void NxVehicle::_computeLocalVelocity()
{
	_computeMostTouchedActor();
	NxVec3 relativeVelocity;
	if (_mostTouchedActor == NULL || !_mostTouchedActor->isDynamic())
	{
		relativeVelocity = _bodyActor->getLinearVelocity();
	} else {
		relativeVelocity = _bodyActor->getLinearVelocity() - _mostTouchedActor->getLinearVelocity();
	}
	NxQuat rotation = _bodyActor->getGlobalOrientationQuat();
	NxQuat global2Local;
	_localVelocity = relativeVelocity;
	rotation.inverseRotate(_localVelocity);
	//printf("Velocity: %2.3f %2.3f %2.3f\n", _localVelocity.x, _localVelocity.y, _localVelocity.z);
}
Beispiel #2
0
void pVehicle::_computeLocalVelocity()
{
	_computeMostTouchedActor();
	NxVec3 relativeVelocity;
	if (_mostTouchedActor == NULL || !_mostTouchedActor->isDynamic())
	{
		relativeVelocity = getActor()->getLinearVelocity();
	} else {
		relativeVelocity = getActor()->getLinearVelocity() - _mostTouchedActor->getLinearVelocity();
	}
	NxQuat rotation = getActor()->getGlobalOrientationQuat();
	NxQuat global2Local;
	_localVelocity = relativeVelocity;
	rotation.inverseRotate(_localVelocity);
	char master[512];

	//sprintf(master,"Velocity: %2.3f %2.3f %2.3f\n", _localVelocity.x, _localVelocity.y, _localVelocity.z);
	//OutputDebugString(master);
}
Beispiel #3
0
void pWheel2::_tick(float dt)
{
	NxWheelShape *wShape = getWheelShape();
	if (!wShape) return;


	NxVec3 _localVelocity;
	bool _breaking=false;
	//////////////////////////////////////////////////////////////////////////
	//
	//
	//
	NxWheelContactData wcd; 
	NxShape* contactShape = wShape->getContact(wcd);

	if (contactShape)
	{

		NxVec3 relativeVelocity;
		if ( !contactShape->getActor().isDynamic())
		{
			relativeVelocity = getActor()->getLinearVelocity();
		} else {
			relativeVelocity = getActor()->getLinearVelocity() - contactShape->getActor().getLinearVelocity();
		}
		NxQuat rotation = getActor()->getGlobalOrientationQuat();

		_localVelocity = relativeVelocity;
		rotation.inverseRotate(_localVelocity);
		_breaking = false; //NxMath::abs(_localVelocity.z) < ( 0.1 );
		//					wShape->setAxleSpeed()
	}


	float rollAngle = getWheelRollAngle();
	
	rollAngle+=wShape->getAxleSpeed() * (dt* 0.01f);
	//rollAngle+=wShape->getAxleSpeed() * (1.0f/60.0f /*dt* 0.01f*/);

	while (rollAngle > NxTwoPi)	//normally just 1x
		rollAngle-= NxTwoPi;
	while (rollAngle< -NxTwoPi)	//normally just 1x
		rollAngle+= NxTwoPi;

	setWheelRollAngle(rollAngle);

	NxMat34& wheelPose = wShape->getGlobalPose();


	NxReal  stravel = wShape->getSuspensionTravel();
	NxReal radius = wShape->getRadius();


	//have ground contact?
	if( contactShape && wcd.contactPosition <=  (stravel + radius) ) {
		wheelPose.t = NxVec3( wheelPose.t.x, wcd.contactPoint.y + getRadius(), wheelPose.t.z );
	}
	else {
		wheelPose.t = NxVec3( wheelPose.t.x, wheelPose.t.y - getSuspensionTravel(), wheelPose.t.z );
	}


	float rAngle = getWheelRollAngle();
	float steer = wShape->getSteerAngle();

	NxVec3 p0;
	NxVec3 dir;
	/*
	getWorldSegmentFast(seg);
	seg.computeDirection(dir);
	dir.normalize();
	*/
	NxReal r = wShape->getRadius();
	NxReal st = wShape->getSuspensionTravel();
	NxReal steerAngle = wShape->getSteerAngle();
	p0 = wheelPose.t;  //cast from shape origin
	wheelPose.M.getColumn(1, dir);
	dir = -dir;	//cast along -Y.
	NxReal castLength = r + st;	//cast ray this long


	NxMat33 rot, axisRot, rollRot;
	rot.rotY( wShape->getSteerAngle() );
	axisRot.rotY(0);
	rollRot.rotX(rAngle);
	wheelPose.M = rot * wheelPose.M * axisRot * rollRot;
	setWheelPose(wheelPose);
}