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

merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

Browse Source 
Still need to verify to make sure no unwanted renaming is introduced.
This commit is contained in:
ejcoumans
2006-09-27 20:43:51 +00:00
parent d1e9a885f3
commit eb23bb5c0c
263 changed files with 7528 additions and 6714 deletions
Download Patch File Download Diff File Expand all files Collapse all files

198
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
View File

@@ -12,8 +12,8 @@
#include "btRaycastVehicle.h"
#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
#include "LinearMath/SimdQuaternion.h"
#include "LinearMath/SimdVector3.h"
#include "LinearMath/btQuaternion.h"
#include "LinearMath/btVector3.h"
#include "btVehicleRaycaster.h"
#include "btWheelInfo.h"
@@ -23,9 +23,9 @@
static RigidBody s_fixedObject( MassProps ( 0.0f, SimdVector3(0,0,0) ),0.f,0.f,0.f,0.f);
static btRigidBody s_fixedObject( btMassProps ( 0.0f, btVector3(0,0,0) ),0.f,0.f,0.f,0.f);
RaycastVehicle::RaycastVehicle(const VehicleTuning& tuning,RigidBody* chassis, VehicleRaycaster* raycaster )
btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
:m_vehicleRaycaster(raycaster),
m_pitchControl(0.f)
{
@@ -37,7 +37,7 @@ m_pitchControl(0.f)
}
void RaycastVehicle::DefaultInit(const VehicleTuning& tuning)
void btRaycastVehicle::DefaultInit(const btVehicleTuning& tuning)
{
m_currentVehicleSpeedKmHour = 0.f;
m_steeringValue = 0.f;
@@ -46,7 +46,7 @@ void RaycastVehicle::DefaultInit(const VehicleTuning& tuning)
RaycastVehicle::~RaycastVehicle()
btRaycastVehicle::~btRaycastVehicle()
{
}
@@ -54,10 +54,10 @@ RaycastVehicle::~RaycastVehicle()
//
// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
//
WheelInfo& RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const SimdVector3& wheelDirectionCS0,const SimdVector3& wheelAxleCS, SimdScalar suspensionRestLength, SimdScalar wheelRadius,const VehicleTuning& tuning, bool isFrontWheel)
btWheelInfo& btRaycastVehicle::AddWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
{
WheelInfoConstructionInfo ci;
btWheelInfoConstructionInfo ci;
ci.m_chassisConnectionCS = connectionPointCS;
ci.m_wheelDirectionCS = wheelDirectionCS0;
@@ -71,9 +71,9 @@ WheelInfo& RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const
ci.m_bIsFrontWheel = isFrontWheel;
ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
m_wheelInfo.push_back( WheelInfo(ci));
m_wheelInfo.push_back( btWheelInfo(ci));
WheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
btWheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
UpdateWheelTransformsWS( wheel );
UpdateWheelTransform(GetNumWheels()-1);
@@ -83,33 +83,33 @@ WheelInfo& RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const
const SimdTransform& RaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
const btTransform& btRaycastVehicle::GetWheelTransformWS( int wheelIndex ) const
{
assert(wheelIndex < GetNumWheels());
const WheelInfo& wheel = m_wheelInfo[wheelIndex];
const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
return wheel.m_worldTransform;
}
void RaycastVehicle::UpdateWheelTransform( int wheelIndex )
void btRaycastVehicle::UpdateWheelTransform( int wheelIndex )
{
WheelInfo& wheel = m_wheelInfo[ wheelIndex ];
btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
UpdateWheelTransformsWS(wheel);
SimdVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
const SimdVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
SimdVector3 fwd = up.cross(right);
btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
btVector3 fwd = up.cross(right);
fwd = fwd.normalize();
//rotate around steering over de wheelAxleWS
float steering = wheel.m_steering;
SimdQuaternion steeringOrn(up,steering);//wheel.m_steering);
SimdMatrix3x3 steeringMat(steeringOrn);
btQuaternion steeringOrn(up,steering);//wheel.m_steering);
btMatrix3x3 steeringMat(steeringOrn);
SimdQuaternion rotatingOrn(right,wheel.m_rotation);
SimdMatrix3x3 rotatingMat(rotatingOrn);
btQuaternion rotatingOrn(right,wheel.m_rotation);
btMatrix3x3 rotatingMat(rotatingOrn);
SimdMatrix3x3 basis2(
btMatrix3x3 basis2(
right[0],fwd[0],up[0],
right[1],fwd[1],up[1],
right[2],fwd[2],up[2]
@@ -121,14 +121,14 @@ void RaycastVehicle::UpdateWheelTransform( int wheelIndex )
);
}
void RaycastVehicle::ResetSuspension()
void btRaycastVehicle::ResetSuspension()
{
std::vector<WheelInfo>::iterator wheelIt;
std::vector<btWheelInfo>::iterator wheelIt;
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
WheelInfo& wheel = *wheelIt;
btWheelInfo& wheel = *wheelIt;
wheel.m_raycastInfo.m_suspensionLength = wheel.GetSuspensionRestLength();
wheel.m_suspensionRelativeVelocity = 0.0f;
@@ -138,34 +138,34 @@ void RaycastVehicle::ResetSuspension()
}
}
void RaycastVehicle::UpdateWheelTransformsWS(WheelInfo& wheel )
void btRaycastVehicle::UpdateWheelTransformsWS(btWheelInfo& wheel )
{
wheel.m_raycastInfo.m_isInContact = false;
const SimdTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
const btTransform& 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;
}
SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
btScalar btRaycastVehicle::Raycast(btWheelInfo& wheel)
{
UpdateWheelTransformsWS( wheel );
SimdScalar depth = -1;
btScalar depth = -1;
SimdScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
btScalar raylen = wheel.GetSuspensionRestLength()+wheel.m_wheelsRadius;
SimdVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const SimdVector3& source = wheel.m_raycastInfo.m_hardPointWS;
btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
const SimdVector3& target = wheel.m_raycastInfo.m_contactPointWS;
const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
SimdScalar param = 0.f;
btScalar param = 0.f;
VehicleRaycaster::VehicleRaycasterResult rayResults;
btVehicleRaycaster::btVehicleRaycasterResult rayResults;
void* object = m_vehicleRaycaster->CastRay(source,target,rayResults);
@@ -182,7 +182,7 @@ SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
//wheel.m_raycastInfo.m_groundObject = object;
SimdScalar hitDistance = param*raylen;
btScalar hitDistance = param*raylen;
wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
//clamp on max suspension travel
@@ -199,14 +199,14 @@ SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
SimdScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
SimdVector3 chassis_velocity_at_contactPoint;
SimdVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
btVector3 chassis_velocity_at_contactPoint;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-GetRigidBody()->getCenterOfMassPosition();
chassis_velocity_at_contactPoint = GetRigidBody()->getVelocityInLocalPoint(relpos);
SimdScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( denominator >= -0.1f)
{
@@ -215,7 +215,7 @@ SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
}
else
{
SimdScalar inv = -1.f / denominator;
btScalar inv = -1.f / denominator;
wheel.m_suspensionRelativeVelocity = projVel * inv;
wheel.m_clippedInvContactDotSuspension = inv;
}
@@ -233,13 +233,13 @@ SimdScalar RaycastVehicle::Raycast(WheelInfo& wheel)
}
void RaycastVehicle::UpdateVehicle( SimdScalar step )
void btRaycastVehicle::UpdateVehicle( btScalar step )
{
m_currentVehicleSpeedKmHour = 3.6f * GetRigidBody()->getLinearVelocity().length();
const SimdTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
SimdVector3 forwardW (
const btTransform& chassisTrans = GetRigidBody()->getCenterOfMassTransform();
btVector3 forwardW (
chassisTrans.getBasis()[0][m_indexForwardAxis],
chassisTrans.getBasis()[1][m_indexForwardAxis],
chassisTrans.getBasis()[2][m_indexForwardAxis]);
@@ -252,12 +252,12 @@ void RaycastVehicle::UpdateVehicle( SimdScalar step )
//
// simulate suspension
//
std::vector<WheelInfo>::iterator wheelIt;
std::vector<btWheelInfo>::iterator wheelIt;
int i=0;
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
{
SimdScalar depth;
btScalar depth;
depth = Raycast( *wheelIt );
}
@@ -268,7 +268,7 @@ void RaycastVehicle::UpdateVehicle( SimdScalar step )
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
//apply suspension force
WheelInfo& wheel = *wheelIt;
btWheelInfo& wheel = *wheelIt;
float suspensionForce = wheel.m_wheelsSuspensionForce;
@@ -277,8 +277,8 @@ void RaycastVehicle::UpdateVehicle( SimdScalar step )
{
suspensionForce = gMaxSuspensionForce;
}
SimdVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
SimdVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - GetRigidBody()->getCenterOfMassPosition();
GetRigidBody()->applyImpulse(impulse, relpos);
@@ -292,21 +292,21 @@ void RaycastVehicle::UpdateVehicle( SimdScalar step )
for (wheelIt = m_wheelInfo.begin();
!(wheelIt == m_wheelInfo.end());wheelIt++)
{
WheelInfo& wheel = *wheelIt;
SimdVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
SimdVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
btWheelInfo& wheel = *wheelIt;
btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - GetRigidBody()->getCenterOfMassPosition();
btVector3 vel = GetRigidBody()->getVelocityInLocalPoint( relpos );
if (wheel.m_raycastInfo.m_isInContact)
{
SimdVector3 fwd (
btVector3 fwd (
GetRigidBody()->getCenterOfMassTransform().getBasis()[0][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[1][m_indexForwardAxis],
GetRigidBody()->getCenterOfMassTransform().getBasis()[2][m_indexForwardAxis]);
SimdScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
SimdScalar proj2 = fwd.dot(vel);
btScalar proj2 = fwd.dot(vel);
wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
wheel.m_rotation += wheel.m_deltaRotation;
@@ -325,69 +325,69 @@ void RaycastVehicle::UpdateVehicle( SimdScalar step )
}
void RaycastVehicle::SetSteeringValue(SimdScalar steering,int wheel)
void btRaycastVehicle::SetSteeringValue(btScalar steering,int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
WheelInfo& wheelInfo = GetWheelInfo(wheel);
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
wheelInfo.m_steering = steering;
}
SimdScalar RaycastVehicle::GetSteeringValue(int wheel) const
btScalar btRaycastVehicle::GetSteeringValue(int wheel) const
{
return GetWheelInfo(wheel).m_steering;
}
void RaycastVehicle::ApplyEngineForce(SimdScalar force, int wheel)
void btRaycastVehicle::ApplyEngineForce(btScalar force, int wheel)
{
assert(wheel>=0 && wheel < GetNumWheels());
WheelInfo& wheelInfo = GetWheelInfo(wheel);
btWheelInfo& wheelInfo = GetWheelInfo(wheel);
wheelInfo.m_engineForce = force;
}
const WheelInfo& RaycastVehicle::GetWheelInfo(int index) const
const btWheelInfo& btRaycastVehicle::GetWheelInfo(int index) const
{
ASSERT((index >= 0) && (index < GetNumWheels()));
return m_wheelInfo[index];
}
WheelInfo& RaycastVehicle::GetWheelInfo(int index)
btWheelInfo& btRaycastVehicle::GetWheelInfo(int index)
{
ASSERT((index >= 0) && (index < GetNumWheels()));
return m_wheelInfo[index];
}
void RaycastVehicle::SetBrake(float brake,int wheelIndex)
void btRaycastVehicle::SetBrake(float brake,int wheelIndex)
{
ASSERT((wheelIndex >= 0) && (wheelIndex < GetNumWheels()));
GetWheelInfo(wheelIndex).m_brake;
}
void RaycastVehicle::UpdateSuspension(SimdScalar deltaTime)
void btRaycastVehicle::UpdateSuspension(btScalar deltaTime)
{
SimdScalar chassisMass = 1.f / m_chassisBody->getInvMass();
btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
for (int w_it=0; w_it<GetNumWheels(); w_it++)
{
WheelInfo &wheel_info = m_wheelInfo[w_it];
btWheelInfo &wheel_info = m_wheelInfo[w_it];
if ( wheel_info.m_raycastInfo.m_isInContact )
{
SimdScalar force;
btScalar force;
// Spring
{
SimdScalar susp_length = wheel_info.GetSuspensionRestLength();
SimdScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
btScalar susp_length = wheel_info.GetSuspensionRestLength();
btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
SimdScalar length_diff = (susp_length - current_length);
btScalar length_diff = (susp_length - current_length);
force = wheel_info.m_suspensionStiffness
* length_diff * wheel_info.m_clippedInvContactDotSuspension;
@@ -395,9 +395,9 @@ void RaycastVehicle::UpdateSuspension(SimdScalar deltaTime)
// Damper
{
SimdScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
{
SimdScalar susp_damping;
btScalar susp_damping;
if ( projected_rel_vel < 0.0f )
{
susp_damping = wheel_info.m_wheelsDampingCompression;
@@ -426,7 +426,7 @@ void RaycastVehicle::UpdateSuspension(SimdScalar deltaTime)
}
float sideFrictionStiffness2 = 1.0f;
void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
void btRaycastVehicle::UpdateFriction(btScalar timeStep)
{
//calculate the impulse, so that the wheels don't move sidewards
@@ -435,10 +435,10 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
return;
SimdVector3* forwardWS = new SimdVector3[numWheel];
SimdVector3* axle = new SimdVector3[numWheel];
SimdScalar* forwardImpulse = new SimdScalar[numWheel];
SimdScalar* sideImpulse = new SimdScalar[numWheel];
btVector3* forwardWS = new btVector3[numWheel];
btVector3* axle = new btVector3[numWheel];
btScalar* forwardImpulse = new btScalar[numWheel];
btScalar* sideImpulse = new btScalar[numWheel];
int numWheelsOnGround = 0;
@@ -446,8 +446,8 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
//collapse all those loops into one!
for (int i=0;i<GetNumWheels();i++)
{
WheelInfo& wheelInfo = m_wheelInfo[i];
class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
btWheelInfo& wheelInfo = m_wheelInfo[i];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if (groundObject)
numWheelsOnGround++;
sideImpulse[i] = 0.f;
@@ -460,23 +460,23 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
for (int i=0;i<GetNumWheels();i++)
{
WheelInfo& wheelInfo = m_wheelInfo[i];
btWheelInfo& wheelInfo = m_wheelInfo[i];
class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
if (groundObject)
{
const SimdTransform& wheelTrans = GetWheelTransformWS( i );
const btTransform& wheelTrans = GetWheelTransformWS( i );
SimdMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
axle[i] = SimdVector3(
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
axle[i] = btVector3(
wheelBasis0[0][m_indexRightAxis],
wheelBasis0[1][m_indexRightAxis],
wheelBasis0[2][m_indexRightAxis]);
const SimdVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
SimdScalar proj = axle[i].dot(surfNormalWS);
const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
btScalar proj = axle[i].dot(surfNormalWS);
axle[i] -= surfNormalWS * proj;
axle[i] = axle[i].normalize();
@@ -496,15 +496,15 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
}
}
SimdScalar sideFactor = 1.f;
SimdScalar fwdFactor = 0.5;
btScalar sideFactor = 1.f;
btScalar fwdFactor = 0.5;
bool sliding = false;
{
for (int wheel =0;wheel <GetNumWheels();wheel++)
{
WheelInfo& wheelInfo = m_wheelInfo[wheel];
class RigidBody* groundObject = (class RigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
forwardImpulse[wheel] = 0.f;
@@ -514,10 +514,10 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
{
m_wheelInfo[wheel].m_skidInfo= 1.f;
SimdScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
SimdScalar maximpSide = maximp;
btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
btScalar maximpSide = maximp;
SimdScalar maximpSquared = maximp * maximpSide;
btScalar maximpSquared = maximp * maximpSide;
forwardImpulse[wheel] = wheelInfo.m_engineForce* timeStep;
@@ -530,7 +530,7 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
{
sliding = true;
SimdScalar factor = maximp / SimdSqrt(impulseSquared);
btScalar factor = maximp / btSqrt(impulseSquared);
m_wheelInfo[wheel].m_skidInfo *= factor;
}
@@ -561,9 +561,9 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
{
for (int wheel = 0;wheel<GetNumWheels() ; wheel++)
{
WheelInfo& wheelInfo = m_wheelInfo[wheel];
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
SimdVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
m_chassisBody->getCenterOfMassPosition();
if (forwardImpulse[wheel] != 0.f)
@@ -572,13 +572,13 @@ void RaycastVehicle::UpdateFriction(SimdScalar timeStep)
}
if (sideImpulse[wheel] != 0.f)
{
class RigidBody* groundObject = (class RigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
SimdVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
groundObject->getCenterOfMassPosition();
SimdVector3 sideImp = axle[wheel] * sideImpulse[wheel];
btVector3 sideImp = axle[wheel] * sideImpulse[wheel];
rel_pos[2] *= wheelInfo.m_rollInfluence;
m_chassisBody->applyImpulse(sideImp,rel_pos);