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Fix (needs more testing) in btRigidBody::setCenterOfMassTransform, assign m_interpolationWorldTransform = xform; instead of m_worldTransform;

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Thanks Jay for reporting
Added braking capability to btRaycastVehicle, see Bullet/Demos/VehicleDemo/VehicleDemo.cpp
Added glutKeyboardUpFunc, for vehicle demo (keep accelerating/breaking, until key released/UP). Hope this is compatible with most GLUT implementations.
This commit is contained in:
ejcoumans
2007-04-22 15:23:20 +00:00
parent bc3f9535ad
commit 2db8bfa3d6
8 changed files with 158 additions and 23 deletions
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76
Demos/VehicleDemo/VehicleDemo.cpp
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@@ -55,13 +55,17 @@ const int maxOverlap = 65535;
///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
float gEngineForce = 0.f;
float maxEngineForce = 3000.f;
float gBreakingForce = 0.f;
float maxEngineForce = 1000.f;//this should be engine/velocity dependent
float maxBreakingForce = 100.f;
float gVehicleSteering = 0.f;
float steeringIncrement = 0.04f;
float steeringClamp = 0.3f;
float wheelRadius = 0.5f;
float wheelWidth = 0.4f;
float wheelFriction = 1e30f;//1000;//1e30f;
float wheelFriction = 1000;//1e30f;
float suspensionStiffness = 20.f;
float suspensionDamping = 2.3f;
float suspensionCompression = 4.4f;
@@ -103,6 +107,10 @@ m_maxCameraDistance(10.f)
void VehicleDemo::setupPhysics()
{
extern btScalar gJitterVelocityDampingFactor;
gJitterVelocityDampingFactor = 1.f;
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
@@ -147,7 +155,8 @@ const float TRIANGLE_SIZE=20.f;
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = .2f;
float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
gVertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
@@ -222,7 +231,7 @@ const float TRIANGLE_SIZE=20.f;
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
m_carChassis->setDamping(0.2,0.2);
//m_carChassis->setDamping(0.2,0.2);
clientResetScene();
@@ -323,6 +332,24 @@ void VehicleDemo::clientMoveAndDisplay()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
{
int wheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
m_vehicle->setBrake(gBreakingForce,wheelIndex);
wheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
m_vehicle->setBrake(gBreakingForce,wheelIndex);
wheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
wheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
}
float dt = m_clock.getTimeMicroseconds() * 0.000001f;
m_clock.reset();
if (m_dynamicsWorld)
@@ -334,7 +361,7 @@ void VehicleDemo::clientMoveAndDisplay()
int numSimSteps = m_dynamicsWorld->stepSimulation(dt,maxSimSubSteps);
#define VERBOSE_FEEDBACK
//#define VERBOSE_FEEDBACK
#ifdef VERBOSE_FEEDBACK
if (!numSimSteps)
printf("Interpolated transforms\n");
@@ -356,18 +383,6 @@ void VehicleDemo::clientMoveAndDisplay()
{
int wheelIndex = 2;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
wheelIndex = 3;
m_vehicle->applyEngineForce(gEngineForce,wheelIndex);
wheelIndex = 0;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
wheelIndex = 1;
m_vehicle->setSteeringValue(gVehicleSteering,wheelIndex);
}
@@ -417,7 +432,6 @@ void VehicleDemo::displayCallback(void)
void VehicleDemo::clientResetScene()
{
gEngineForce = 0.f;
gVehicleSteering = 0.f;
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
m_carChassis->setLinearVelocity(btVector3(0,0,0));
@@ -437,10 +451,32 @@ void VehicleDemo::clientResetScene()
void VehicleDemo::specialKeyboardUp(int key, int x, int y)
{
switch (key)
{
case GLUT_KEY_UP :
{
gEngineForce = 0.f;
break;
}
case GLUT_KEY_DOWN :
{
gBreakingForce = 0.f;
break;
}
default:
DemoApplication::specialKeyboardUp(key,x,y);
break;
}
}
void VehicleDemo::specialKeyboard(int key, int x, int y)
{
printf("key = %i x=%i y=%i\n",key,x,y);
// printf("key = %i x=%i y=%i\n",key,x,y);
switch (key)
{
@@ -467,7 +503,7 @@ void VehicleDemo::specialKeyboard(int key, int x, int y)
}
case GLUT_KEY_DOWN :
{
gEngineForce = -maxEngineForce;
gBreakingForce = maxBreakingForce;
break;
}
default: