public void UpdateWheel(RigidBody chassis, ref WheelRaycastInfo raycastInfo)
{
if (m_raycastInfo.m_isInContact)
{
float project = IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS, m_raycastInfo.m_wheelDirectionWS);
IndexedVector3 chassis_velocity_at_contactPoint;
IndexedVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.GetCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.GetVelocityInLocalPoint(ref relpos);
float projVel = IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS, chassis_velocity_at_contactPoint);
if (project >= -0.1f)
{
m_suspensionRelativeVelocity = 0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1f / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this.GetSuspensionRestLength();
m_suspensionRelativeVelocity = 0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1f;
}
}
public void UpdateWheel(RigidBody chassis, ref WheelRaycastInfo raycastInfo)
{
if (m_raycastInfo.m_isInContact)
{
float project= IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS,m_raycastInfo.m_wheelDirectionWS );
IndexedVector3 chassis_velocity_at_contactPoint;
IndexedVector3 relpos = m_raycastInfo.m_contactPointWS - chassis.GetCenterOfMassPosition();
chassis_velocity_at_contactPoint = chassis.GetVelocityInLocalPoint( ref relpos );
float projVel = IndexedVector3.Dot(m_raycastInfo.m_contactNormalWS,chassis_velocity_at_contactPoint );
if ( project >= -0.1f)
{
m_suspensionRelativeVelocity = 0f;
m_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1f / project;
m_suspensionRelativeVelocity = projVel * inv;
m_clippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
m_raycastInfo.m_suspensionLength = this.GetSuspensionRestLength();
m_suspensionRelativeVelocity = 0f;
m_raycastInfo.m_contactNormalWS = -m_raycastInfo.m_wheelDirectionWS;
m_clippedInvContactDotSuspension = 1f;
}
}
