// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChSingleIdler::AddVisualizationAssets(VisualizationType vis) {
ChIdler::AddVisualizationAssets(vis);
if (vis != VisualizationType::PRIMITIVES)
return;
double radius = GetWheelRadius();
double width = GetWheelWidth();
auto cyl = std::make_shared<ChCylinderShape>();
cyl->GetCylinderGeometry().p1 = ChVector<>(0, width / 2, 0);
cyl->GetCylinderGeometry().p2 = ChVector<>(0, -width / 2, 0);
cyl->GetCylinderGeometry().rad = radius;
m_wheel->AddAsset(cyl);
auto tex = std::make_shared<ChTexture>();
tex->SetTextureFilename(chrono::GetChronoDataFile("bluwhite.png"));
m_wheel->AddAsset(tex);
}
// -----------------------------------------------------------------------------
// -----------------------------------------------------------------------------
void ChSingleIdler::Initialize(std::shared_ptr<ChBodyAuxRef> chassis, const ChVector<>& location) {
// Invoke the base class method
ChIdler::Initialize(chassis, location);
// Add contact geometry.
double radius = GetWheelRadius();
double width = GetWheelWidth();
m_wheel->SetCollide(true);
m_wheel->GetCollisionModel()->ClearModel();
m_wheel->GetCollisionModel()->SetFamily(TrackedCollisionFamily::IDLERS);
m_wheel->GetCollisionModel()->SetFamilyMaskNoCollisionWithFamily(TrackedCollisionFamily::WHEELS);
m_wheel->GetCollisionModel()->AddCylinder(radius, radius, width / 2);
m_wheel->GetCollisionModel()->BuildModel();
}
VariantVector RaycastVehicle::GetWheelDataAttr() const
{
VariantVector ret;
ret.Reserve(GetNumWheels() * 22 + 1);
ret.Push(GetNumWheels());
for (int i = 0; i < GetNumWheels(); i++)
{
Node* wNode = GetWheelNode(i);
int node_id = wNode->GetID();
URHO3D_LOGDEBUG("RaycastVehicle: Saving node id = " + String(node_id));
ret.Push(node_id);
ret.Push(GetWheelDirection(i));
ret.Push(GetWheelAxle(i));
ret.Push(GetWheelRestLength(i));
ret.Push(GetWheelRadius(i));
ret.Push(IsFrontWheel(i));
ret.Push(GetSteeringValue(i));
ret.Push(GetWheelConnectionPoint(i));
ret.Push(origRotation_[i]);
ret.Push(GetWheelSkidInfoCumulative(i));
ret.Push(GetWheelSideSlipSpeed(i));
ret.Push(WheelIsGrounded(i));
ret.Push(GetContactPosition(i));
ret.Push(GetContactNormal(i)); // 14
ret.Push(GetWheelSuspensionStiffness(i));
ret.Push(GetWheelDampingRelaxation(i));
ret.Push(GetWheelDampingCompression(i));
ret.Push(GetWheelFrictionSlip(i));
ret.Push(GetWheelRollInfluence(i));
ret.Push(GetEngineForce(i));
ret.Push(GetBrake(i));
ret.Push(GetWheelSkidInfo(i));
}
URHO3D_LOGDEBUG("RaycastVehicle: saved items: " + String(ret.Size()));
URHO3D_LOGDEBUG("maxSideSlipSpeed_ value save: " + String(maxSideSlipSpeed_));
return ret;
}
void RaycastVehicle::FixedPostUpdate(float timeStep)
{
btRaycastVehicle* vehicle = vehicleData_->Get();
Vector3 velocity = hullBody_->GetLinearVelocity();
for (int i = 0; i < GetNumWheels(); i++)
{
btWheelInfo& whInfo = vehicle->getWheelInfo(i);
if (!WheelIsGrounded(i) && GetEngineForce(i) != 0.0f)
{
float delta;
if (inAirRPM_ != 0.0f)
{
delta = inAirRPM_ * timeStep / 60.0f;
}
else
{
delta = 8.0f * GetEngineForce(i) * timeStep / (hullBody_->GetMass() * GetWheelRadius(i));
}
if (Abs(whInfo.m_deltaRotation) < Abs(delta))
{
whInfo.m_rotation += delta - whInfo.m_deltaRotation;
whInfo.m_deltaRotation = delta;
}
if (skidInfoCumulative_[i] > 0.05f)
{
skidInfoCumulative_[i] -= 0.002;
}
}
else
{
skidInfoCumulative_[i] = GetWheelSkidInfo(i);
}
wheelSideSlipSpeed_[i] = Abs(ToVector3(whInfo.m_raycastInfo.m_wheelAxleWS).DotProduct(velocity));
if (wheelSideSlipSpeed_[i] > maxSideSlipSpeed_)
{
skidInfoCumulative_[i] = Clamp(skidInfoCumulative_[i], 0.0f, 0.89f);
}
}
}
