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added angular limits to the Generic D6 constraint. Works for small angles. Will add a check for different combinations, and use different extraction of ordering of rotation from the diff quaternion.

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Improved vehicle interpolation of wheels, and added Z-up axis option for the Demo
made 'getWorldTransform' const method in btMotionState
added future 'deactivationCallback'(not used yet)
This commit is contained in:
ejcoumans
2006-11-10 04:00:16 +00:00
parent 442ce2ec09
commit 56e135874b
9 changed files with 254 additions and 88 deletions
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58
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -76,8 +76,8 @@ btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, con
btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
updateWheelTransformsWS( wheel );
updateWheelTransform(getNumWheels()-1);
updateWheelTransformsWS( wheel , false );
updateWheelTransform(getNumWheels()-1,false);
return wheel;
}
@@ -92,15 +92,18 @@ const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
}
void btRaycastVehicle::updateWheelTransform( int wheelIndex )
void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
{
btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
updateWheelTransformsWS(wheel);
updateWheelTransformsWS(wheel,interpolatedTransform);
btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
btVector3 fwd = up.cross(right);
fwd = fwd.normalize();
// up = right.cross(fwd);
// up.normalize();
//rotate around steering over de wheelAxleWS
float steering = wheel.m_steering;
@@ -139,16 +142,16 @@ void btRaycastVehicle::resetSuspension()
}
}
void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
{
wheel.m_raycastInfo.m_isInContact = false;
btTransform chassisTrans;
if (getRigidBody()->getMotionState())
btTransform chassisTrans = getChassisWorldTransform();
if (interpolatedTransform && (getRigidBody()->getMotionState()))
{
getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
else
chassisTrans = getRigidBody()->getCenterOfMassTransform();
}
wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
@@ -156,7 +159,7 @@ void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
updateWheelTransformsWS( wheel );
updateWheelTransformsWS( wheel,false);
btScalar depth = -1;
@@ -240,12 +243,35 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
}
const btTransform& btRaycastVehicle::getChassisWorldTransform() const
{
/*if (getRigidBody()->getMotionState())
{
btTransform chassisWorldTrans;
getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
return chassisWorldTrans;
}
*/
return getRigidBody()->getCenterOfMassTransform();
}
void btRaycastVehicle::updateVehicle( btScalar step )
{
{
for (int i=0;i<getNumWheels();i++)
{
updateWheelTransform(i,false);
}
}
m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
const btTransform& chassisTrans = getChassisWorldTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
@@ -305,10 +331,12 @@ void btRaycastVehicle::updateVehicle( btScalar step )
if (wheel.m_raycastInfo.m_isInContact)
{
const btTransform& chassisWorldTransform = getChassisWorldTransform();
btVector3 fwd (
getRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
getRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;