void StopMotors()
{
bool previousState = getMotorStatus();
setMotorStatus(previousState);
if(previousState == false)
{
printStatus("Motor stopped!");
InvertUART();
}
else
{
ResetInputData();
InvertUART();
printStatus("Motor started!");
}
}
void PhysXVehicle::SetToRestState()
{
vehicleDrive->setToRestState();
ResetInputData();
}
PhysXVehicle::PhysXVehicle( PhysXScene* scene, PhysXBody* baseBody, PhysXVehicleInitData* generalData,
PhysXVehicleInitData* wheelFrontLeftData, PhysXVehicleInitData* wheelFrontRightData,
PhysXVehicleInitData* wheelRearLeftData, PhysXVehicleInitData* wheelRearRightData )
{
PhysXVehicleInitData* wheelDatas[ 4 ];
wheelDatas[ 0 ] = wheelFrontLeftData;
wheelDatas[ 1 ] = wheelFrontRightData;
wheelDatas[ 2 ] = wheelRearLeftData;
wheelDatas[ 3 ] = wheelRearRightData;
this->scene = scene;
this->baseBody = baseBody;
this->wheelCount = 4;
vehicleDrive = NULL;
surfaceTirePairs = NULL;
surfaceTirePairsUsedMaterialsVersion = 0;
ResetInputData();
this->baseBody->ownerVehicle = this;
//Scene query data for to allow raycasts for all suspensions of all vehicles.
sceneQueryData = new PhysXVehicleSceneQuery(scene->mScene, wheelCount);
PxVehicleWheelsSimData* wheelsSimData = PxVehicleWheelsSimData::allocate(wheelCount);
PxVehicleDriveSimData4W driveSimData;
PxConvexMesh* wheelConvexMeshes[ 4 ];
PxVec3 wheelCenterOffsets[ 4 ];
for( int n = 0; n < 4; n++ )
{
PhysXShape* shape = baseBody->mShapes[ n ];
shape->isWheel = true;
//PhysXShape* shape = baseBody->mShapes[ n + 1 ];
wheelConvexMeshes[ n ] = shape->mShape->getGeometry().convexMesh().convexMesh;
wheelCenterOffsets[ n ] = shape->mShape->getLocalPose().p;
}
PxConvexMesh* chassisConvexMesh = baseBody->mShapes[ 4 ]->mShape->getGeometry().convexMesh().convexMesh;
//PxConvexMesh* chassisConvexMesh = baseBody->mShapes[0]->mShape->getGeometry().convexMesh().convexMesh;
CreateVehicle4WSimulationData( chassisConvexMesh, wheelConvexMeshes, wheelCenterOffsets, *wheelsSimData, driveSimData,
generalData, wheelDatas );
vehicleDrive = PxVehicleDrive4W::allocate( wheelCount );
vehicleDrive->setup( world->mPhysics, (PxRigidDynamic*)baseBody->mActor, *wheelsSimData, driveSimData, 0 );
//vehicleDrive->setWheelShapeMapping(0, 1);
//vehicleDrive->setWheelShapeMapping(1, 2);
//vehicleDrive->setWheelShapeMapping(2, 3);
//vehicleDrive->setWheelShapeMapping(3, 4);
//Free the sim data because we don't need that any more.
wheelsSimData->free();
//configure tireFrictionMultipliers
{
tireFrictionMultipliers[ L"" ] = 1;
for( int n = 0; ; n++ )
{
char s[50];
sprintf( s, "tireFrictionMaterial%d", n );
if(!generalData->IsStringParameterExist(s))
break;
WString materialName = generalData->GetStringParameter( s );
sprintf( s, "tireFrictionValue%d", n );
float value = generalData->GetFloatParameter( s );
tireFrictionMultipliers[ materialName ] = value;
}
}
//Set the transform and the instantiated car and set it be to be at rest.
SetToRestState();
ForceGearChange( 0 );
}