| /* |
| * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/ |
| * |
| * Permission to use, copy, modify, distribute and sell this software |
| * and its documentation for any purpose is hereby granted without fee, |
| * provided that the above copyright notice appear in all copies. |
| * Erwin Coumans makes no representations about the suitability |
| * of this software for any purpose. |
| * It is provided "as is" without express or implied warranty. |
| */ |
| #include "BulletDynamics/Vehicle/btWheelInfo.h" |
| #include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity |
| |
| |
| btScalar btWheelInfo::getSuspensionRestLength() const |
| { |
| |
| return m_suspensionRestLength1; |
| |
| } |
| |
| 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; |
| 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)) |
| { |
| m_suspensionRelativeVelocity = btScalar(0.0); |
| m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1); |
| } |
| else |
| { |
| btScalar inv = btScalar(-1.) / project; |
| m_suspensionRelativeVelocity = projVel * inv; |
| m_clippedInvContactDotSuspension = inv; |
| } |
| |
| } |
| |
| else // Not in contact : position wheel in a nice (rest length) position |
| { |
| m_raycastInfo.m_suspensionLength = this->getSuspensionRestLength(); |
| m_suspensionRelativeVelocity = btScalar(0.0); |
| m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS; |
| m_clippedInvContactDotSuspension = btScalar(1.0); |
| } |
| } |