Changeset 8351 for code/trunk/src/external/bullet/BulletDynamics/Vehicle

Timestamp:

Apr 28, 2011, 7:15:14 AM (14 years ago)

Author:

rgrieder

Message:

Merged kicklib2 branch back to trunk (includes former branches ois_update, mac_osx and kicklib).

Notes for updating

Linux:
You don't need an extra package for CEGUILua and Tolua, it's already shipped with CEGUI.
However you do need to make sure that the OgreRenderer is installed too with CEGUI 0.7 (may be a separate package).
Also, Orxonox now recognises if you install the CgProgramManager (a separate package available on newer Ubuntu on Debian systems).

Windows:
Download the new dependency packages versioned 6.0 and use these. If you have problems with that or if you don't like the in game console problem mentioned below, you can download the new 4.3 version of the packages (only available for Visual Studio 2005/2008).

Key new features:

• *Support for Mac OS X*
• Visual Studio 2010 support
• Bullet library update to 2.77
• OIS library update to 1.3
• Support for CEGUI 0.7 —> Support for Arch Linux and even SuSE
• Improved install target
• Compiles now with GCC 4.6
• Ogre Cg Shader plugin activated for Linux if available
• And of course lots of bug fixes

There are also some regressions:

• No support for CEGUI 0.5, Ogre 1.4 and boost 1.35 - 1.39 any more
• In game console is not working in main menu for CEGUI 0.7
• Tolua (just the C lib, not the application) and CEGUILua libraries are no longer in our repository. —> You will need to get these as well when compiling Orxonox
• And of course lots of new bugs we don't yet know about

Location:

code/trunk/src/external/bullet/BulletDynamics/Vehicle

Files:

• btRaycastVehicle.cpp (modified) (6 diffs)
• btRaycastVehicle.h (modified) (5 diffs)
• btWheelInfo.h (modified) (3 diffs)

code/trunk/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/trunk/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/trunk/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;
 
         }