56e135874b
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)
657 lines
18 KiB
C++
657 lines
18 KiB
C++
/*
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* Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#include "LinearMath/btVector3.h"
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#include "btRaycastVehicle.h"
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#include "BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.h"
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#include "BulletDynamics/ConstraintSolver/btJacobianEntry.h"
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#include "LinearMath/btQuaternion.h"
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#include "BulletDynamics/Dynamics/btDynamicsWorld.h"
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#include "btVehicleRaycaster.h"
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#include "btWheelInfo.h"
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#include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
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static btRigidBody s_fixedObject( 0,0,0);
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btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis, btVehicleRaycaster* raycaster )
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:m_vehicleRaycaster(raycaster),
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m_pitchControl(0.f)
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{
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m_chassisBody = chassis;
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m_indexRightAxis = 0;
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m_indexUpAxis = 2;
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m_indexForwardAxis = 1;
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defaultInit(tuning);
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}
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void btRaycastVehicle::defaultInit(const btVehicleTuning& tuning)
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{
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m_currentVehicleSpeedKmHour = 0.f;
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m_steeringValue = 0.f;
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}
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btRaycastVehicle::~btRaycastVehicle()
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{
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}
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//
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// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
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//
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btWheelInfo& btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
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{
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btWheelInfoConstructionInfo ci;
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ci.m_chassisConnectionCS = connectionPointCS;
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ci.m_wheelDirectionCS = wheelDirectionCS0;
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ci.m_wheelAxleCS = wheelAxleCS;
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ci.m_suspensionRestLength = suspensionRestLength;
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ci.m_wheelRadius = wheelRadius;
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ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
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ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
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ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
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ci.m_frictionSlip = tuning.m_frictionSlip;
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ci.m_bIsFrontWheel = isFrontWheel;
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ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
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m_wheelInfo.push_back( btWheelInfo(ci));
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btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];
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updateWheelTransformsWS( wheel , false );
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updateWheelTransform(getNumWheels()-1,false);
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return wheel;
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}
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const btTransform& btRaycastVehicle::getWheelTransformWS( int wheelIndex ) const
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{
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assert(wheelIndex < getNumWheels());
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const btWheelInfo& wheel = m_wheelInfo[wheelIndex];
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return wheel.m_worldTransform;
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}
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void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
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{
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btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
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updateWheelTransformsWS(wheel,interpolatedTransform);
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btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
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const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
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btVector3 fwd = up.cross(right);
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fwd = fwd.normalize();
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// up = right.cross(fwd);
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// up.normalize();
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//rotate around steering over de wheelAxleWS
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float steering = wheel.m_steering;
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btQuaternion steeringOrn(up,steering);//wheel.m_steering);
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btMatrix3x3 steeringMat(steeringOrn);
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btQuaternion rotatingOrn(right,wheel.m_rotation);
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btMatrix3x3 rotatingMat(rotatingOrn);
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btMatrix3x3 basis2(
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right[0],fwd[0],up[0],
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right[1],fwd[1],up[1],
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right[2],fwd[2],up[2]
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);
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wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2);
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wheel.m_worldTransform.setOrigin(
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wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength
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);
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}
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void btRaycastVehicle::resetSuspension()
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{
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std::vector<btWheelInfo>::iterator wheelIt;
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for (wheelIt = m_wheelInfo.begin();
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!(wheelIt == m_wheelInfo.end());wheelIt++)
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{
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btWheelInfo& wheel = *wheelIt;
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = 0.0f;
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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//wheel_info.setContactFriction(0.0f);
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wheel.m_clippedInvContactDotSuspension = 1.0f;
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}
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}
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void btRaycastVehicle::updateWheelTransformsWS(btWheelInfo& wheel , bool interpolatedTransform)
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{
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wheel.m_raycastInfo.m_isInContact = false;
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btTransform chassisTrans = getChassisWorldTransform();
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if (interpolatedTransform && (getRigidBody()->getMotionState()))
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{
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getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
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}
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wheel.m_raycastInfo.m_hardPointWS = chassisTrans( wheel.m_chassisConnectionPointCS );
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wheel.m_raycastInfo.m_wheelDirectionWS = chassisTrans.getBasis() * wheel.m_wheelDirectionCS ;
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wheel.m_raycastInfo.m_wheelAxleWS = chassisTrans.getBasis() * wheel.m_wheelAxleCS;
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}
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btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
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{
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updateWheelTransformsWS( wheel,false);
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btScalar depth = -1;
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btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;
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btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
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const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
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wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
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const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;
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btScalar param = 0.f;
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btVehicleRaycaster::btVehicleRaycasterResult rayResults;
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assert(m_vehicleRaycaster);
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void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
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wheel.m_raycastInfo.m_groundObject = 0;
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if (object)
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{
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param = rayResults.m_distFraction;
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depth = raylen * rayResults.m_distFraction;
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wheel.m_raycastInfo.m_contactNormalWS = rayResults.m_hitNormalInWorld;
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wheel.m_raycastInfo.m_isInContact = true;
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wheel.m_raycastInfo.m_groundObject = &s_fixedObject;//todo for driving on dynamic/movable objects!;
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//wheel.m_raycastInfo.m_groundObject = object;
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btScalar hitDistance = param*raylen;
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wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
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//clamp on max suspension travel
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float minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*0.01f;
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float maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*0.01f;
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if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
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}
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if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
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{
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wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
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}
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wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;
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btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );
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btVector3 chassis_velocity_at_contactPoint;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();
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chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);
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btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
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if ( denominator >= -0.1f)
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{
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wheel.m_suspensionRelativeVelocity = 0.0f;
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wheel.m_clippedInvContactDotSuspension = 1.0f / 0.1f;
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}
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else
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{
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btScalar inv = -1.f / denominator;
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wheel.m_suspensionRelativeVelocity = projVel * inv;
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wheel.m_clippedInvContactDotSuspension = inv;
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}
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} else
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{
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//put wheel info as in rest position
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wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
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wheel.m_suspensionRelativeVelocity = 0.0f;
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wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
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wheel.m_clippedInvContactDotSuspension = 1.0f;
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}
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return depth;
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}
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const btTransform& btRaycastVehicle::getChassisWorldTransform() const
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{
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/*if (getRigidBody()->getMotionState())
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{
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btTransform chassisWorldTrans;
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getRigidBody()->getMotionState()->getWorldTransform(chassisWorldTrans);
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return chassisWorldTrans;
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}
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*/
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return getRigidBody()->getCenterOfMassTransform();
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}
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void btRaycastVehicle::updateVehicle( btScalar step )
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{
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{
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for (int i=0;i<getNumWheels();i++)
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{
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updateWheelTransform(i,false);
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}
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}
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m_currentVehicleSpeedKmHour = 3.6f * getRigidBody()->getLinearVelocity().length();
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const btTransform& chassisTrans = getChassisWorldTransform();
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btVector3 forwardW (
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chassisTrans.getBasis()[0][m_indexForwardAxis],
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chassisTrans.getBasis()[1][m_indexForwardAxis],
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chassisTrans.getBasis()[2][m_indexForwardAxis]);
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if (forwardW.dot(getRigidBody()->getLinearVelocity()) < 0.f)
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{
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m_currentVehicleSpeedKmHour *= -1.f;
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}
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//
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// simulate suspension
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//
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std::vector<btWheelInfo>::iterator wheelIt;
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int i=0;
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for (wheelIt = m_wheelInfo.begin();
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!(wheelIt == m_wheelInfo.end());wheelIt++,i++)
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{
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btScalar depth;
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depth = rayCast( *wheelIt );
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}
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updateSuspension(step);
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for (wheelIt = m_wheelInfo.begin();
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!(wheelIt == m_wheelInfo.end());wheelIt++)
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{
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//apply suspension force
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btWheelInfo& wheel = *wheelIt;
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float suspensionForce = wheel.m_wheelsSuspensionForce;
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float gMaxSuspensionForce = 6000.f;
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if (suspensionForce > gMaxSuspensionForce)
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{
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suspensionForce = gMaxSuspensionForce;
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}
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btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
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btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS - getRigidBody()->getCenterOfMassPosition();
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getRigidBody()->applyImpulse(impulse, relpos);
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}
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updateFriction( step);
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for (wheelIt = m_wheelInfo.begin();
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!(wheelIt == m_wheelInfo.end());wheelIt++)
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{
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btWheelInfo& wheel = *wheelIt;
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btVector3 relpos = wheel.m_raycastInfo.m_hardPointWS - getRigidBody()->getCenterOfMassPosition();
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btVector3 vel = getRigidBody()->getVelocityInLocalPoint( relpos );
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if (wheel.m_raycastInfo.m_isInContact)
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{
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const btTransform& chassisWorldTransform = getChassisWorldTransform();
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btVector3 fwd (
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chassisWorldTransform.getBasis()[0][m_indexForwardAxis],
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chassisWorldTransform.getBasis()[1][m_indexForwardAxis],
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chassisWorldTransform.getBasis()[2][m_indexForwardAxis]);
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btScalar proj = fwd.dot(wheel.m_raycastInfo.m_contactNormalWS);
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fwd -= wheel.m_raycastInfo.m_contactNormalWS * proj;
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btScalar proj2 = fwd.dot(vel);
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wheel.m_deltaRotation = (proj2 * step) / (wheel.m_wheelsRadius);
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wheel.m_rotation += wheel.m_deltaRotation;
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} else
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{
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wheel.m_rotation += wheel.m_deltaRotation;
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}
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wheel.m_deltaRotation *= 0.99f;//damping of rotation when not in contact
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}
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}
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void btRaycastVehicle::setSteeringValue(btScalar steering,int wheel)
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{
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assert(wheel>=0 && wheel < getNumWheels());
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btWheelInfo& wheelInfo = getWheelInfo(wheel);
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wheelInfo.m_steering = steering;
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}
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btScalar btRaycastVehicle::getSteeringValue(int wheel) const
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{
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return getWheelInfo(wheel).m_steering;
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}
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void btRaycastVehicle::applyEngineForce(btScalar force, int wheel)
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{
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assert(wheel>=0 && wheel < getNumWheels());
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btWheelInfo& wheelInfo = getWheelInfo(wheel);
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wheelInfo.m_engineForce = force;
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}
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const btWheelInfo& btRaycastVehicle::getWheelInfo(int index) const
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{
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ASSERT((index >= 0) && (index < getNumWheels()));
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return m_wheelInfo[index];
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}
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btWheelInfo& btRaycastVehicle::getWheelInfo(int index)
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{
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ASSERT((index >= 0) && (index < getNumWheels()));
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return m_wheelInfo[index];
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}
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void btRaycastVehicle::setBrake(float brake,int wheelIndex)
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{
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ASSERT((wheelIndex >= 0) && (wheelIndex < getNumWheels()));
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getWheelInfo(wheelIndex).m_brake;
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}
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void btRaycastVehicle::updateSuspension(btScalar deltaTime)
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{
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btScalar chassisMass = 1.f / m_chassisBody->getInvMass();
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for (int w_it=0; w_it<getNumWheels(); w_it++)
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{
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btWheelInfo &wheel_info = m_wheelInfo[w_it];
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if ( wheel_info.m_raycastInfo.m_isInContact )
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{
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btScalar force;
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// Spring
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{
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btScalar susp_length = wheel_info.getSuspensionRestLength();
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btScalar current_length = wheel_info.m_raycastInfo.m_suspensionLength;
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btScalar length_diff = (susp_length - current_length);
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force = wheel_info.m_suspensionStiffness
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* length_diff * wheel_info.m_clippedInvContactDotSuspension;
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}
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// Damper
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{
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btScalar projected_rel_vel = wheel_info.m_suspensionRelativeVelocity;
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{
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btScalar susp_damping;
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if ( projected_rel_vel < 0.0f )
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{
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susp_damping = wheel_info.m_wheelsDampingCompression;
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}
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else
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{
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susp_damping = wheel_info.m_wheelsDampingRelaxation;
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}
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force -= susp_damping * projected_rel_vel;
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}
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}
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// RESULT
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wheel_info.m_wheelsSuspensionForce = force * chassisMass;
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if (wheel_info.m_wheelsSuspensionForce < 0.f)
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{
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wheel_info.m_wheelsSuspensionForce = 0.f;
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}
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}
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else
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{
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wheel_info.m_wheelsSuspensionForce = 0.0f;
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}
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}
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}
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float sideFrictionStiffness2 = 1.0f;
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void btRaycastVehicle::updateFriction(btScalar timeStep)
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{
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//calculate the impulse, so that the wheels don't move sidewards
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int numWheel = getNumWheels();
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if (!numWheel)
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return;
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btVector3* forwardWS = new btVector3[numWheel];
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btVector3* axle = new btVector3[numWheel];
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btScalar* forwardImpulse = new btScalar[numWheel];
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btScalar* sideImpulse = new btScalar[numWheel];
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int numWheelsOnGround = 0;
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//collapse all those loops into one!
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for (int i=0;i<getNumWheels();i++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[i];
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class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
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if (groundObject)
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numWheelsOnGround++;
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sideImpulse[i] = 0.f;
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forwardImpulse[i] = 0.f;
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}
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{
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for (int i=0;i<getNumWheels();i++)
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{
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btWheelInfo& wheelInfo = m_wheelInfo[i];
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class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
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if (groundObject)
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{
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const btTransform& wheelTrans = getWheelTransformWS( i );
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btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
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axle[i] = btVector3(
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wheelBasis0[0][m_indexRightAxis],
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wheelBasis0[1][m_indexRightAxis],
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wheelBasis0[2][m_indexRightAxis]);
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const btVector3& surfNormalWS = wheelInfo.m_raycastInfo.m_contactNormalWS;
|
|
btScalar proj = axle[i].dot(surfNormalWS);
|
|
axle[i] -= surfNormalWS * proj;
|
|
axle[i] = axle[i].normalize();
|
|
|
|
forwardWS[i] = surfNormalWS.cross(axle[i]);
|
|
forwardWS[i].normalize();
|
|
|
|
|
|
resolveSingleBilateral(*m_chassisBody, wheelInfo.m_raycastInfo.m_contactPointWS,
|
|
*groundObject, wheelInfo.m_raycastInfo.m_contactPointWS,
|
|
0.f, axle[i],sideImpulse[i],timeStep);
|
|
|
|
sideImpulse[i] *= sideFrictionStiffness2;
|
|
|
|
}
|
|
|
|
|
|
}
|
|
}
|
|
|
|
btScalar sideFactor = 1.f;
|
|
btScalar fwdFactor = 0.5;
|
|
|
|
bool sliding = false;
|
|
{
|
|
for (int wheel =0;wheel <getNumWheels();wheel++)
|
|
{
|
|
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
|
|
class btRigidBody* groundObject = (class btRigidBody*) wheelInfo.m_raycastInfo.m_groundObject;
|
|
|
|
|
|
forwardImpulse[wheel] = 0.f;
|
|
m_wheelInfo[wheel].m_skidInfo= 1.f;
|
|
|
|
if (groundObject)
|
|
{
|
|
m_wheelInfo[wheel].m_skidInfo= 1.f;
|
|
|
|
btScalar maximp = wheelInfo.m_wheelsSuspensionForce * timeStep * wheelInfo.m_frictionSlip;
|
|
btScalar maximpSide = maximp;
|
|
|
|
btScalar maximpSquared = maximp * maximpSide;
|
|
|
|
forwardImpulse[wheel] = wheelInfo.m_engineForce* timeStep;
|
|
|
|
float x = (forwardImpulse[wheel] ) * fwdFactor;
|
|
float y = (sideImpulse[wheel] ) * sideFactor;
|
|
|
|
float impulseSquared = (x*x + y*y);
|
|
|
|
if (impulseSquared > maximpSquared)
|
|
{
|
|
sliding = true;
|
|
|
|
btScalar factor = maximp / btSqrt(impulseSquared);
|
|
|
|
m_wheelInfo[wheel].m_skidInfo *= factor;
|
|
}
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
|
|
|
|
if (sliding)
|
|
{
|
|
for (int wheel = 0;wheel < getNumWheels(); wheel++)
|
|
{
|
|
if (sideImpulse[wheel] != 0.f)
|
|
{
|
|
if (m_wheelInfo[wheel].m_skidInfo< 1.f)
|
|
{
|
|
forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
|
sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// apply the impulses
|
|
{
|
|
for (int wheel = 0;wheel<getNumWheels() ; wheel++)
|
|
{
|
|
btWheelInfo& wheelInfo = m_wheelInfo[wheel];
|
|
|
|
btVector3 rel_pos = wheelInfo.m_raycastInfo.m_contactPointWS -
|
|
m_chassisBody->getCenterOfMassPosition();
|
|
|
|
if (forwardImpulse[wheel] != 0.f)
|
|
{
|
|
m_chassisBody->applyImpulse(forwardWS[wheel]*(forwardImpulse[wheel]),rel_pos);
|
|
}
|
|
if (sideImpulse[wheel] != 0.f)
|
|
{
|
|
class btRigidBody* groundObject = (class btRigidBody*) m_wheelInfo[wheel].m_raycastInfo.m_groundObject;
|
|
|
|
btVector3 rel_pos2 = wheelInfo.m_raycastInfo.m_contactPointWS -
|
|
groundObject->getCenterOfMassPosition();
|
|
|
|
|
|
btVector3 sideImp = axle[wheel] * sideImpulse[wheel];
|
|
|
|
rel_pos[2] *= wheelInfo.m_rollInfluence;
|
|
m_chassisBody->applyImpulse(sideImp,rel_pos);
|
|
|
|
//apply friction impulse on the ground
|
|
groundObject->applyImpulse(-sideImp,rel_pos2);
|
|
}
|
|
}
|
|
}
|
|
|
|
delete []forwardWS;
|
|
delete [] axle;
|
|
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;
|
|
}
|