Changeset 8393 for code/trunk/src/external/bullet/BulletDynamics/Vehicle

Timestamp:

May 3, 2011, 5:07:42 AM (14 years ago)

Author:

rgrieder

Message:

Updated Bullet from v2.77 to v2.78.
(I'm not going to make a branch for that since the update from 2.74 to 2.77 hasn't been tested that much either).

You will HAVE to do a complete RECOMPILE! I tested with MSVC and MinGW and they both threw linker errors at me.

Location:

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

Files:

• btRaycastVehicle.cpp (modified) (2 diffs)
• btRaycastVehicle.h (modified) (3 diffs)
• btVehicleRaycaster.h (modified) (3 diffs)
• btWheelInfo.h (modified) (2 diffs)

code/trunk/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp

@@ -22 +22 @@
 #include "LinearMath/btIDebugDraw.h"
 #include "BulletDynamics/ConstraintSolver/btContactConstraint.h"
+
+#define ROLLING_INFLUENCE_FIX
+
 
 btRigidBody& btActionInterface::getFixedBody()
@@ -695 +698 @@
                                         btVector3 sideImp = m_axle[wheel] * m_sideImpulse[wheel];
 
+#if defined ROLLING_INFLUENCE_FIX // fix. It only worked if car's up was along Y - VT.
+                                        btVector3 vChassisWorldUp = getRigidBody()->getCenterOfMassTransform().getBasis().getColumn(m_indexUpAxis);
+                                        rel_pos -= vChassisWorldUp * (vChassisWorldUp.dot(rel_pos) * (1.f-wheelInfo.m_rollInfluence));
+#else
                                         rel_pos[m_indexUpAxis] *= wheelInfo.m_rollInfluence;
+#endif
                                         m_chassisBody->applyImpulse(sideImp,rel_pos);
 

code/trunk/src/external/bullet/BulletDynamics/Vehicle/btRaycastVehicle.h

@@ -9 +9 @@
  * It is provided "as is" without express or implied warranty.
 */
-#ifndef RAYCASTVEHICLE_H
-#define RAYCASTVEHICLE_H
+#ifndef BT_RAYCASTVEHICLE_H
+#define BT_RAYCASTVEHICLE_H
 
 #include "BulletDynamics/Dynamics/btRigidBody.h"
@@ -113 +113 @@
         void    updateWheelTransform( int wheelIndex, bool interpolatedTransform = true );
         
-        void    setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
+//      void    setRaycastWheelInfo( int wheelIndex , bool isInContact, const btVector3& hitPoint, const btVector3& hitNormal,btScalar depth);
 
         btWheelInfo&    addWheel( const btVector3& connectionPointCS0, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS,btScalar suspensionRestLength,btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel);
@@ -233 +233 @@
 
 
-#endif //RAYCASTVEHICLE_H
-
+#endif //BT_RAYCASTVEHICLE_H
+

code/trunk/src/external/bullet/BulletDynamics/Vehicle/btVehicleRaycaster.h

@@ -1 +1 @@
 /*
- * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
+ * Copyright (c) 2005 Erwin Coumans http://bulletphysics.org
  *
  * Permission to use, copy, modify, distribute and sell this software
@@ -9 +9 @@
  * It is provided "as is" without express or implied warranty.
 */
-#ifndef VEHICLE_RAYCASTER_H
-#define VEHICLE_RAYCASTER_H
+#ifndef BT_VEHICLE_RAYCASTER_H
+#define BT_VEHICLE_RAYCASTER_H
 
 #include "LinearMath/btVector3.h"
@@ -32 +32 @@
 };
 
-#endif //VEHICLE_RAYCASTER_H
+#endif //BT_VEHICLE_RAYCASTER_H
 

code/trunk/src/external/bullet/BulletDynamics/Vehicle/btWheelInfo.h

@@ -9 +9 @@
  * It is provided "as is" without express or implied warranty.
 */
-#ifndef WHEEL_INFO_H
-#define WHEEL_INFO_H
+#ifndef BT_WHEEL_INFO_H
+#define BT_WHEEL_INFO_H
 
 #include "LinearMath/btVector3.h"
@@ -116 +116 @@
 };
 
-#endif //WHEEL_INFO_H
+#endif //BT_WHEEL_INFO_H