void Vehicle::alignWithGround()
{
btScalar ray_len = 8;
btScalar min_height = 0;
bool no_min_height = true;
for (int i = 0; i < wheel.size(); ++i)
{
wheel[i].updateDisplacement(ray_len);
btScalar height = wheel[i].ray.getDepth() - ray_len;
if (height < min_height || no_min_height)
{
min_height = height;
no_min_height = false;
}
}
btVector3 delta = getDownVector() * min_height;
btVector3 trimmed_position = body->getCenterOfMassPosition() + delta;
setPosition(trimmed_position);
for (int i = 0; i < wheel.size(); ++i)
{
wheel[i].updateDisplacement(ray_len);
}
body->setAngularVelocity(btVector3(0, 0, 0));
body->setLinearVelocity(btVector3(0, 0, 0));
}
Vector3 Transform::getDownVector() const
{
Vector3 v;
getDownVector(&v);
return v;
}