diff options
Diffstat (limited to 'scene/3d/vehicle_body.cpp')
| -rw-r--r-- | scene/3d/vehicle_body.cpp | 12 |
1 files changed, 3 insertions, 9 deletions
diff --git a/scene/3d/vehicle_body.cpp b/scene/3d/vehicle_body.cpp index 6ccf07db1e..7c7957640f 100644 --- a/scene/3d/vehicle_body.cpp +++ b/scene/3d/vehicle_body.cpp @@ -488,7 +488,6 @@ real_t VehicleBody::_ray_cast(int p_idx,PhysicsDirectBodyState *s) { void VehicleBody::_update_suspension(PhysicsDirectBodyState *s) { - real_t deltaTime = s->get_step(); real_t chassisMass = mass; for (int w_it=0; w_it<wheels.size(); w_it++) @@ -596,21 +595,16 @@ void VehicleBody::_resolve_single_bilateral(PhysicsDirectBodyState *s, const Vec b2invinertia, b2invmass); - real_t jacDiagAB = jac.getDiagonal(); - real_t jacDiagABInv = real_t(1.) / jacDiagAB; - real_t rel_vel = jac.getRelativeVelocity( s->get_linear_velocity(), s->get_transform().basis.transposed().xform(s->get_angular_velocity()), b2lv, b2trans.xform(b2av)); - real_t a; - a=jacDiagABInv; rel_vel = normal.dot(vel); - //todo: move this into proper structure + //TODO: move this into proper structure real_t contactDamping = real_t(0.4); #define ONLY_USE_LINEAR_MASS #ifdef ONLY_USE_LINEAR_MASS @@ -642,16 +636,16 @@ VehicleBody::btVehicleWheelContactPoint::btVehicleWheelContactPoint(PhysicsDirec denom0= s->get_inverse_mass() + frictionDirectionWorld.dot(vec); } + /* TODO: Why is this code unused? if (body1) { Vector3 r0 = frictionPosWorld - body1->get_global_transform().origin; Vector3 c0 = (r0).cross(frictionDirectionWorld); Vector3 vec = s->get_inverse_inertia_tensor().xform_inv(c0).cross(r0); //denom1= body1->get_inverse_mass() + frictionDirectionWorld.dot(vec); - denom1=0; } - + */ real_t relaxation = 1.f; m_jacDiagABInv = relaxation/(denom0+denom1); |