virtual void GetWheelOrientationQuaternion(int wheelIndex,float& quatX,float& quatY,float& quatZ,float& quatW) const
{
SimdTransform trans = m_vehicle->GetWheelTransformWS(wheelIndex);
SimdQuaternion quat = trans.getRotation();
SimdMatrix3x3 orn2(quat);
quatX = trans.getRotation().x();
quatY = trans.getRotation().y();
quatZ = trans.getRotation().z();
quatW = trans.getRotation()[3];
//printf("test");
}
void SyncWheels()
{
int numWheels = GetNumWheels();
int i;
for (i=0;i<numWheels;i++)
{
WheelInfo& info = m_vehicle->GetWheelInfo(i);
PHY_IMotionState* motionState = (PHY_IMotionState*)info.m_clientInfo ;
m_vehicle->UpdateWheelTransform(i);
SimdTransform trans = m_vehicle->GetWheelTransformWS(i);
SimdQuaternion orn = trans.getRotation();
const SimdVector3& pos = trans.getOrigin();
motionState->setWorldOrientation(orn.x(),orn.y(),orn.z(),orn[3]);
motionState->setWorldPosition(pos.x(),pos.y(),pos.z());
}
}