Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

divide by numWheelsOnGround, see hiker/https://github.com/bulletphysics/bullet3/issues/1400

Browse Source
This commit is contained in:
Erwin Coumans
2017-11-07 19:41:14 -08:00
parent 344005a8f0
commit 378020f864
1 changed files with 5 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

9
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -493,8 +493,8 @@ struct btWheelContactPoint
};
btScalar calcRollingFriction(btWheelContactPoint& contactPoint);
btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround);
btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround)
{
btScalar j1=0.f;
@@ -513,7 +513,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint)
btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel);
// calculate j that moves us to zero relative velocity
j1 = -vrel * contactPoint.m_jacDiagABInv;
j1 = -vrel * contactPoint.m_jacDiagABInv/btScalar(numWheelsOnGround);
btSetMin(j1, maxImpulse);
btSetMax(j1, -maxImpulse);
@@ -615,7 +615,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
btScalar defaultRollingFrictionImpulse = 0.f;
btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse;
btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse);
rollingFriction = calcRollingFriction(contactPt)/btScalar(getNumWheels());
btAssert(numWheelsOnGround > 0);
rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround);
}
}