diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp | 21 |
1 files changed, 8 insertions, 13 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp index ef93c16fff..d5c12f223b 100644 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp +++ b/thirdparty/bullet/BulletDynamics/Vehicle/btWheelInfo.cpp @@ -9,30 +9,26 @@ * It is provided "as is" without express or implied warranty. */ #include "btWheelInfo.h" -#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity - +#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity btScalar btWheelInfo::getSuspensionRestLength() const { - return m_suspensionRestLength1; - } -void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo) +void btWheelInfo::updateWheel(const btRigidBody& chassis, RaycastInfo& raycastInfo) { (void)raycastInfo; - if (m_raycastInfo.m_isInContact) { - btScalar project= m_raycastInfo.m_contactNormalWS.dot( m_raycastInfo.m_wheelDirectionWS ); - btVector3 chassis_velocity_at_contactPoint; + btScalar project = m_raycastInfo.m_contactNormalWS.dot(m_raycastInfo.m_wheelDirectionWS); + btVector3 chassis_velocity_at_contactPoint; btVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.getCenterOfMassPosition(); - chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos ); - btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint ); - if ( project >= btScalar(-0.1)) + chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint(relpos); + btScalar projVel = m_raycastInfo.m_contactNormalWS.dot(chassis_velocity_at_contactPoint); + if (project >= btScalar(-0.1)) { m_suspensionRelativeVelocity = btScalar(0.0); m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1); @@ -43,10 +39,9 @@ void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInf m_suspensionRelativeVelocity = projVel * inv; m_clippedInvContactDotSuspension = inv; } - } - else // Not in contact : position wheel in a nice (rest length) position + else // Not in contact : position wheel in a nice (rest length) position { m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength(); m_suspensionRelativeVelocity = btScalar(0.0); |