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

2006-08-29 23:55:32 +00:00
parent e1b85d1969
commit 334ce42650
15 changed files with 1033 additions and 19 deletions
--- a/BulletDynamics/Vehicle/WheelInfo.h
+++ b/BulletDynamics/Vehicle/WheelInfo.h
@@ -0,0 +1,116 @@
+/*
+ * 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.
+*/
+#ifndef WHEEL_INFO_H
+#define WHEEL_INFO_H
+
+#include "SimdVector3.h"
+#include "SimdTransform.h"
+
+class RigidBody;
+
+struct WheelInfoConstructionInfo
+{
+	SimdVector3	m_chassisConnectionCS;
+	SimdVector3	m_wheelDirectionCS;
+	SimdVector3	m_wheelAxleCS;
+	SimdScalar	m_suspensionRestLength;
+	SimdScalar	m_maxSuspensionTravelCm;
+	SimdScalar	m_wheelRadius;
+	
+	float		m_suspensionStiffness;
+	float		m_wheelsDampingCompression;
+	float		m_wheelsDampingRelaxation;
+	float		m_frictionSlip;
+	bool m_bIsFrontWheel;
+	
+};
+
+/// WheelInfo contains information per wheel about friction and suspension.
+struct WheelInfo
+{
+	struct RaycastInfo
+	{
+		//set by raycaster
+		SimdVector3	m_contactNormalWS;//contactnormal
+		SimdVector3	m_contactPointWS;//raycast hitpoint
+		SimdScalar	m_suspensionLength;
+		SimdVector3	m_hardPointWS;//raycast starting point
+		SimdVector3	m_wheelDirectionWS; //direction in worldspace
+		SimdVector3	m_wheelAxleWS; // axle in worldspace
+		bool		m_isInContact;
+		void*		m_groundObject; //could be general void* ptr
+	};
+
+	RaycastInfo	m_raycastInfo;
+
+	SimdTransform	m_worldTransform;
+	
+	SimdVector3	m_chassisConnectionPointCS; //const
+	SimdVector3	m_wheelDirectionCS;//const
+	SimdVector3	m_wheelAxleCS; // const or modified by steering
+	SimdScalar	m_suspensionRestLength1;//const
+	SimdScalar	m_maxSuspensionTravelCm;
+	SimdScalar GetSuspensionRestLength() const;
+	SimdScalar	m_wheelsRadius;//const
+	SimdScalar	m_suspensionStiffness;//const
+	SimdScalar	m_wheelsDampingCompression;//const
+	SimdScalar	m_wheelsDampingRelaxation;//const
+	SimdScalar	m_frictionSlip;
+	SimdScalar	m_steering;
+	SimdScalar	m_rotation;
+	SimdScalar	m_deltaRotation;
+	SimdScalar	m_rollInfluence;
+
+	SimdScalar	m_engineForce;
+
+	SimdScalar	m_brake;
+	
+	bool m_bIsFrontWheel;
+	
+	void*		m_clientInfo;//can be used to store pointer to sync transforms...
+
+	WheelInfo(WheelInfoConstructionInfo& ci)
+
+	{
+
+		m_suspensionRestLength1 = ci.m_suspensionRestLength;
+		m_maxSuspensionTravelCm = ci.m_maxSuspensionTravelCm;
+
+		m_wheelsRadius = ci.m_wheelRadius;
+		m_suspensionStiffness = ci.m_suspensionStiffness;
+		m_wheelsDampingCompression = ci.m_wheelsDampingCompression;
+		m_wheelsDampingRelaxation = ci.m_wheelsDampingRelaxation;
+		m_chassisConnectionPointCS = ci.m_chassisConnectionCS;
+		m_wheelDirectionCS = ci.m_wheelDirectionCS;
+		m_wheelAxleCS = ci.m_wheelAxleCS;
+		m_frictionSlip = ci.m_frictionSlip;
+		m_steering = 0.f;
+		m_engineForce = 0.f;
+		m_rotation = 0.f;
+		m_deltaRotation = 0.f;
+		m_brake = 0.f;
+		m_rollInfluence = 0.1f;
+		m_bIsFrontWheel = ci.m_bIsFrontWheel;
+
+	}
+
+	void	UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo);
+
+	SimdScalar	m_clippedInvContactDotSuspension;
+	SimdScalar	m_suspensionRelativeVelocity;
+	//calculated by suspension
+	SimdScalar	m_wheelsSuspensionForce;
+	SimdScalar	m_skidInfo;
+
+};
+
+#endif //WHEEL_INFO_H
+