void RaycastVehicle::AddWheel(Node* wheelNode,
Vector3 wheelDirection, Vector3 wheelAxle,
float restLength, float wheelRadius,
bool frontWheel)
{
btRaycastVehicle* vehicle = vehicleData_->Get();
int id = GetNumWheels();
Vector3 connectionPoint = wheelNode->GetWorldPosition() - node_->GetWorldPosition();
btVector3 connectionPointCS0(connectionPoint.x_, connectionPoint.y_, connectionPoint.z_);
btVector3 wheelDirectionCS0(wheelDirection.x_, wheelDirection.y_, wheelDirection.z_);
btVector3 wheelAxleCS(wheelAxle.x_, wheelAxle.y_, wheelAxle.z_);
btWheelInfo& wheel = vehicle->addWheel(connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
restLength,
wheelRadius,
vehicleData_->tuning_,
frontWheel);
wheelNodes_.Push(wheelNode);
origRotation_.Push(wheelNode->GetWorldRotation());
skidInfoCumulative_.Push(1.0f);
wheelSideSlipSpeed_.Push(0.0f);
wheel.m_raycastInfo.m_isInContact = false;
}
void CarHandlingDemo::addWheels(
btVector3* halfExtents,
btRaycastVehicle* vehicle,
btRaycastVehicle::btVehicleTuning tuning)
{
//The direction of the raycast, the btRaycastVehicle uses raycasts instead of simiulating the wheels with rigid bodies
btVector3 wheelDirectionCS0(0, -1, 0);
//The axis which the wheel rotates arround
btVector3 wheelAxleCS(-1, 0, 0);
btScalar suspensionRestLength(0.7);
btScalar wheelWidth(0.4);
btScalar wheelRadius(0.5);
//The height where the wheels are connected to the chassis
btScalar connectionHeight(1.2);
//All the wheel configuration assumes the vehicle is centered at the origin and a right handed coordinate system is used
btVector3 wheelConnectionPoint(halfExtents->x() - wheelRadius, connectionHeight, halfExtents->z() - wheelWidth);
//Adds the front wheels
vehicle->addWheel(wheelConnectionPoint, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, true);
vehicle->addWheel(wheelConnectionPoint * btVector3(-1, 1, 1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, true);
//Adds the rear wheels
vehicle->addWheel(wheelConnectionPoint* btVector3(1, 1, -1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, false);
vehicle->addWheel(wheelConnectionPoint * btVector3(-1, 1, -1), wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, false);
//Configures each wheel of our vehicle, setting its friction, damping compression, etc.
//For more details on what each parameter does, refer to the docs
for (int i = 0; i < vehicle->getNumWheels(); i++)
{
btWheelInfo& wheel = vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = 50;
wheel.m_wheelsDampingCompression = btScalar(0.3) * 2 * btSqrt(wheel.m_suspensionStiffness);//btScalar(0.8);
wheel.m_wheelsDampingRelaxation = btScalar(0.5) * 2 * btSqrt(wheel.m_suspensionStiffness);//1;
//Larger friction slips will result in better handling
wheel.m_frictionSlip = btScalar(1.2);
wheel.m_rollInfluence = 1;
}
}
void RaycastVehicle::ApplyAttributes()
{
int index = 0;
hullBody_ = node_->GetOrCreateComponent<RigidBody>();
Scene* scene = GetScene();
vehicleData_->Init(scene, hullBody_);
VariantVector& value = loadedWheelData_;
int numObjects = value[index++].GetInt();
int wheelIndex = 0;
origRotation_.Clear();
skidInfoCumulative_.Clear();
wheelSideSlipSpeed_.Clear();
for (int i = 0; i < numObjects; i++)
{
int node_id = value[index++].GetInt();
Vector3 direction = value[index++].GetVector3();
Vector3 axle = value[index++].GetVector3();
float restLength = value[index++].GetFloat();
float radius = value[index++].GetFloat();
bool isFrontWheel = value[index++].GetBool();
float steering = value[index++].GetFloat();
Vector3 connectionPoint = value[index++].GetVector3();
Quaternion origRotation = value[index++].GetQuaternion();
float skidInfoC = value[index++].GetFloat();
float sideSlipSpeed = value[index++].GetFloat();
bool isContact = value[index++].GetBool();
Vector3 contactPosition = value[index++].GetVector3();
Vector3 contactNormal = value[index++].GetVector3();
float suspensionStiffness = value[index++].GetFloat();
float dampingRelaxation = value[index++].GetFloat();
float dampingCompression = value[index++].GetFloat();
float frictionSlip = value[index++].GetFloat();
float rollInfluence = value[index++].GetFloat();
float engineForce = value[index++].GetFloat();
float brake = value[index++].GetFloat();
float skidInfo = value[index++].GetFloat();
Node* wheelNode = GetScene()->GetNode(node_id);
if (!wheelNode)
{
URHO3D_LOGERROR("RaycastVehicle: Incorrect node id = " + String(node_id) + " index: " + String(index));
continue;
}
btRaycastVehicle* vehicle = vehicleData_->Get();
int id = GetNumWheels();
btVector3 connectionPointCS0(connectionPoint.x_, connectionPoint.y_, connectionPoint.z_);
btVector3 wheelDirectionCS0(direction.x_, direction.y_, direction.z_);
btVector3 wheelAxleCS(axle.x_, axle.y_, axle.z_);
btWheelInfo& wheel = vehicle->addWheel(connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
restLength,
radius,
vehicleData_->tuning_,
isFrontWheel);
wheelNodes_.Push(wheelNode);
origRotation_.Push(origRotation);
skidInfoCumulative_.Push(skidInfoC);
wheelSideSlipSpeed_.Push(sideSlipSpeed);
SetSteeringValue(wheelIndex, steering);
wheel.m_raycastInfo.m_isInContact = isContact;
wheel.m_raycastInfo.m_contactNormalWS = btVector3(contactNormal.x_, contactNormal.y_, contactNormal.z_);
wheel.m_raycastInfo.m_contactPointWS = btVector3(contactPosition.x_, contactPosition.y_, contactPosition.z_);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = dampingRelaxation;
wheel.m_wheelsDampingCompression = dampingCompression;
wheel.m_frictionSlip = frictionSlip;
wheel.m_rollInfluence = rollInfluence;
wheel.m_engineForce = engineForce;
wheel.m_brake = brake;
wheel.m_skidInfo = skidInfo;
wheelIndex++;
}
URHO3D_LOGDEBUG("maxSideSlipSpeed_ value: " + String(maxSideSlipSpeed_));
URHO3D_LOGDEBUG("loaded items: " + String(index));
URHO3D_LOGDEBUG("loaded wheels: " + String(GetNumWheels()));
}
bool Vehicle::LoadContent(DxGraphics* dx, ResourceManager& resources)
{
m_dynamicsWorld = resources.GetPhysicsManager()->GetWorld();
//Loads the content of all the modules
if (!m_body->LoadContent(dx, m_body->GetPosition(), resources, m_body->GetYaw(), m_body->GetPitch(),
m_body->GetRoll(), m_scale + m_body->GetScale()))
{
return false;
}
for (unsigned int i = 0; i < 4; i++)
{
if (i == 0 || i == 1)
{
if (!m_retros[i]->LoadContent(dx, m_retros[i]->GetPosition(), resources, m_retros[i]->GetYaw(),
m_retros[i]->GetPitch(), m_retros[i]->GetRoll(), m_scale + m_retros[i]->GetScale()))
{
return false;
}
}
if (!m_wheels[i]->LoadContent(dx, m_wheels[i]->GetPosition(), resources, m_wheels[i]->GetYaw(),
m_wheels[i]->GetPitch(), m_wheels[i]->GetRoll(), m_scale + m_wheels[i]->GetScale()))
{
return false;
}
}
if (!m_spoiler->LoadContent(dx, m_spoiler->GetPosition(), resources, m_spoiler->GetYaw(),
m_spoiler->GetPitch(), m_spoiler->GetRoll(), m_scale + m_spoiler->GetScale()))
{
return false;
}
//ASSIGN CAR INFORMATION
m_vehicleInfo.m_engineForce = m_retros[0]->engineForce;
m_vehicleInfo.m_defaultEngineForce = m_retros[0]->engineForce;
m_vehicleInfo.m_frictionSlip = BT_LARGE_FLOAT;
m_vehicleInfo.m_rollInfluence = 0.0001f;
m_vehicleInfo.m_suspensionRestLength1 = 0.2f;
m_vehicleInfo.m_suspensionStiffness = 40.0f;
m_vehicleInfo.m_wheelsDampingCompression = 4.4f; //4.4
m_vehicleInfo.m_wheelsDampingRelaxation = 10.2f; //20
m_vehicleInfo.m_steeringForce = 0.05f;
m_vehicleInfo.m_breakingForce = 100;
m_vehicleInfo.m_maxSteeringAngle = 0.10f;
//Calcualte mass of the car, based on components.
m_mass = m_body->GetWeight() + m_spoiler->GetWeight() + (m_wheels[0]->GetWeight() * 4) + (m_retros[0]->GetWeight() * 2);
//initialize the compound, start adding all the aprts together
m_vehicleCompound = new btCompoundShape();
//CREATE VEHICLE PARTS
//BODY
m_vehicleCompound->addChildShape(m_body->GetLocalTranslation(), m_body->CreateCollisionShape());
//RETROS
for (int x = 0; x < 2; x++)
{
m_vehicleCompound->addChildShape(m_retros[x]->GetLocalTranslation(), m_retros[x]->CreateCollisionShape());
}
//SPOILER
m_vehicleCompound->addChildShape(m_spoiler->GetLocalTranslation(), m_spoiler->CreateCollisionShape());
//set the car Transform
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(m_position.x, m_position.y, m_position.z));
//Combine all the parts into a rigid body object.
m_rigidBody = localCreateRigidBody(m_mass, tr, m_vehicleCompound);
/// Create raycasting for the vechicle and attach it to the car
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning, m_rigidBody, m_vehicleRayCaster);
///never deactivate the vehicle
m_rigidBody->setActivationState(DISABLE_DEACTIVATION);
//add the vehicle to the simualtion.
m_dynamicsWorld->addVehicle(m_vehicle);
//Set up coordiante system , Y-up, Z-forward
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
m_vehicle->setCoordinateSystem(rightIndex, upIndex, forwardIndex);
bool isFrontWheel = true;
btVector3 wheelDirectionCS0(0.0f, -1.0f, 0.0f);
btVector3 wheelAxleCS(-1.0f, 0.0f, 0.0f);
btScalar suspensionRestLength(0.2f);
//initialize wheels
for (int x = 0; x < 4; x++)
{
XMFLOAT3 colExt = m_wheels[x]->GetCollisionExtents();
float wheelRadius = colExt.y;
float wheelWidth = colExt.z;
//determine which wheels are at the back
if (x > 2) isFrontWheel = false;
XMFLOAT3 offset = m_wheels[x]->GetOffset();
btVector3 connectionPointCS0 = btVector3(offset.x, offset.y, offset.z);
m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
}
//Rotate the wheel for the other side.
m_wheels[1]->SetYaw(m_wheels[2]->GetYaw() + XM_PI);
m_wheels[3]->SetYaw(m_wheels[3]->GetYaw() + XM_PI);
//Wheel parameters.
for (int i = 0; i < m_vehicle->getNumWheels(); i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = m_vehicleInfo.m_suspensionStiffness;
wheel.m_wheelsDampingRelaxation = m_vehicleInfo.m_wheelsDampingRelaxation;
wheel.m_wheelsDampingCompression = m_vehicleInfo.m_wheelsDampingCompression;
wheel.m_frictionSlip = m_vehicleInfo.m_frictionSlip;
wheel.m_rollInfluence = m_vehicleInfo.m_rollInfluence;
wheel.m_suspensionRestLength1 = m_vehicleInfo.m_suspensionRestLength1;
}
}
m_loaded = true;
return true;
}
//=============================================================================
//=============================================================================
void Vehicle::Init()
{
// This function is called only from the main program when initially creating the vehicle, not on scene load
ResourceCache* cache = GetSubsystem<ResourceCache>();
StaticModel* hullObject = node_->CreateComponent<StaticModel>();
hullBody_ = node_->CreateComponent<RigidBody>();
CollisionShape* hullColShape = node_->CreateComponent<CollisionShape>();
hullBody_->SetMass(1200.0f);
hullBody_->SetLinearDamping(0.2f); // Some air resistance
hullBody_->SetAngularDamping(0.5f);
hullBody_->SetCollisionLayer(1);
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
PhysicsWorld *pPhysWorld = GetScene()->GetComponent<PhysicsWorld>();
btDynamicsWorld *pbtDynWorld = (btDynamicsWorld*)pPhysWorld->GetWorld();
m_vehicleRayCaster = new btDefaultVehicleRaycaster( pbtDynWorld );
m_vehicle = new btRaycastVehicle( m_tuning, hullBody_->GetBody(), m_vehicleRayCaster );
pbtDynWorld->addVehicle( m_vehicle );
m_vehicle->setCoordinateSystem( rightIndex, upIndex, forwardIndex );
//Vector3 v3BoxExtents = Vector3::ONE;//Vector3(1.5f, 1.0f, 3.0f);
hullObject->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/Chassis_001.mdl"));
node_->SetScale( Vector3(1.0f, 1.0f, 1.0f) );
hullColShape->SetConvexHull(cache->GetResource<Model>("MyProjects/MiniCooper/test/collision.mdl"));
//hullColShape->SetConvexHull(cache->GetResource<Model>("Models/Box.mdl"));
//hullColShape->SetBox((hullObject->GetBoundingBox()).Size());
//hullColShape->SetTriangleMesh(cache->GetResource<Model>("Models/Box.mdl"));
//hullColShape->SetSize(Vector3(1.0f, 1.0f, 3.0f));
//hullColShape->SetPosition((hullObject->GetBoundingBox()).Center() - Vector3(0.0f, 0.0f, 0.0f) );
//hullColShape->SetPosition( Vector3(0.0f, +0.2f, 0.0f) );
hullObject->SetCastShadows(true);
Node* patricleTest = node_->CreateChild("patricleTest");
patricleTest->LoadXML(cache->GetResource<XMLFile>("MyProjects/MiniCooper/particleTest.xml")->GetRoot());
patricleTest->SetPosition(Vector3(0.0f, 0.2f, -2.0f));
Node* lightTest = node_->CreateChild("lightTest");
lightTest->LoadXML(cache->GetResource<XMLFile>("MyProjects/MiniCooper/lightTest.xml")->GetRoot());
lightTest->SetPosition(Vector3(0.0f, 0.2f, 2.0f));
//float connectionHeight = -0.4f;//1.2f;
//float connectionHeight = 0.0f;
bool isFrontWheel=true;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
double wheelOffset = 0.5;
// front right
//////////////
Node* node_wheel_temp0 = GetScene()->CreateChild("node_wheel_temp0");
StaticModel* model_wheel_temp0 = node_wheel_temp0->CreateComponent<StaticModel>();
model_wheel_temp0->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_000.mdl"));
model_wheel_temp0->ApplyMaterialList("MyProjects/MiniCooper/test/wheel_000.txt");
model_wheel_temp0->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
btVector3 connectionPointCS0((model_wheel_temp0->GetBoundingBox()).Center().x_,((model_wheel_temp0->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp0->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_0 = GetScene()->CreateChild("node_wheel_0");
node_wheel_0->SetPosition((model_wheel_temp0->GetBoundingBox()).Center());
node_wheel_0->SetRotation(Quaternion(0.0f, 0.0f, 90.0f));
node_wheel_temp0->SetParent(node_wheel_0);
m_vpNodeWheel.Push( node_wheel_0 );
//SDL_Log( "node_wheel_temp0: %f, %f, %f \n", ((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//SDL_Log( "node_wheel_temp0.HalfSize: %s \n", model_wheel_temp0->GetBoundingBox().HalfSize().ToString().CString() );
//SDL_Log("##################### \n");
//SDL_Log("node_wheel_temp0WorldP: %f, %f, %f \n", node_wheel_temp0->GetWorldPosition().x_, node_wheel_temp0->GetWorldPosition().y_, node_wheel_temp0->GetWorldPosition().z_);
//SDL_Log("node_wheel_temp0P: %f, %f, %f \n", node_wheel_temp0->GetPosition().x_, node_wheel_temp0->GetPosition().y_, node_wheel_temp0->GetPosition().z_);
//SDL_Log( "model_wheel_temp0BoundP: %f, %f, %f \n", ((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//node_wheel_temp0->SetPosition(node_wheel_temp0->GetPosition() - (model_wheel_temp0->GetBoundingBox()).Center());
//SDL_Log("transform: %f, %f, %f \n", v3Origin.x_, v3Origin.y_, v3Origin.z_);
//v3Origin = v3Origin - Vector3(0.704, 0.379, 1.19);
//SDL_Log("transform: %f, %f, %f \n", v3Origin.x_, v3Origin.y_, v3Origin.z_);
// front left
/////////////
Node* node_wheel_temp1 = GetScene()->CreateChild("node_wheel_temp1");
StaticModel* model_wheel_temp1 = node_wheel_temp1->CreateComponent<StaticModel>();
model_wheel_temp1->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_001.mdl"));
model_wheel_temp1->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp1->GetBoundingBox()).Center().x_,((model_wheel_temp1->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp1->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_1 = GetScene()->CreateChild("node_wheel_1");
node_wheel_1->SetPosition((model_wheel_temp1->GetBoundingBox()).Center());
node_wheel_1->SetRotation(Quaternion(0.0f, 0.0f, -90.0f));
node_wheel_temp1->SetParent(node_wheel_1);
m_vpNodeWheel.Push( node_wheel_1 );
isFrontWheel = false;
// back right
/////////////
Node* node_wheel_temp2 = GetScene()->CreateChild("node_wheel_temp2");
StaticModel* model_wheel_temp2 = node_wheel_temp2->CreateComponent<StaticModel>();
model_wheel_temp2->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_002.mdl"));
model_wheel_temp2->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp2->GetBoundingBox()).Center().x_,((model_wheel_temp2->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp2->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_2 = GetScene()->CreateChild("node_wheel_2");
node_wheel_2->SetPosition((model_wheel_temp2->GetBoundingBox()).Center());
node_wheel_2->SetRotation(Quaternion(0.0f, 0.0f, 90.0f));
node_wheel_temp2->SetParent(node_wheel_2);
m_vpNodeWheel.Push( node_wheel_2 );
// back left
/////////////
/// \brief objectNode3
Node* node_wheel_temp3 = GetScene()->CreateChild("node_wheel_temp3");
StaticModel* model_wheel_temp3 = node_wheel_temp3->CreateComponent<StaticModel>();
model_wheel_temp3->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_003.mdl"));
model_wheel_temp3->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp3->GetBoundingBox()).Center().x_,((model_wheel_temp3->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp3->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_3 = GetScene()->CreateChild("node_wheel_2");
node_wheel_3->SetPosition((model_wheel_temp3->GetBoundingBox()).Center());
node_wheel_3->SetRotation(Quaternion(0.0f, 0.0f, -90.0f));
node_wheel_temp3->SetParent(node_wheel_3);
m_vpNodeWheel.Push( node_wheel_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;
}
*/
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,true);
btTransform transform = m_vehicle->getWheelTransformWS( i );
/*
//Vector3 v3Origin = ToVector3( transform.getOrigin() );
//Quaternion qRot = ToQuaternion( transform.getRotation() );
// create wheel node
Node *wheelNode = GetScene()->CreateChild();
//wheelNode->SetPosition( v3Origin );
//btWheelInfo whInfo = m_vehicle->getWheelInfo( i );
//Vector3 v3PosLS = ToVector3( whInfo.m_chassisConnectionPointCS );
//wheelNode->SetRotation( v3PosLS.x_ >= 0.0 ? Quaternion(0.0f, 0.0f, -90.0f) : Quaternion(0.0f, 0.0f, 90.0f) );
//wheelNode->SetScale(Vector3(1.0f, 0.65f, 1.0f));
StaticModel *pWheel = wheelNode->CreateComponent<StaticModel>();
if(i == 0)
pWheel->SetModel(cache->GetResource<Model>("MyProjects/SimpeCar/wheel.mdl"));
else
pWheel->SetModel(cache->GetResource<Model>("MyProjects/SimpeCar/wheel.mdl"));
if(i == 0) {
//wheelNode->SetPosition( Vector3(50,50,50) );
//wheelNode->SetRotation(Quaternion(0.0f, 0.0f, 0.0f));
}else {
//wheelNode->SetPosition( v3Origin );
//wheelNode->SetRotation(Quaternion(0.0f, 0.0f, 0.0f));
}
m_vpNodeWheel.Push( wheelNode );
//pWheel->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_004.mdl"));
pWheel->SetMaterial(cache->GetResource<Material>("MyProjects/SimpeCar/TireTextureMaterial.xml"));
pWheel->SetCastShadows(true);
*/
}
}
}
