diff options
Diffstat (limited to 'thirdparty/bullet/BulletDynamics/Vehicle')
| -rw-r--r-- | thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp | 30 |
1 files changed, 19 insertions, 11 deletions
diff --git a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp index a7b1688469..f299aa34e8 100644 --- a/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp +++ b/thirdparty/bullet/BulletDynamics/Vehicle/btRaycastVehicle.cpp @@ -121,12 +121,19 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT btQuaternion rotatingOrn(right,-wheel.m_rotation); btMatrix3x3 rotatingMat(rotatingOrn); - btMatrix3x3 basis2( - right[0],fwd[0],up[0], - right[1],fwd[1],up[1], - right[2],fwd[2],up[2] - ); - + btMatrix3x3 basis2; + basis2[0][m_indexRightAxis] = -right[0]; + basis2[1][m_indexRightAxis] = -right[1]; + basis2[2][m_indexRightAxis] = -right[2]; + + basis2[0][m_indexUpAxis] = up[0]; + basis2[1][m_indexUpAxis] = up[1]; + basis2[2][m_indexUpAxis] = up[2]; + + basis2[0][m_indexForwardAxis] = fwd[0]; + basis2[1][m_indexForwardAxis] = fwd[1]; + basis2[2][m_indexForwardAxis] = fwd[2]; + wheel.m_worldTransform.setBasis(steeringMat * rotatingMat * basis2); wheel.m_worldTransform.setOrigin( wheel.m_raycastInfo.m_hardPointWS + wheel.m_raycastInfo.m_wheelDirectionWS * wheel.m_raycastInfo.m_suspensionLength @@ -493,8 +500,8 @@ struct btWheelContactPoint }; -btScalar calcRollingFriction(btWheelContactPoint& contactPoint); -btScalar calcRollingFriction(btWheelContactPoint& contactPoint) +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround); +btScalar calcRollingFriction(btWheelContactPoint& contactPoint, int numWheelsOnGround) { btScalar j1=0.f; @@ -513,7 +520,7 @@ btScalar calcRollingFriction(btWheelContactPoint& contactPoint) btScalar vrel = contactPoint.m_frictionDirectionWorld.dot(vel); // calculate j that moves us to zero relative velocity - j1 = -vrel * contactPoint.m_jacDiagABInv; + j1 = -vrel * contactPoint.m_jacDiagABInv/btScalar(numWheelsOnGround); btSetMin(j1, maxImpulse); btSetMax(j1, -maxImpulse); @@ -567,7 +574,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) const btTransform& wheelTrans = getWheelTransformWS( i ); btMatrix3x3 wheelBasis0 = wheelTrans.getBasis(); - m_axle[i] = btVector3( + m_axle[i] = -btVector3( wheelBasis0[0][m_indexRightAxis], wheelBasis0[1][m_indexRightAxis], wheelBasis0[2][m_indexRightAxis]); @@ -615,7 +622,8 @@ void btRaycastVehicle::updateFriction(btScalar timeStep) btScalar defaultRollingFrictionImpulse = 0.f; btScalar maxImpulse = wheelInfo.m_brake ? wheelInfo.m_brake : defaultRollingFrictionImpulse; btWheelContactPoint contactPt(m_chassisBody,groundObject,wheelInfo.m_raycastInfo.m_contactPointWS,m_forwardWS[wheel],maxImpulse); - rollingFriction = calcRollingFriction(contactPt); + btAssert(numWheelsOnGround > 0); + rollingFriction = calcRollingFriction(contactPt, numWheelsOnGround); } } |