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

BulletDynamics/Vehicle/WheelInfo.cpp

@@ -0,0 +1,55 @@
+/*
+ * 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 "WheelInfo.h"
+#include "Dynamics/RigidBody.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;
+	}
+}