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Performance optimization for btCompoundShape::setLocalScaling

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Thanks to Mirza, See Issue 487

backward compatibility fix for recent improvement in btRaycastVehicle 'rollinfluence'
Thanks to Mihail, See Issue 468
This commit is contained in:
erwin.coumans
2011-03-04 20:16:50 +00:00
parent b167f69ca2
commit fd4ae96697
3 changed files with 11 additions and 6 deletions
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2
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@@ -699,7 +699,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(1);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * wheelInfo.m_rollInfluence);
rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
#else
rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
#endif