo(int index);
|
||||
|
||||
void UpdateWheelTransformsWS(btWheelInfo& wheel );
|
||||
void updateWheelTransformsWS(btWheelInfo& wheel );
|
||||
|
||||
|
||||
void SetBrake(float brake,int wheelIndex);
|
||||
void setBrake(float brake,int wheelIndex);
|
||||
|
||||
void SetPitchControl(float pitch)
|
||||
void setPitchControl(float pitch)
|
||||
{
|
||||
m_pitchControl = pitch;
|
||||
}
|
||||
|
||||
void UpdateSuspension(btScalar deltaTime);
|
||||
void updateSuspension(btScalar deltaTime);
|
||||
|
||||
void UpdateFriction(btScalar timeStep);
|
||||
void updateFriction(btScalar timeStep);
|
||||
|
||||
|
||||
|
||||
inline btRigidBody* GetRigidBody()
|
||||
inline btRigidBody* getRigidBody()
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
const btRigidBody* GetRigidBody() const
|
||||
const btRigidBody* getRigidBody() const
|
||||
{
|
||||
return m_chassisBody;
|
||||
}
|
||||
|
||||
inline int GetRightAxis() const
|
||||
inline int getRightAxis() const
|
||||
{
|
||||
return m_indexRightAxis;
|
||||
}
|
||||
inline int GetUpAxis() const
|
||||
inline int getUpAxis() const
|
||||
{
|
||||
return m_indexUpAxis;
|
||||
}
|
||||
|
||||
inline int GetForwardAxis() const
|
||||
inline int getForwardAxis() const
|
||||
{
|
||||
return m_indexForwardAxis;
|
||||
}
|
||||
|
||||
virtual void SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
|
||||
virtual void setCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
|
||||
{
|
||||
m_indexRightAxis = rightIndex;
|
||||
m_indexUpAxis = upIndex;
|
||||
m_indexForwardAxis = forwardIndex;
|
||||
}
|
||||
|
||||
virtual void BuildJacobian()
|
||||
virtual void buildJacobian()
|
||||
{
|
||||
//not yet
|
||||
}
|
||||
|
||||
virtual void SolveConstraint(btScalar timeStep)
|
||||
virtual void solveConstraint(btScalar timeStep)
|
||||
{
|
||||
//not yet
|
||||
}
|
||||
|
||||
@@ -27,7 +27,7 @@ virtual ~btVehicleRaycaster()
|
||||
btScalar m_distFraction;
|
||||
};
|
||||
|
||||
virtual void* CastRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
|
||||
virtual void* castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result) = 0;
|
||||
|
||||
};
|
||||
|
||||
|
||||
@@ -12,14 +12,14 @@
|
||||
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
|
||||
|
||||
|
||||
btScalar btWheelInfo::GetSuspensionRestLength() const
|
||||
btScalar btWheelInfo::getSuspensionRestLength() const
|
||||
{
|
||||
|
||||
return m_suspensionRestLength1;
|
||||
|
||||
}
|
||||
|
||||
void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
|
||||
void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
|
||||
{
|
||||
|
||||
|
||||
@@ -47,7 +47,7 @@ void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf
|
||||
|
||||
else // Not in contact : position wheel in a nice (rest length) position
|
||||
{
|
||||
m_raycastInfo.m_suspensionLength = this->GetSuspensionRestLength();
|
||||
m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength();
|
||||
m_suspensionRelativeVelocity = 0.0f;
|
||||
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
|
||||
m_clippedInvContactDotSuspension = 1.0f;
|
||||
|
||||
@@ -58,7 +58,7 @@ struct btWheelInfo
|
||||
btVector3 m_wheelAxleCS; // const or modified by steering
|
||||
btScalar m_suspensionRestLength1;//const
|
||||
btScalar m_maxSuspensionTravelCm;
|
||||
btScalar GetSuspensionRestLength() const;
|
||||
btScalar getSuspensionRestLength() const;
|
||||
btScalar m_wheelsRadius;//const
|
||||
btScalar m_suspensionStiffness;//const
|
||||
btScalar m_wheelsDampingCompression;//const
|
||||
@@ -102,7 +102,7 @@ struct btWheelInfo
|
||||
|
||||
}
|
||||
|
||||
void UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
|
||||
void updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo);
|
||||
|
||||
btScalar m_clippedInvContactDotSuspension;
|
||||
btScalar m_suspensionRelativeVelocity;
|
||||
|
||||
Reference in new issue
Block a user