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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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9
src/BulletDynamics/Vehicle/btRaycastVehicle.h
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@@ -68,9 +68,8 @@ public:
virtual ~btRaycastVehicle() ;
const btTransform& getChassisWorldTransform() const;
btScalar rayCast(btWheelInfo& wheel);
virtual void updateVehicle(btScalar step);
@@ -86,7 +85,7 @@ public:
const btTransform& getWheelTransformWS( int wheelIndex ) const;
void updateWheelTransform( int wheelIndex );
void updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
void setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
@@ -103,7 +102,7 @@ public:
btWheelInfo& getWheelInfo(int index);
void updateWheelTransformsWS(btWheelInfo& wheel );
void updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform = true);
void setBrake(float brake,int wheelIndex);