Changeset 8284 for code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle

Timestamp:

Apr 21, 2011, 6:58:23 PM (14 years ago)

Author:

rgrieder

Message:

Merged revisions 7978 - 8096 from kicklib to kicklib2.

Location:

code/branches/kicklib2

Files:

• . (modified) (1 prop)
• src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp (modified) (6 diffs)
• src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h (modified) (5 diffs)
• src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h (modified) (3 diffs)

code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -23 +23 @@
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
 
-static btRigidBody s_fixedObject( 0,0,0);
+btRigidBody& btActionInterface::getFixedBody()
+{
+        static btRigidBody s_fixed(0, 0,0);
+        s_fixed.setMassProps(btScalar(0.),btVector3(btScalar(0.),btScalar(0.),btScalar(0.)));
+        return s_fixed;
+}
 
 btRaycastVehicle::btRaycastVehicle(const btVehicleTuning& tuning,btRigidBody* chassis,  btVehicleRaycaster* raycaster )
@@ -71 +76 @@
         ci.m_bIsFrontWheel = isFrontWheel;
         ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
+        ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;
 
         m_wheelInfo.push_back( btWheelInfo(ci));
@@ -187 +193 @@
                 wheel.m_raycastInfo.m_isInContact = true;
                 
-                wheel.m_raycastInfo.m_groundObject = &s_fixedObject;///@todo for driving on dynamic/movable objects!;
+                wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
                 //wheel.m_raycastInfo.m_groundObject = object;
 
@@ -302 +308 @@
                 btScalar suspensionForce = wheel.m_wheelsSuspensionForce;
                 
-                btScalar gMaxSuspensionForce = btScalar(6000.);
-                if (suspensionForce > gMaxSuspensionForce)
-                {
-                        suspensionForce = gMaxSuspensionForce;
+                if (suspensionForce > wheel.m_maxSuspensionForce)
+                {
+                        suspensionForce = wheel.m_maxSuspensionForce;
                 }
                 btVector3 impulse = wheel.m_raycastInfo.m_contactNormalWS * suspensionForce * step;
@@ -690 +695 @@
                                         btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
-                                        rel_pos[m_indexForwardAxis] *= wheelInfo.m_rollInfluence;
+                                        rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
                                         m_chassisBody->applyImpulse(sideImp,rel_pos);
 
@@ -709 +714 @@
         for (int v=0;v<this->getNumWheels();v++)
         {
-                btVector3 wheelColor(0,255,255);
+                btVector3 wheelColor(0,1,1);
                 if (getWheelInfo(v).m_raycastInfo.m_isInContact)
                 {
-                        wheelColor.setValue(0,0,255);
+                        wheelColor.setValue(0,0,1);
                 } else
                 {
-                        wheelColor.setValue(255,0,255);
+                        wheelColor.setValue(1,0,1);
                 }
 

code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -30 +30 @@
                 btAlignedObjectArray<btScalar>  m_forwardImpulse;
                 btAlignedObjectArray<btScalar>  m_sideImpulse;
+        
+                ///backwards compatibility
+                int     m_userConstraintType;
+                int     m_userConstraintId;
 
 public:
@@ -41 +45 @@
                                 m_suspensionDamping(btScalar(0.88)),
                                 m_maxSuspensionTravelCm(btScalar(500.)),
-                                m_frictionSlip(btScalar(10.5))
+                                m_frictionSlip(btScalar(10.5)),
+                                m_maxSuspensionForce(btScalar(6000.))
                         {
                         }
@@ -49 +54 @@
                         btScalar        m_maxSuspensionTravelCm;
                         btScalar        m_frictionSlip;
+                        btScalar        m_maxSuspensionForce;
 
                 };
@@ -79 +85 @@
         virtual void updateAction( btCollisionWorld* collisionWorld, btScalar step)
         {
+        (void) collisionWorld;
                 updateVehicle(step);
         }
@@ -189 +196 @@
 
 
+        ///backwards compatibility
+        int getUserConstraintType() const
+        {
+                return m_userConstraintType ;
+        }
+
+        void    setUserConstraintType(int userConstraintType)
+        {
+                m_userConstraintType = userConstraintType;
+        };
+
+        void    setUserConstraintId(int uid)
+        {
+                m_userConstraintId = uid;
+        }
+
+        int getUserConstraintId() const
+        {
+                return m_userConstraintId;
+        }
 
 };

code/branches/kicklib2/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h

@@ -30 +30 @@
         btScalar                m_wheelsDampingRelaxation;
         btScalar                m_frictionSlip;
+        btScalar                m_maxSuspensionForce;
         bool m_bIsFrontWheel;
         
@@ -69 +70 @@
         btScalar        m_deltaRotation;
         btScalar        m_rollInfluence;
+        btScalar        m_maxSuspensionForce;
 
         btScalar        m_engineForce;
@@ -100 +102 @@
                 m_rollInfluence = btScalar(0.1);
                 m_bIsFrontWheel = ci.m_bIsFrontWheel;
+                m_maxSuspensionForce = ci.m_maxSuspensionForce;
 
         }