Bart/bullet3
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merged most of the changes from the branch into trunk, except for COLLADA, libxml and glut glitches.

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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
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14
src/BulletDynamics/Vehicle/btWheelInfo.cpp
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@@ -12,25 +12,25 @@
#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
SimdScalar WheelInfo::GetSuspensionRestLength() const
btScalar btWheelInfo::GetSuspensionRestLength() const
{
return m_suspensionRestLength1;
}
void WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
void btWheelInfo::UpdateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
{
if (m_raycastInfo.m_isInContact)
{
SimdScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
SimdVector3 chassis_velocity_at_contactPoint;
SimdVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
btScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS );
btVector3 chassis_velocity_at_contactPoint;
btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
SimdScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
{
m_suspensionRelativeVelocity = 0.0f;
@@ -38,7 +38,7 @@ void WheelInfo::UpdateWheel(const RigidBody& chassis,RaycastInfo& raycastInfo)
}
else
{
SimdScalar inv = -1.f / project;
btScalar inv = -1.f / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}