public void UpdateWheel(RigidBody chassis, RaycastInfo raycastInfo)
{
if (raycastInfo.IsInContact)
{
float project = Vector3.Dot(raycastInfo.ContactNormalWS, raycastInfo.WheelDirectionWS);
Vector3 chassis_velocity_at_contactPoint;
Vector3 relpos = raycastInfo.ContactPointWS - chassis.CenterOfMassPosition;
chassis_velocity_at_contactPoint = chassis.GetVelocityInLocalPoint(relpos);
float projVel = Vector3.Dot(raycastInfo.ContactNormalWS, chassis_velocity_at_contactPoint);
if (project >= -0.1f)
{
SuspensionRelativeVelocity = 0;
ClippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1.0f / project;
SuspensionRelativeVelocity = projVel * inv;
ClippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
RaycastInfo.SuspensionLength = SuspensionRestLength;
SuspensionRelativeVelocity = 0;
RaycastInfo.ContactNormalWS = -raycastInfo.WheelDirectionWS;
ClippedInvContactDotSuspension = 1.0f;
}
}
public void UpdateWheel(RigidBody chassis, RaycastInfo raycastInfo)
{
if (raycastInfo.IsInContact)
{
float project = Vector3.Dot(raycastInfo.ContactNormalWS, raycastInfo.WheelDirectionWS);
Vector3 chassis_velocity_at_contactPoint;
Vector3 relpos = raycastInfo.ContactPointWS - chassis.CenterOfMassPosition;
chassis_velocity_at_contactPoint = chassis.GetVelocityInLocalPoint(relpos);
float projVel = Vector3.Dot(raycastInfo.ContactNormalWS, chassis_velocity_at_contactPoint);
if (project >= -0.1f)
{
SuspensionRelativeVelocity = 0;
ClippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1.0f / project;
SuspensionRelativeVelocity = projVel * inv;
ClippedInvContactDotSuspension = inv;
}
}
else // Not in contact : position wheel in a nice (rest length) position
{
RaycastInfo.SuspensionLength = SuspensionRestLength;
SuspensionRelativeVelocity = 0;
RaycastInfo.ContactNormalWS = -raycastInfo.WheelDirectionWS;
ClippedInvContactDotSuspension = 1.0f;
}
}
public WheelInfo(WheelInfoConstructionInfo ci)
{
SuspensionRestLength1 = ci.SuspensionRestLength;
MaxSuspensionTravelCm = ci.MaxSuspensionTravelCm;
WheelsRadius = ci.WheelRadius;
SuspensionStiffness = ci.SuspensionStiffness;
WheelsDampingCompression = ci.WheelsDampingCompression;
WheelsDampingRelaxation = ci.WheelsDampingRelaxation;
ChassisConnectionPointCS = ci.ChassisConnectionCS;
WheelDirectionCS = ci.WheelDirectionCS;
WheelAxleCS = ci.WheelAxleCS;
FrictionSlip = ci.FrictionSlip;
Steering = 0;
EngineForce = 0;
Rotation = 0;
DeltaRotation = 0;
Brake = 0;
RollInfluence = 0.1f;
IsFrontWheel = ci.IsFrontWheel;
MaxSuspensionForce = ci.MaxSuspensionForce;
//ClientInfo = IntPtr.Zero;
//ClippedInvContactDotSuspension = 0;
WorldTransform = Matrix.Identity;
//WheelsSuspensionForce = 0;
//SuspensionRelativeVelocity = 0;
//SkidInfo = 0;
RaycastInfo = new RaycastInfo();
}
public unsafe static void GetContactNormalWS(this RaycastInfo obj, out OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
*(BulletSharp.Math.Vector3 *)valuePtr = obj.ContactNormalWS;
}
}
public WheelInfo(WheelInfoConstructionInfo ci)
{
SuspensionRestLength1 = ci.SuspensionRestLength;
MaxSuspensionTravelCm = ci.MaxSuspensionTravelCm;
WheelsRadius = ci.WheelRadius;
SuspensionStiffness = ci.SuspensionStiffness;
WheelsDampingCompression = ci.WheelsDampingCompression;
WheelsDampingRelaxation = ci.WheelsDampingRelaxation;
ChassisConnectionPointCS = ci.ChassisConnectionCS;
WheelDirectionCS = ci.WheelDirectionCS;
WheelAxleCS = ci.WheelAxleCS;
FrictionSlip = ci.FrictionSlip;
Steering = 0;
EngineForce = 0;
Rotation = 0;
DeltaRotation = 0;
Brake = 0;
RollInfluence = 0.1f;
IsFrontWheel = ci.IsFrontWheel;
MaxSuspensionForce = ci.MaxSuspensionForce;
//ClientInfo = IntPtr.Zero;
//ClippedInvContactDotSuspension = 0;
WorldTransform = Matrix.Identity;
//WheelsSuspensionForce = 0;
//SuspensionRelativeVelocity = 0;
//SkidInfo = 0;
RaycastInfo = new RaycastInfo();
}
public unsafe static void SetWheelDirectionWS(this RaycastInfo obj, ref OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
obj.WheelDirectionWS = *(BulletSharp.Math.Vector3 *)valuePtr;
}
}
public unsafe static void SetHardPointWS(this RaycastInfo obj, ref OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
obj.HardPointWS = *(BulletSharp.Math.Vector3 *)valuePtr;
}
}
public unsafe static void GetWheelAxleWS(this RaycastInfo obj, out OpenTK.Vector3 value)
{
fixed(OpenTK.Vector3 *valuePtr = &value)
{
*(BulletSharp.Math.Vector3 *)valuePtr = obj.WheelAxleWS;
}
}
public static void SetWheelDirectionWS(this RaycastInfo obj, OpenTK.Vector3 value)
{
SetWheelDirectionWS(obj, ref value);
}
public static void SetHardPointWS(this RaycastInfo obj, OpenTK.Vector3 value)
{
SetHardPointWS(obj, ref value);
}
public static void SetContactNormalWS(this RaycastInfo obj, OpenTK.Vector3 value)
{
SetContactNormalWS(obj, ref value);
}
public static OpenTK.Vector3 GetWheelDirectionWS(this RaycastInfo obj)
{
OpenTK.Vector3 value;
GetWheelDirectionWS(obj, out value);
return(value);
}
public static OpenTK.Vector3 GetHardPointWS(this RaycastInfo obj)
{
OpenTK.Vector3 value;
GetHardPointWS(obj, out value);
return(value);
}
public static OpenTK.Vector3 GetContactNormalWS(this RaycastInfo obj)
{
OpenTK.Vector3 value;
GetContactNormalWS(obj, out value);
return(value);
}
