added basic RaycastVehicle support, and CcdPhysicsEnvironment::getAppliedImpulse(int constraintId), this value is useful as treshold to break constraints.

BulletDynamics/ConstraintSolver/HingeConstraint.cpp

@@ -28,7 +28,7 @@ HingeConstraint::HingeConstraint(RigidBody& rbA,RigidBody& rbB, const SimdVector
 								 SimdVector3& axisInA,SimdVector3& axisInB)
 :TypedConstraint(rbA,rbB),m_pivotInA(pivotInA),m_pivotInB(pivotInB),
 m_axisInA(axisInA),
-m_axisInB(axisInB),
+m_axisInB(-axisInB),
 m_angularOnly(false)
 {
 
@@ -47,6 +47,8 @@ m_angularOnly(false)
 
 void	HingeConstraint::BuildJacobian()
 {
+	m_appliedImpulse = 0.f;
+
 	SimdVector3	normal(0,0,0);
 
 	if (!m_angularOnly)
@@ -216,7 +218,7 @@ void	HingeConstraint::SolveConstraint(SimdScalar	timeStep)
 			//positional error (zeroth order error)
 			SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
 			SimdScalar impulse = depth*tau/timeStep  * jacDiagABInv -  damping * rel_vel * jacDiagABInv * damping;
-
+			m_appliedImpulse += impulse;
 			SimdVector3 impulse_vector = normal * impulse;
 			m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
 			m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());

BulletDynamics/ConstraintSolver/Point2PointConstraint.cpp

@@ -40,6 +40,8 @@ Point2PointConstraint::Point2PointConstraint(RigidBody& rbA,const SimdVector3& p
 
 void	Point2PointConstraint::BuildJacobian()
 {
+	m_appliedImpulse = 0.f;
+
 	SimdVector3	normal(0,0,0);
 
 	for (int i=0;i<3;i++)
@@ -98,7 +100,7 @@ void	Point2PointConstraint::SolveConstraint(SimdScalar	timeStep)
 		SimdScalar depth = -(pivotAInW - pivotBInW).dot(normal); //this is the error projected on the normal
 		
 		SimdScalar impulse = depth*m_setting.m_tau/timeStep  * jacDiagABInv -  m_setting.m_damping * rel_vel * jacDiagABInv;
-
+		m_appliedImpulse+=impulse;
 		SimdVector3 impulse_vector = normal * impulse;
 		m_rbA.applyImpulse(impulse_vector, pivotAInW - m_rbA.getCenterOfMassPosition());
 		m_rbB.applyImpulse(-impulse_vector, pivotBInW - m_rbB.getCenterOfMassPosition());

BulletDynamics/ConstraintSolver/TypedConstraint.cpp

@@ -24,7 +24,8 @@ TypedConstraint::TypedConstraint()
 : m_userConstraintType(-1),
 m_userConstraintId(-1),
 m_rbA(s_fixed),
-m_rbB(s_fixed)
+m_rbB(s_fixed),
+m_appliedImpulse(0.f)
 {
 	s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
 }
@@ -32,7 +33,8 @@ TypedConstraint::TypedConstraint(RigidBody& rbA)
 : m_userConstraintType(-1),
 m_userConstraintId(-1),
 m_rbA(rbA),
-m_rbB(s_fixed)
+m_rbB(s_fixed),
+m_appliedImpulse(0.f)
 {
 		s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
 
@@ -43,7 +45,8 @@ TypedConstraint::TypedConstraint(RigidBody& rbA,RigidBody& rbB)
 : m_userConstraintType(-1),
 m_userConstraintId(-1),
 m_rbA(rbA),
-m_rbB(rbB)
+m_rbB(rbB),
+m_appliedImpulse(0.f)
 {
 		s_fixed.setMassProps(0.f,SimdVector3(0.f,0.f,0.f));
 

BulletDynamics/ConstraintSolver/TypedConstraint.h

@@ -24,10 +24,13 @@ class TypedConstraint
 {
 	int	m_userConstraintType;
 	int	m_userConstraintId;
+	
 
 protected:
 	RigidBody&	m_rbA;
 	RigidBody&	m_rbB;
+	float	m_appliedImpulse;
+
 
 public:
 
@@ -50,6 +53,15 @@ public:
 		return m_rbB;
 	}
 
+	RigidBody& GetRigidBodyA()
+	{
+		return m_rbA;
+	}
+	RigidBody& GetRigidBodyB()
+	{
+		return m_rbB;
+	}
+
 	int GetUserConstraintType() const
 	{
 		return m_userConstraintType ;
@@ -69,6 +81,10 @@ public:
 	{
 		return m_userConstraintId;
 	}
+	float	GetAppliedImpulse()
+	{
+		return m_appliedImpulse;
+	}
 };
 
 #endif //TYPED_CONSTRAINT_H