btRaycastVehicle.cpp: forward impulse way too strong when sideImpulse==0

bulletphysics · Jan 10, 2021 · 0309615 · 0309615
1 parent df09fd9
commit 0309615
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp b/src/BulletDynamics/Vehicle/btRaycastVehicle.cpp
@@ -609,13 +609,10 @@ void btRaycastVehicle::updateFriction(btScalar timeStep)
 	{
 		for (int wheel = 0; wheel < getNumWheels(); wheel++)
 		{
-			if (m_sideImpulse[wheel] != btScalar(0.))
+			if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
 			{
-				if (m_wheelInfo[wheel].m_skidInfo < btScalar(1.))
-				{
-					m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-					m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
-				}
+				m_forwardImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
+				m_sideImpulse[wheel] *= m_wheelInfo[wheel].m_skidInfo;
 			}
 		}
 	}