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fix for vehicle rollInfluence, see also discussion here:

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http://code.google.com/p/bullet/issues/detail?id=468
This commit is contained in:
erwin.coumans
2011-03-15 20:56:29 +00:00
parent 6a2a72d987
commit 3615f6d415
1 changed files with 1 additions and 1 deletions
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2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -698,7 +698,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(1);
btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
#else
rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;