コード例 #1
0
//
// basically most of the code is general for 2 or 4 wheel vehicles, but some of it needs to be reviewed
//
btWheelInfo&	btRaycastVehicle::addWheel( const btVector3& connectionPointCS, const btVector3& wheelDirectionCS0,const btVector3& wheelAxleCS, btScalar suspensionRestLength, btScalar wheelRadius,const btVehicleTuning& tuning, bool isFrontWheel)
{

    btWheelInfoConstructionInfo ci;

    ci.m_chassisConnectionCS = connectionPointCS;
    ci.m_wheelDirectionCS = wheelDirectionCS0;
    ci.m_wheelAxleCS = wheelAxleCS;
    ci.m_suspensionRestLength = suspensionRestLength;
    ci.m_wheelRadius = wheelRadius;
    ci.m_suspensionStiffness = tuning.m_suspensionStiffness;
    ci.m_wheelsDampingCompression = tuning.m_suspensionCompression;
    ci.m_wheelsDampingRelaxation = tuning.m_suspensionDamping;
    ci.m_frictionSlip = tuning.m_frictionSlip;
    ci.m_bIsFrontWheel = isFrontWheel;
    ci.m_maxSuspensionTravelCm = tuning.m_maxSuspensionTravelCm;
    ci.m_maxSuspensionForce = tuning.m_maxSuspensionForce;

    m_wheelInfo.push_back( btWheelInfo(ci));

    btWheelInfo& wheel = m_wheelInfo[getNumWheels()-1];

    updateWheelTransformsWS( wheel , false );
    updateWheelTransform(getNumWheels()-1,false);
    return wheel;
}
コード例 #2
0
void	btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedTransform)
{

    btWheelInfo& wheel = m_wheelInfo[ wheelIndex ];
    updateWheelTransformsWS(wheel,interpolatedTransform);
    btVector3 up = -wheel.m_raycastInfo.m_wheelDirectionWS;
    const btVector3& right = wheel.m_raycastInfo.m_wheelAxleWS;
    btVector3 fwd = up.cross(right);
    fwd = fwd.normalize();
//	up = right.cross(fwd);
//	up.normalize();

    //rotate around steering over de wheelAxleWS
    btScalar steering = wheel.m_steering;

    btQuaternion steeringOrn(up,steering);//wheel.m_steering);
    btMatrix3x3 steeringMat(steeringOrn);

    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]
    );

    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
    );
}
コード例 #3
0
ファイル: raycast_car.cpp プロジェクト: issakomi/mmt
void RaycastCar::addWheel(VehicleConfig * c,
                          int wheel)
{
    WheelInfo i;
    i.m_wheelDirectionCS         = c->wheel_direction_CS0;
    i.m_wheelAxleCS              = c->wheel_axle_CS;
    i.m_suspensionRestLength     = c->suspension_rest_length;
    i.m_suspensionStiffness      = c->suspension_stiffness;
    i.m_wheelsDampingCompression = c->damping_compression;
    i.m_wheelsDampingRelaxation  = c->damping_relaxation;
    i.m_maxSuspensionTravelCm    = c->max_suspension_travel;
    i.m_maxSuspensionForce       = c->max_suspension_force;
    i.m_rollInfluence            = c->roll_influence;
    if (wheel == 0)
    {
        i.m_wheelsRadius             = c->fwheel_radius;
        i.m_chassisConnectionPointCS = c->wheel_fr_v;
        i.m_tire_pressure            = c->fwheel_tire_pressure;
    }
    else if (wheel == 1)
    {
        i.m_wheelsRadius             = c->fwheel_radius;
        i.m_chassisConnectionPointCS = c->wheel_fl_v;
        i.m_tire_pressure            = c->fwheel_tire_pressure;
    }
    else if (wheel == 2)
    {
        i.m_wheelsRadius             = c->rwheel_radius;
        i.m_chassisConnectionPointCS = c->wheel_br_v;
        i.m_tire_pressure            = c->rwheel_tire_pressure;
    }
    else if (wheel == 3)
    {
        i.m_wheelsRadius             = c->rwheel_radius;
        i.m_chassisConnectionPointCS = c->wheel_bl_v;
        i.m_tire_pressure            = c->rwheel_tire_pressure;
    }
    else
    {
        ;;
    }
    i.m_worldTransform.setIdentity();
    i.m_wheel_direction_WS = btVector3(0,0,1);
    i.m_wheel_axle_WS      = btVector3(1,0,0);

    m_wheelInfo.push_back(i);
    updateWheelTransformsWS(i, false);
}
コード例 #4
0
btScalar btRaycastVehicle::rayCast(btWheelInfo& wheel)
{
    updateWheelTransformsWS( wheel,false);


    btScalar depth = -1;

    btScalar raylen = wheel.getSuspensionRestLength()+wheel.m_wheelsRadius;

    btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
    const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
    wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
    const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;

    btScalar param = btScalar(0.);

    btVehicleRaycaster::btVehicleRaycasterResult	rayResults;

    btAssert(m_vehicleRaycaster);

    void* object = m_vehicleRaycaster->castRay(source,target,rayResults);

    wheel.m_raycastInfo.m_groundObject = 0;

    if (object)
    {
        param = rayResults.m_distFraction;
        depth = raylen * rayResults.m_distFraction;
        wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
        wheel.m_raycastInfo.m_isInContact = true;

        wheel.m_raycastInfo.m_groundObject = &getFixedBody();///@todo for driving on dynamic/movable objects!;
        //wheel.m_raycastInfo.m_groundObject = object;


        btScalar hitDistance = param*raylen;
        wheel.m_raycastInfo.m_suspensionLength = hitDistance - wheel.m_wheelsRadius;
        //clamp on max suspension travel

        btScalar  minSuspensionLength = wheel.getSuspensionRestLength() - wheel.m_maxSuspensionTravelCm*btScalar(0.01);
        btScalar maxSuspensionLength = wheel.getSuspensionRestLength()+ wheel.m_maxSuspensionTravelCm*btScalar(0.01);
        if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
        {
            wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
        }
        if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
        {
            wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
        }

        wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;

        btScalar denominator= wheel.m_raycastInfo.m_contactNormalWS.dot( wheel.m_raycastInfo.m_wheelDirectionWS );

        btVector3 chassis_velocity_at_contactPoint;
        btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS-getRigidBody()->getCenterOfMassPosition();

        chassis_velocity_at_contactPoint = getRigidBody()->getVelocityInLocalPoint(relpos);

        btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot( chassis_velocity_at_contactPoint );

        if ( denominator >= btScalar(-0.1))
        {
            wheel.m_suspensionRelativeVelocity = btScalar(0.0);
            wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
        }
        else
        {
            btScalar inv = btScalar(-1.) / denominator;
            wheel.m_suspensionRelativeVelocity = projVel * inv;
            wheel.m_clippedInvContactDotSuspension = inv;
        }

    } else
    {
        //put wheel info as in rest position
        wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
        wheel.m_suspensionRelativeVelocity = btScalar(0.0);
        wheel.m_raycastInfo.m_contactNormalWS = - wheel.m_raycastInfo.m_wheelDirectionWS;
        wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
    }

    return depth;
}
コード例 #5
0
ファイル: btKart.cpp プロジェクト: Flakebi/stk-code
btScalar btKart::rayCast(unsigned int index)
{
    btWheelInfo &wheel = m_wheelInfo[index];

    // Work around a bullet problem: when using a convex hull the raycast
    // would sometimes hit the chassis (which does not happen when using a
    // box shape). Therefore set the collision mask in the chassis body so
    // that it is not hit anymore.
    short int old_group=0;
    if(m_chassisBody->getBroadphaseHandle())
    {
        old_group = m_chassisBody->getBroadphaseHandle()
                                 ->m_collisionFilterGroup;
        m_chassisBody->getBroadphaseHandle()->m_collisionFilterGroup = 0;
    }

    updateWheelTransformsWS( wheel,false);

    btScalar max_susp_len = wheel.getSuspensionRestLength()
                          + wheel.m_maxSuspensionTravel;

    // Do a slightly longer raycast to see if the kart might soon hit the 
    // ground and some 'cushioning' is needed to avoid that the chassis
    // hits the ground.
    btScalar raylen = max_susp_len + 0.5f;

    btVector3 rayvector = wheel.m_raycastInfo.m_wheelDirectionWS * (raylen);
    const btVector3& source = wheel.m_raycastInfo.m_hardPointWS;
    wheel.m_raycastInfo.m_contactPointWS = source + rayvector;
    const btVector3& target = wheel.m_raycastInfo.m_contactPointWS;

    btVehicleRaycaster::btVehicleRaycasterResult rayResults;

    btAssert(m_vehicleRaycaster);

    void* object = m_vehicleRaycaster->castRay(source,target,rayResults);

    wheel.m_raycastInfo.m_groundObject = 0;

    btScalar depth =  raylen * rayResults.m_distFraction;
    if (object &&  depth < max_susp_len)
    {
        wheel.m_raycastInfo.m_contactNormalWS  = rayResults.m_hitNormalInWorld;
        wheel.m_raycastInfo.m_contactNormalWS.normalize();
        wheel.m_raycastInfo.m_isInContact = true;
        ///@todo for driving on dynamic/movable objects!;
        wheel.m_raycastInfo.m_triangle_index = rayResults.m_triangle_index;;
        wheel.m_raycastInfo.m_groundObject = &getFixedBody();

        wheel.m_raycastInfo.m_suspensionLength = depth;

        //clamp on max suspension travel
        btScalar minSuspensionLength = wheel.getSuspensionRestLength()
                                - wheel.m_maxSuspensionTravel;
        btScalar maxSuspensionLength = wheel.getSuspensionRestLength()
                                + wheel.m_maxSuspensionTravel;
        if (wheel.m_raycastInfo.m_suspensionLength < minSuspensionLength)
        {
            wheel.m_raycastInfo.m_suspensionLength = minSuspensionLength;
        }
        if (wheel.m_raycastInfo.m_suspensionLength > maxSuspensionLength)
        {
            wheel.m_raycastInfo.m_suspensionLength = maxSuspensionLength;
        }

        wheel.m_raycastInfo.m_contactPointWS = rayResults.m_hitPointInWorld;

        btScalar denominator = wheel.m_raycastInfo.m_contactNormalWS.dot(
                                      wheel.m_raycastInfo.m_wheelDirectionWS );

        btVector3 chassis_velocity_at_contactPoint;
        btVector3 relpos = wheel.m_raycastInfo.m_contactPointWS
                         - getRigidBody()->getCenterOfMassPosition();

        chassis_velocity_at_contactPoint =
            getRigidBody()->getVelocityInLocalPoint(relpos);

        btScalar projVel = wheel.m_raycastInfo.m_contactNormalWS.dot(
                                            chassis_velocity_at_contactPoint );

        if ( denominator >= btScalar(-0.1))
        {
            wheel.m_suspensionRelativeVelocity = btScalar(0.0);
            wheel.m_clippedInvContactDotSuspension = btScalar(1.0) / btScalar(0.1);
        }
        else
        {
            btScalar inv = btScalar(-1.) / denominator;
            wheel.m_suspensionRelativeVelocity = projVel * inv;
            wheel.m_clippedInvContactDotSuspension = inv;
        }

    } else
    {
        depth = btScalar(-1.0);
        //put wheel info as in rest position
        wheel.m_raycastInfo.m_suspensionLength = wheel.getSuspensionRestLength();
        wheel.m_suspensionRelativeVelocity = btScalar(0.0);
        wheel.m_raycastInfo.m_contactNormalWS =
            - wheel.m_raycastInfo.m_wheelDirectionWS;
        wheel.m_clippedInvContactDotSuspension = btScalar(1.0);
    }

#define USE_VISUAL
#ifndef USE_VISUAL
    m_visual_contact_point[index] = rayResults.m_hitPointInWorld;
#else
    if(index==2 || index==3)
    {
        btTransform chassisTrans = getChassisWorldTransform();
        if (getRigidBody()->getMotionState())
        {
            getRigidBody()->getMotionState()->getWorldTransform(chassisTrans);
        }
        btQuaternion q(m_visual_rotation, 0, 0);
        btQuaternion rot_new = chassisTrans.getRotation() * q;
        chassisTrans.setRotation(rot_new);
        btVector3 pos = m_kart->getKartModel()->getWheelGraphicsPosition(index);
        pos.setZ(pos.getZ()*0.9f);
        btVector3 source = chassisTrans( pos );
        btVector3 target = source + rayvector;
        btVehicleRaycaster::btVehicleRaycasterResult rayResults;

        void* object = m_vehicleRaycaster->castRay(source,target,rayResults);
        m_visual_contact_point[index] = rayResults.m_hitPointInWorld;
        m_visual_contact_point[index-2] = source;
        m_visual_wheels_touch_ground &= (object!=NULL);
    }
#endif

    if(m_chassisBody->getBroadphaseHandle())
    {
        m_chassisBody->getBroadphaseHandle()->m_collisionFilterGroup
            = old_group;
    }


    return depth;

}   // rayCast