Ejemplo n.º 1
0
void StopMotors()
{
	bool previousState = getMotorStatus();

	setMotorStatus(previousState);

	if(previousState == false)
	{
		printStatus("Motor stopped!");
		InvertUART();
	}
	else
	{
		ResetInputData();
		InvertUART();
		printStatus("Motor started!");
	}
}
Ejemplo n.º 2
0
void PhysXVehicle::SetToRestState()
{
	vehicleDrive->setToRestState();
	ResetInputData();
}
Ejemplo n.º 3
0
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 );
}