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enabled the vehicle demo again (still needs lots of tuning before it drives well)

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fixed some warnings
This commit is contained in:
ejcoumans
2006-10-29 03:36:16 +00:00
parent caca3a1ca2
commit d6c6cbaee6
16 changed files with 179 additions and 125 deletions
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38
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -9,11 +9,12 @@
* It is provided "as is" without express or implied warranty.
*/
#include "LinearMath/btVector3.h"
#include "btRaycastVehicle.h"
#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btVector3.h"
#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
#include "btVehicleRaycaster.h"
#include "btWheelInfo.h"
@@ -141,8 +142,12 @@ void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel )
{
wheel.m_raycastInfo.m_isInContact = false;
const btTransform& chassisTrans = getRigidBody()->getCenterOfMassTransform();
btTransform chassisTrans;
if (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;
@@ -166,6 +171,8 @@ btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
assert(m_vehicleRaycaster);
void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
wheel.m_raycastInfo.m_groundObject = 0;
@@ -593,3 +600,28 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
delete[]forwardImpulse;
delete[] sideImpulse;
}
void* btDefaultVehicleRaycaster::castRay(const btVector3& from,const btVector3& to, btVehicleRaycasterResult& result)
{
// RayResultCallback& resultCallback;
btCollisionWorld::ClosestRayResultCallback rayCallback(from,to);
m_dynamicsWorld->rayTest(from, to, rayCallback);
if (rayCallback.HasHit())
{
btRigidBody* body = btRigidBody::upcast(rayCallback.m_collisionObject);
if (body)
{
result.m_hitPointInWorld = rayCallback.m_hitPointWorld;
result.m_hitNormalInWorld = rayCallback.m_hitNormalWorld;
result.m_hitNormalInWorld.normalize();
result.m_distFraction = rayCallback.m_closestHitFraction;
return body;
}
}
return 0;
}