Bullet Collision Detection & Physics Library
btWheelInfo.cpp
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1/*
2 * Copyright (c) 2005 Erwin Coumans http://continuousphysics.com/Bullet/
3 *
4 * Permission to use, copy, modify, distribute and sell this software
5 * and its documentation for any purpose is hereby granted without fee,
6 * provided that the above copyright notice appear in all copies.
7 * Erwin Coumans makes no representations about the suitability
8 * of this software for any purpose.
9 * It is provided "as is" without express or implied warranty.
10*/
11#include "btWheelInfo.h"
12#include "BulletDynamics/Dynamics/btRigidBody.h" // for pointvelocity
13
14
16{
17
19
20}
21
22void btWheelInfo::updateWheel(const btRigidBody& chassis,RaycastInfo& raycastInfo)
23{
24 (void)raycastInfo;
25
26
28
29 {
31 btVector3 chassis_velocity_at_contactPoint;
33 chassis_velocity_at_contactPoint = chassis.getVelocityInLocalPoint( relpos );
34 btScalar projVel = m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );
35 if ( project >= btScalar(-0.1))
36 {
39 }
40 else
41 {
42 btScalar inv = btScalar(-1.) / project;
43 m_suspensionRelativeVelocity = projVel * inv;
45 }
46
47 }
48
49 else // Not in contact : position wheel in a nice (rest length) position
50 {
55 }
56}
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:292
The btRigidBody is the main class for rigid body objects.
Definition: btRigidBody.h:63
btVector3 getVelocityInLocalPoint(const btVector3 &rel_pos) const
Definition: btRigidBody.h:382
const btVector3 & getCenterOfMassPosition() const
Definition: btRigidBody.h:354
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:84
btScalar dot(const btVector3 &v) const
Return the dot product.
Definition: btVector3.h:235
btVector3 m_wheelDirectionWS
Definition: btWheelInfo.h:47
btScalar m_clippedInvContactDotSuspension
Definition: btWheelInfo.h:112
void updateWheel(const btRigidBody &chassis, RaycastInfo &raycastInfo)
Definition: btWheelInfo.cpp:22
btScalar getSuspensionRestLength() const
Definition: btWheelInfo.cpp:15
btScalar m_suspensionRestLength1
Definition: btWheelInfo.h:60
btScalar m_suspensionRelativeVelocity
Definition: btWheelInfo.h:113
RaycastInfo m_raycastInfo
Definition: btWheelInfo.h:53