added very basic debug drawing for vehicle wheels, and updated raycast in world to do ray-aabb instead of aabb-aabb

1 files changed, 51 insertions, 37 deletions

diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index afbcf01aa..1d3d7915d 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -34,17 +34,17 @@ const int maxOverlap = 65535;
 ///notice that for higher-quality slow-moving vehicles, another approach might be better

 ///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts

 float	gEngineForce = 0.f;

-float	maxEngineForce = 100.f;

+float	maxEngineForce = 3000.f;

 float	gVehicleSteering = 0.f;

-float	steeringIncrement = 0.1f;

+float	steeringIncrement = 0.04f;

 float	steeringClamp = 0.3f;

 float	wheelRadius = 0.5f;

-float	wheelWidth = 0.2f;

-float	wheelFriction = 100.f;

-float	suspensionStiffness = 10.f;

-float	suspensionDamping = 1.3f;

-float	suspensionCompression = 2.4f;

-float	rollInfluence = 0.1f;

+float	wheelWidth = 0.4f;

+float	wheelFriction = 1e30f;//1000;//1e30f;

+float	suspensionStiffness = 20.f;

+float	suspensionDamping = 2.3f;

+float	suspensionCompression = 4.4f;

+float	rollInfluence = 0.1f;//1.0f;

 btVector3 wheelDirectionCS0(0,-1,0);

 btVector3 wheelAxleCS(1,0,0);

 btScalar suspensionRestLength(0.6);

@@ -76,6 +76,7 @@ m_cameraHeight(4.f),
 m_minCameraDistance(3.f),

 m_maxCameraDistance(10.f)

 {

+	m_vehicle = 0;

 	m_cameraPosition = btVector3(30,30,30);

 }

 

@@ -86,6 +87,7 @@ void VehicleDemo::setupPhysics()
 

 	btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));

 	m_dynamicsWorld = new btDiscreteDynamicsWorld();

+	m_dynamicsWorld->setDebugDrawer(&debugDrawer);

 

 

 #define  USE_TRIMESH_GROUND 1

@@ -113,7 +115,9 @@ const float TRIANGLE_SIZE=20.f;
 	{

 		for (int j=0;j<NUM_VERTS_Y;j++)

 		{

-			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

+			float wl = .2f;

+			float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);

+			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,height,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

 		}

 	}

 

@@ -150,9 +154,18 @@ const float TRIANGLE_SIZE=20.f;
 	localCreateRigidBody(0,tr,groundShape);

 

 	btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));

+	btCompoundShape* compound = new btCompoundShape();

+	btTransform localTrans;

+	localTrans.setIdentity();

+	//localTrans effectively shifts the center of mass with respect to the chassis

+	localTrans.setOrigin(btVector3(0,1,0));

+	compound->addChildShape(localTrans,chassisShape);

+

 	tr.setOrigin(btVector3(0,0.f,0));

 

-	m_carChassis = localCreateRigidBody(800,tr,chassisShape);

+	m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);

+	m_carChassis->setDamping(0.2,0.2);

+	

 	

 	clientResetScene();

 

@@ -167,46 +180,34 @@ const float TRIANGLE_SIZE=20.f;
 

 		m_dynamicsWorld->addVehicle(m_vehicle);

 

+		float connectionHeight = 1.2f;

+

 	

-		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

+		btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);

 		bool isFrontWheel=true;

 		int rightIndex = 0;

 		int upIndex = 1;

 		int forwardIndex = 2;

 

 		m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);

-

 		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

-		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

+		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);

 		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

-		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

+		connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);

 		isFrontWheel = false;

 		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

-		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

+		connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);

 		m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);

 		

-/*		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);

-		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);

-		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);

-		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);

-		

-		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,0);

-		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,1);

-		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,2);

-		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,3);

-		

-		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,0);

-		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,1);

-		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,2);

-		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,3);

-

-		gVehicleConstraint->SetWheelFriction(wheelFriction,0);

-		gVehicleConstraint->SetWheelFriction(wheelFriction,1);

-		gVehicleConstraint->SetWheelFriction(wheelFriction,2);

-		gVehicleConstraint->SetWheelFriction(wheelFriction,3);

-		*/

-

-		

+		for (int i=0;i<m_vehicle->getNumWheels();i++)

+		{

+			btWheelInfo& wheel = m_vehicle->getWheelInfo(i);

+			wheel.m_suspensionStiffness = suspensionStiffness;

+			wheel.m_wheelsDampingRelaxation = suspensionDamping;

+			wheel.m_wheelsDampingCompression = suspensionCompression;

+			wheel.m_frictionSlip = wheelFriction;

+			wheel.m_rollInfluence = rollInfluence;

+		}

 	}

 

 	

@@ -338,6 +339,19 @@ void VehicleDemo::clientResetScene()
 	gEngineForce = 0.f;

 	gVehicleSteering = 0.f;

 	m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());

+	m_carChassis->setLinearVelocity(btVector3(0,0,0));

+	m_carChassis->setAngularVelocity(btVector3(0,0,0));

+	m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle());

+	if (m_vehicle)

+	{

+		m_vehicle->resetSuspension();

+		for (int i=0;i<m_vehicle->getNumWheels();i++)

+		{

+			//synchronize the wheels with the (interpolated) chassis worldtransform

+			m_vehicle->updateWheelTransform(i);

+		}

+	}

+

 }