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Merge pull request #1622 from juhl/vehicle_axis

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Fix to support different kind of wheel axis
This commit is contained in:
erwincoumans 2018-04-09 21:13:13 -07:00 committed by GitHub
commit 480cedf503
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1 changed files with 14 additions and 7 deletions
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21
src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
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@ -121,12 +121,19 @@ void btRaycastVehicle::updateWheelTransform( int wheelIndex , bool interpolatedT
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]
);
btMatrix3x3 basis2;
basis2[0][m_indexRightAxis] = -right[0];
basis2[1][m_indexRightAxis] = -right[1];
basis2[2][m_indexRightAxis] = -right[2];
basis2[0][m_indexUpAxis] = up[0];
basis2[1][m_indexUpAxis] = up[1];
basis2[2][m_indexUpAxis] = up[2];
basis2[0][m_indexForwardAxis] = fwd[0];
basis2[1][m_indexForwardAxis] = fwd[1];
basis2[2][m_indexForwardAxis] = fwd[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
@ -567,7 +574,7 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
const btTransform& wheelTrans = getWheelTransformWS( i );
btMatrix3x3 wheelBasis0 = wheelTrans.getBasis();
m_axle[i] = btVector3(
m_axle[i] = -btVector3(
wheelBasis0[0][m_indexRightAxis],
wheelBasis0[1][m_indexRightAxis],
wheelBasis0[2][m_indexRightAxis]);