NxActor* CreateBoard(const NxVec3& pos)
{
NxActor* actor = CreateBox(pos + NxVec3(0,0.5,0), NxVec3(1,0.25,0.5), 10);
actor->raiseBodyFlag(NX_BF_FROZEN_ROT_X);
actor->setAngularDamping(0.5);
// Left wheel
NxWheelDesc wheelDesc;
//wheelDesc.wheelAxis.set(0,0,1);
//wheelDesc.downAxis.set(0,-1,0);
wheelDesc.wheelApproximation = 10;
wheelDesc.wheelRadius = 0.5;
wheelDesc.wheelWidth = 0.1;
wheelDesc.wheelSuspension = 0.5;
// wheelDesc.wheelSuspension = 1.0;
wheelDesc.springRestitution = 7000;
wheelDesc.springDamping = 0;
wheelDesc.springBias = 0;
// wheelDesc.springRestitution = 20;
// wheelDesc.springDamping = 0.5;
// wheelDesc.springBias = 0;
wheelDesc.maxBrakeForce = 1;
wheelDesc.frictionToFront = 0.1;
wheelDesc.frictionToSide = 0.99;
wheelDesc.position = NxVec3(1.5,0.5,0);
wheelDesc.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheel1 = AddWheelToActor(actor, &wheelDesc);
// Right wheel
NxWheelDesc wheelDesc2;
//wheelDesc2.wheelAxis.set(0,0,1);
//wheelDesc2.downAxis.set(0,-1,0);
wheelDesc2.wheelApproximation = 10;
wheelDesc2.wheelRadius = 0.5;
wheelDesc2.wheelWidth = 0.1;
wheelDesc2.wheelSuspension = 0.5;
// wheelDesc2.wheelSuspension = 1.0;
wheelDesc2.springRestitution = 7000;
wheelDesc2.springDamping = 0;
wheelDesc2.springBias = 0;
// wheelDesc2.springRestitution = 20;
// wheelDesc2.springDamping = 0.5;
// wheelDesc2.springBias = 0;
wheelDesc2.maxBrakeForce = 1;
wheelDesc2.frictionToFront = 0.1;
wheelDesc2.frictionToSide = 0.99;
wheelDesc2.position = NxVec3(-1.5,0.5,0);
wheelDesc2.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheel2 = AddWheelToActor(actor, &wheelDesc2);
return actor;
}
VehicleController::VehicleController(Vec3 pos, VehicleEngine* vehEngine, VehicleParams *vehParams, VehicleParamsEx *vehParamsEx, bool steerableWheelsFront)
{
m_forward = Vec3(0, 0, 0);
m_scene = core.dynamics->getScene();
m_vehiclePose = new VehiclePose;
m_vehicleParams = vehParams;
m_vehicleParamsEx = vehParamsEx;
m_vehicleEngine = vehEngine;
m_actor = NULL;
m_wheelFrontLeft = NULL;
m_wheelFrontRight = NULL;
m_wheelRearLeft = NULL;
m_wheelRearRight = NULL;
m_poseGiven = false;
m_setCurrentSteerAngle = false;
m_setCurrentMotorTorque = false;
m_setCurrentBrakeTorque = false;
m_currentSteerAngle = 0.0f;
m_currentMotorTorque = 0.0f;
m_currentBrakeTorque = 0.0f;
m_steerableWheelsFront = steerableWheelsFront;
switch(m_vehicleParams->wheelDriveType)
{
case 0:
m_wheelDriveType = WDT_2WD;
break;
case 1:
m_wheelDriveType = WDT_4WD;
break;
case 2:
m_wheelDriveType = WDT_FWD;
break;
default:
m_wheelDriveType = WDT_2WD;
}
D3DXMatrixIdentity(&m_vehiclePose->matChassis);
D3DXMatrixIdentity(&m_vehiclePose->matFrontLeftWheel);
D3DXMatrixIdentity(&m_vehiclePose->matFrontRightWheel);
D3DXMatrixIdentity(&m_vehiclePose->matRearLeftWheel);
D3DXMatrixIdentity(&m_vehiclePose->matRearRightWheel);
m_actor = core.dynamics->createBox(NxVec3(pos), NxVec3(m_vehicleParams->chassisDimm), m_vehicleParams->chassisDensity);
SetActorCollisionGroup(m_actor, GROUP_COLLIDABLE_NON_PUSHABLE);
//Wheel material globals
NxMaterial* wsm = NULL;
NxTireFunctionDesc lngTFD;
lngTFD.extremumSlip = 1.0f;
lngTFD.extremumValue = 0.02f;
lngTFD.asymptoteSlip = 2.0f;
lngTFD.asymptoteValue = 0.01f;
lngTFD.stiffnessFactor = 100.0f;
NxTireFunctionDesc latTFD;
latTFD.extremumSlip = 1.0f;
latTFD.extremumValue = 0.02f;
latTFD.asymptoteSlip = 2.0f;
latTFD.asymptoteValue = 0.01f;
latTFD.stiffnessFactor = 100.0f;
NxTireFunctionDesc slipTFD;
slipTFD.extremumSlip = 1.0f;
slipTFD.extremumValue = 0.02f;
slipTFD.asymptoteSlip = 2.0f;
slipTFD.asymptoteValue = 0.01f;
slipTFD.stiffnessFactor = 100.0f;
NxTireFunctionDesc medTFD;
medTFD.extremumSlip = 1.0f;
medTFD.extremumValue = 0.02f;
medTFD.asymptoteSlip = 2.0f;
medTFD.asymptoteValue = 0.01f;
medTFD.stiffnessFactor = 100.0f;
// Front left wheel
NxWheelDesc wheelDesc;
wheelDesc.frictionToFront = 3.0f;
wheelDesc.frictionToSide = 3.0f;
/*wheelDesc4.wheelSuspension = wheelDesc3.wheelSuspension = wheelDesc2.wheelSuspension = wheelDesc.wheelSuspension = 0.0001;
wheelDesc4.springRestitution = wheelDesc3.springRestitution = wheelDesc2.springRestitution = wheelDesc.springRestitution = 0.0001;
wheelDesc4.springDamping = wheelDesc3.springDamping = wheelDesc2.springDamping = wheelDesc.springDamping = 0.001;
wheelDesc4.springBias = wheelDesc3.springBias = wheelDesc2.springBias = wheelDesc.springBias = 0.001;
wheelDesc4.maxBrakeForce = wheelDesc3.maxBrakeForce = wheelDesc2.maxBrakeForce = wheelDesc.maxBrakeForce = 0.01;*/
if(!m_vehicleParamsEx)
{
wheelDesc.wheelSuspension = 0.05f;
wheelDesc.springRestitution = 1000.0f;
wheelDesc.springDamping = 0.5f / 10000000000000;
wheelDesc.springBias = 1.0f / 10000000000000;
wheelDesc.maxBrakeForce = 0.01f; // 100;
/*
wheelDesc4.wheelSuspension = wheelDesc3.wheelSuspension = wheelDesc2.wheelSuspension = wheelDesc.wheelSuspension = 0.5f;
wheelDesc4.springRestitution = wheelDesc3.springRestitution = wheelDesc2.springRestitution = wheelDesc.springRestitution = 1000.0f;
wheelDesc4.springDamping = wheelDesc3.springDamping = wheelDesc2.springDamping = wheelDesc.springDamping = 0.5f / 1;
wheelDesc4.springBias = wheelDesc3.springBias = wheelDesc2.springBias = wheelDesc.springBias = 1.0f / 100000;
wheelDesc4.maxBrakeForce = wheelDesc3.maxBrakeForce = wheelDesc2.maxBrakeForce = wheelDesc.maxBrakeForce = 0.01f; // 100;*/
}
else
{
wheelDesc.frictionToFront = m_vehicleParamsEx->frictionToFront;
wheelDesc.frictionToSide = m_vehicleParamsEx->frictionToSide;
wheelDesc.wheelSuspension = m_vehicleParamsEx->wheelSuspension;
wheelDesc.springRestitution = m_vehicleParamsEx->springRestitution;
wheelDesc.springDamping = m_vehicleParamsEx->springDamping;
wheelDesc.springBias = m_vehicleParamsEx->springBias;
wheelDesc.maxBrakeForce = m_vehicleParamsEx->maxBrakeForce; // 100;
}
wheelDesc.wheelApproximation = 0;
wheelDesc.wheelRadius = m_vehicleParams->frontWheelsRadius;
wheelDesc.wheelWidth = m_vehicleParams->frontWheelsWidth; // 0.1
wheelDesc.position = NxVec3(m_vehicleParams->posFrontLeftWheel);
wheelDesc.wheelFlags = NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_STEERABLE_INPUT | NX_WF_CLAMPED_FRICTION;
// Front right wheel
NxWheelDesc wheelDesc2 = wheelDesc;
wheelDesc2.wheelRadius = m_vehicleParams->frontWheelsRadius;
wheelDesc2.wheelWidth = m_vehicleParams->frontWheelsWidth; // 0.1
wheelDesc2.position = NxVec3(m_vehicleParams->posFrontRightWheel);
// Rear left wheel
NxWheelDesc wheelDesc3 = wheelDesc;
wheelDesc3.wheelRadius = m_vehicleParams->rearWheelsRadius;
wheelDesc3.wheelWidth = m_vehicleParams->rearWheelsWidth; // 0.1
wheelDesc3.position = NxVec3(m_vehicleParams->posRearLeftWheel);
// Rear right wheel
NxWheelDesc wheelDesc4 = wheelDesc;
wheelDesc4.wheelRadius = m_vehicleParams->rearWheelsRadius;
wheelDesc4.wheelWidth = m_vehicleParams->rearWheelsWidth; // 0.1
wheelDesc4.position = NxVec3(m_vehicleParams->posRearRightWheel);
m_wheelFrontLeft = AddWheelToActor(m_actor, &wheelDesc);
m_wheelFrontRight = AddWheelToActor(m_actor, &wheelDesc2);
m_wheelRearLeft = AddWheelToActor(m_actor, &wheelDesc3);
m_wheelRearRight = AddWheelToActor(m_actor, &wheelDesc4);
m_wheelFrontLeft->userData = (void*)new ShapeUserData;
m_wheelFrontRight->userData = (void*)new ShapeUserData;
m_wheelRearLeft->userData = (void*)new ShapeUserData;
m_wheelRearRight->userData = (void*)new ShapeUserData;
((ShapeUserData*)m_wheelFrontLeft->userData)->vehicleActor = m_actor;
((ShapeUserData*)m_wheelFrontRight->userData)->vehicleActor = m_actor;
((ShapeUserData*)m_wheelRearLeft->userData)->vehicleActor = m_actor;
((ShapeUserData*)m_wheelRearRight->userData)->vehicleActor = m_actor;
m_wheelFrontLeft->setWheelFlags(m_wheelFrontLeft->getWheelFlags() | NX_WF_INPUT_LAT_SLIPVELOCITY );
m_wheelFrontRight->setWheelFlags(m_wheelFrontRight->getWheelFlags() | NX_WF_INPUT_LAT_SLIPVELOCITY );
m_wheelRearLeft->setWheelFlags(m_wheelRearLeft->getWheelFlags() | NX_WF_INPUT_LAT_SLIPVELOCITY );
m_wheelRearRight->setWheelFlags(m_wheelRearRight->getWheelFlags() | NX_WF_INPUT_LAT_SLIPVELOCITY );
// LOWER THE CENTER OF MASS
NxVec3 massPos = m_actor->getCMassLocalPosition();
massPos.y = m_vehicleParams->posFrontLeftWheel.y - m_vehicleParams->frontWheelsRadius;
m_actor->setCMassOffsetLocalPosition(massPos);
m_actor->wakeUp(1e30);
//stopMotorAndBreak();
}
NxActor* CreateTrike(const NxVec3& pos)
{
NxActor* actor = CreateBox(pos + NxVec3(0,0.5,0), NxVec3(2,0.25,0.75), 10);
NxTireFunctionDesc lngTFD;
lngTFD.extremumSlip = 1.0f;
lngTFD.extremumValue = 0.02f;
lngTFD.asymptoteSlip = 2.0f;
lngTFD.asymptoteValue = 0.01f;
lngTFD.stiffnessFactor = 1000000.0f;
NxTireFunctionDesc latTFD;
latTFD.extremumSlip = 1.0f;
latTFD.extremumValue = 0.02f;
latTFD.asymptoteSlip = 2.0f;
latTFD.asymptoteValue = 0.01f;
latTFD.stiffnessFactor = 1000000.0f;
NxTireFunctionDesc slipTFD;
slipTFD.extremumSlip = 1.0f;
slipTFD.extremumValue = 0.02f;
slipTFD.asymptoteSlip = 2.0f;
slipTFD.asymptoteValue = 0.01f;
slipTFD.stiffnessFactor = 100.0f;
// Front wheel
NxWheelDesc wheelDesc;
wheelDesc.wheelApproximation = 10;
wheelDesc.wheelRadius = 0.5;
wheelDesc.wheelWidth = 0.3; // 0.1
wheelDesc.wheelSuspension = 1.0;
wheelDesc.springRestitution = 100;
wheelDesc.springDamping = 0.5;
wheelDesc.springBias = 0;
wheelDesc.maxBrakeForce = 1;
wheelDesc.position = NxVec3(2.5,0.5,0);
wheelDesc.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheel1 = AddWheelToActor(actor, &wheelDesc);
// Rear left wheel
NxWheelDesc wheelDesc2;
wheelDesc2.wheelApproximation = 10;
wheelDesc2.wheelRadius = 0.5;
wheelDesc2.wheelWidth = 0.3; // 0.1
wheelDesc2.wheelSuspension = 1.0;
wheelDesc2.springRestitution = 100;
wheelDesc2.springDamping = 0.5;
wheelDesc2.springBias = 0;
wheelDesc2.maxBrakeForce = 1;
wheelDesc2.position = NxVec3(-1.5,0.5,-1);
wheelDesc2.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheel2 = AddWheelToActor(actor, &wheelDesc2);
// Rear right wheel
NxWheelDesc wheelDesc3;
wheelDesc3.wheelApproximation = 10;
wheelDesc3.wheelRadius = 0.5;
wheelDesc3.wheelWidth = 0.3; // 0.1
wheelDesc3.wheelSuspension = 1.0;
wheelDesc3.springRestitution = 100;
wheelDesc3.springDamping = 0.5;
wheelDesc3.springBias = 0;
wheelDesc3.maxBrakeForce = 1;
wheelDesc3.position = NxVec3(-1.5,0.5,1);
wheelDesc3.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheel3 = AddWheelToActor(actor, &wheelDesc3);
// LOWER THE CENTER OF MASS
NxVec3 massPos = actor->getCMassLocalPosition();
massPos.y -= 1;
actor->setCMassOffsetLocalPosition(massPos);
return actor;
}
Tractor::Tractor(Dynamics *dyn, NxVec3 pos, string fname)
{
m_vehicleDimms = new VehicleDimms;
//VehicleDimms *vd = new VehicleDimms;
VehicleParamsEx *vp = new VehicleParamsEx;
vector<CfgVariable*> vars;
vars = *m_vehicleDimms->getVariableList();
for(int i = 0; i < vp->getVariableList()->size(); i++)
{
vars.push_back((*vp->getVariableList())[i]);
}
Vec3 rotateFrontLeftWheel;
Vec3 rotateFrontRightWheel;
Vec3 rotateRearLeftWheel;
Vec3 rotateRearRightWheel;
Vec3 rotateChassis;
string paramsType;
string wheelFrontLeftModel;
string wheelFrontRightModel;
string wheelRearLeftModel;
string wheelRearRightModel;
string chassisModel;
vars.push_back(new CfgVariable(V_VEC3, &rotateFrontLeftWheel, getVarName(rotateFrontLeftWheel)));
vars.push_back(new CfgVariable(V_VEC3, &rotateFrontRightWheel, getVarName(rotateFrontRightWheel)));
vars.push_back(new CfgVariable(V_VEC3, &rotateRearLeftWheel, getVarName(rotateRearLeftWheel)));
vars.push_back(new CfgVariable(V_VEC3, &rotateRearRightWheel, getVarName(rotateRearRightWheel)));
vars.push_back(new CfgVariable(V_VEC3, &rotateChassis, getVarName(rotateChassis)));
vars.push_back(new CfgVariable(V_STRING, ¶msType, getVarName(paramsType)));
vars.push_back(new CfgVariable(V_STRING, &wheelFrontLeftModel, getVarName(wheelFrontLeftModel)));
vars.push_back(new CfgVariable(V_STRING, &wheelFrontRightModel, getVarName(wheelFrontRightModel)));
vars.push_back(new CfgVariable(V_STRING, &wheelRearLeftModel, getVarName(wheelRearLeftModel)));
vars.push_back(new CfgVariable(V_STRING, &wheelRearRightModel, getVarName(wheelRearRightModel)));
vars.push_back(new CfgVariable(V_STRING, &chassisModel, getVarName(chassisModel)));
CfgLoader cfg(fname, &vars);
D3DXMatrixRotationYawPitchRoll(&m_vehicleDimms->matFrontLeftWheelRotation, rotateFrontLeftWheel.y, rotateFrontLeftWheel.x, rotateFrontLeftWheel.z);
D3DXMatrixRotationYawPitchRoll(&m_vehicleDimms->matFrontRightWheelRotation, rotateFrontRightWheel.y, rotateFrontRightWheel.x, rotateFrontRightWheel.z);
D3DXMatrixRotationYawPitchRoll(&m_vehicleDimms->matRearLeftWheelRotation, rotateRearLeftWheel.y, rotateRearLeftWheel.x, rotateRearLeftWheel.z);
D3DXMatrixRotationYawPitchRoll(&m_vehicleDimms->matRearRightWheelRotation, rotateRearRightWheel.y, rotateRearRightWheel.x, rotateRearRightWheel.z);
D3DXMatrixRotationYawPitchRoll(&m_vehicleDimms->matChassisRotation, rotateChassis.y, rotateChassis.x, rotateChassis.z);
m_objChassis = new RendObj(chassisModel, new Material("wood.jpg", "", ""), Vec3(0, 0, 0));
m_objFrontLeftWheel = new RendObj(wheelFrontLeftModel, new Material("wood.jpg", "", ""), Vec3(0, 0, 0));
m_objFrontRightWheel = new RendObj(wheelFrontRightModel, new Material("wood.jpg", "", ""), Vec3(0, 0, 0));
m_objRearLeftWheel = new RendObj(wheelRearLeftModel, new Material("wood.jpg", "", ""), Vec3(0, 0, 0));
m_objRearRightWheel = new RendObj(wheelRearRightModel, new Material("wood.jpg", "", ""), Vec3(0, 0, 0));
core.game->getWorld()->addToWorld(m_objChassis, NO_COLLISION, 0, GROUP_NON_COLLIDABLE);
core.game->getWorld()->addToWorld(m_objFrontLeftWheel, NO_COLLISION, 0, GROUP_NON_COLLIDABLE);
core.game->getWorld()->addToWorld(m_objFrontRightWheel, NO_COLLISION, 0, GROUP_NON_COLLIDABLE);
core.game->getWorld()->addToWorld(m_objRearLeftWheel, NO_COLLISION, 0, GROUP_NON_COLLIDABLE);
core.game->getWorld()->addToWorld(m_objRearRightWheel, NO_COLLISION, 0, GROUP_NON_COLLIDABLE);
m_vehicleDimms->chassisDimm = Vec3(m_objChassis->getPose()->boundingBox.getWidth()/2, m_objChassis->getPose()->boundingBox.getHeight()/6, m_objChassis->getPose()->boundingBox.getDepth()/2);
stopMotorAndBreak();
m_jointPoint = m_vehicleDimms->jointPoint;
m_joinedTrailer = NULL;
m_joint = NULL;
m_oldPos = Vec3(0, 0, 0);
m_forward = Vec3(1, 0, 0);
m_poseGiven = false;
m_scene = dyn->getScene();
m_setCurrentSteerAngle = false;
m_setCurrentMotorTorque = false;
m_setCurrentBrakeTorque = false;
m_currentSteerAngle = 0;
m_currentMotorTorque = 0;
m_currentBrakeTorque = 0;
m_vehiclePose = new VehiclePose;
m_joint = NULL;
m_joinedTrailer = NULL;
D3DXMatrixIdentity(&m_vehiclePose->matChassis);
D3DXMatrixIdentity(&m_vehiclePose->matFrontLeftWheel);
D3DXMatrixIdentity(&m_vehiclePose->matFrontRightWheel);
D3DXMatrixIdentity(&m_vehiclePose->matRearLeftWheel);
D3DXMatrixIdentity(&m_vehiclePose->matRearRightWheel);
//m_actor = dyn->createBox(pos + NxVec3(0,0.5,0), NxVec3(2,0.25,1), 10);
m_actor = dyn->createBox(pos + NxVec3(0,0.5,0), NxVec3(m_vehicleDimms->chassisDimm), m_vehicleDimms->chassisDensity);
SetActorCollisionGroup(m_actor, GROUP_COLLIDABLE_NON_PUSHABLE);
//m_actor = dyn->createBox(pos + NxVec3(0,0.5,0), NxVec3(2,0.25,1), dimm->chassisDensity);
// Wheel material globals
NxMaterial* wsm = NULL;
NxTireFunctionDesc lngTFD;
lngTFD.extremumSlip = 1.0f;
lngTFD.extremumValue = 0.02f;
lngTFD.asymptoteSlip = 2.0f;
lngTFD.asymptoteValue = 0.01f;
lngTFD.stiffnessFactor = 1000000.0f;
NxTireFunctionDesc latTFD;
latTFD.extremumSlip = 1.0f;
latTFD.extremumValue = 0.02f;
latTFD.asymptoteSlip = 2.0f;
latTFD.asymptoteValue = 0.01f;
latTFD.stiffnessFactor = 1000000.0f;
NxTireFunctionDesc slipTFD;
slipTFD.extremumSlip = 1.0f;
slipTFD.extremumValue = 0.02f;
slipTFD.asymptoteSlip = 2.0f;
slipTFD.asymptoteValue = 0.01f;
slipTFD.stiffnessFactor = 100.0f;
NxTireFunctionDesc medTFD;
medTFD.extremumSlip = 1.0f;
medTFD.extremumValue = 0.02f;
medTFD.asymptoteSlip = 2.0f;
medTFD.asymptoteValue = 0.01f;
medTFD.stiffnessFactor = 10000.0f;
// Front left wheel
NxWheelDesc wheelDesc;
wheelDesc.frictionToFront = 100.0f;
wheelDesc.frictionToSide = 1.0f;
wheelDesc.wheelApproximation = 0;
wheelDesc.wheelRadius = m_vehicleDimms->frontWheelsRadius;
wheelDesc.wheelWidth = m_vehicleDimms->frontWheelsWidth; // 0.1
wheelDesc.wheelSuspension = 10;
wheelDesc.springRestitution = 0.1;
wheelDesc.springDamping = 10;
wheelDesc.springBias = 10;
wheelDesc.maxBrakeForce = 0.01;
wheelDesc.position = NxVec3(m_vehicleDimms->posFrontLeftWheel);
wheelDesc.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
// Front right wheel
NxWheelDesc wheelDesc2;
wheelDesc2.frictionToFront = 100.0f;
wheelDesc2.frictionToSide = 1.0f;
wheelDesc2.wheelApproximation = 0;
wheelDesc2.wheelRadius = m_vehicleDimms->frontWheelsRadius;
wheelDesc2.wheelWidth = m_vehicleDimms->frontWheelsWidth; // 0.1
wheelDesc2.wheelSuspension = 10;
wheelDesc2.springRestitution = 0.1;
wheelDesc2.springDamping = 10;
wheelDesc2.springBias = 10;
wheelDesc.maxBrakeForce = 0.01;
wheelDesc2.position = NxVec3(m_vehicleDimms->posFrontRightWheel);
wheelDesc2.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
// Rear left wheel
NxWheelDesc wheelDesc3;
wheelDesc3.frictionToFront = 100.0f;
wheelDesc3.frictionToSide = 1.0f;
wheelDesc3.wheelApproximation = 0;
wheelDesc3.wheelRadius = m_vehicleDimms->rearWheelsRadius;
wheelDesc3.wheelWidth = m_vehicleDimms->rearWheelsWidth; // 0.1
wheelDesc3.wheelSuspension = 10;
wheelDesc3.springRestitution = 0.1;
wheelDesc3.springDamping = 10;
wheelDesc3.springBias = 10;
wheelDesc3.maxBrakeForce = 0.01;
wheelDesc3.position = NxVec3(m_vehicleDimms->posRearLeftWheel);
wheelDesc3.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
// Rear right wheel
NxWheelDesc wheelDesc4;
wheelDesc4.frictionToFront = 100.0f;
wheelDesc4.frictionToSide = 1.0f;
wheelDesc4.wheelApproximation = 0;
wheelDesc4.wheelRadius = m_vehicleDimms->rearWheelsRadius;
wheelDesc4.wheelWidth = m_vehicleDimms->rearWheelsWidth; // 0.1
wheelDesc4.wheelSuspension = 10;
wheelDesc4.springRestitution = 0.1;
wheelDesc4.springDamping = 10;
wheelDesc4.springBias = 10;
wheelDesc4.maxBrakeForce = 0.01;
wheelDesc4.position = NxVec3(m_vehicleDimms->posRearRightWheel);
wheelDesc4.wheelFlags = NX_WF_USE_WHEELSHAPE | NX_WF_BUILD_LOWER_HALF | NX_WF_ACCELERATED |
NX_WF_AFFECTED_BY_HANDBRAKE | NX_WF_STEERABLE_INPUT;
wheelDesc4.frictionToFront = wheelDesc3.frictionToFront = wheelDesc2.frictionToFront = wheelDesc.frictionToFront = 100.0f;
wheelDesc4.frictionToSide = wheelDesc3.frictionToSide = wheelDesc2.frictionToSide = wheelDesc.frictionToSide = 1.0f;
/*wheelDesc4.wheelSuspension = wheelDesc3.wheelSuspension = wheelDesc2.wheelSuspension = wheelDesc.wheelSuspension = 0.0001;
wheelDesc4.springRestitution = wheelDesc3.springRestitution = wheelDesc2.springRestitution = wheelDesc.springRestitution = 0.0001;
wheelDesc4.springDamping = wheelDesc3.springDamping = wheelDesc2.springDamping = wheelDesc.springDamping = 0.001;
wheelDesc4.springBias = wheelDesc3.springBias = wheelDesc2.springBias = wheelDesc.springBias = 0.001;
wheelDesc4.maxBrakeForce = wheelDesc3.maxBrakeForce = wheelDesc2.maxBrakeForce = wheelDesc.maxBrakeForce = 0.01;*/
if(paramsType != "Extended")
{
wheelDesc4.wheelSuspension = wheelDesc3.wheelSuspension = wheelDesc2.wheelSuspension = wheelDesc.wheelSuspension = 0.5f / 10;
wheelDesc4.springRestitution = wheelDesc3.springRestitution = wheelDesc2.springRestitution = wheelDesc.springRestitution = 1000.0f / 100000000000;
wheelDesc4.springDamping = wheelDesc3.springDamping = wheelDesc2.springDamping = wheelDesc.springDamping = 0.5f / 10000000000000;
wheelDesc4.springBias = wheelDesc3.springBias = wheelDesc2.springBias = wheelDesc.springBias = 1.0f / 10000000000000;
wheelDesc4.maxBrakeForce = wheelDesc3.maxBrakeForce = wheelDesc2.maxBrakeForce = wheelDesc.maxBrakeForce = 0.01f; // 100;
}
else
{
wheelDesc4.frictionToFront = wheelDesc3.frictionToFront = wheelDesc2.frictionToFront = wheelDesc.frictionToFront = vp->frictionToFront;
wheelDesc4.frictionToSide = wheelDesc3.frictionToSide = wheelDesc2.frictionToSide = wheelDesc.frictionToSide = vp->frictionToSide;
wheelDesc4.wheelSuspension = wheelDesc3.wheelSuspension = wheelDesc2.wheelSuspension = wheelDesc.wheelSuspension = vp->wheelSuspension;
wheelDesc4.springRestitution = wheelDesc3.springRestitution = wheelDesc2.springRestitution = wheelDesc.springRestitution = vp->springRestitution;
wheelDesc4.springDamping = wheelDesc3.springDamping = wheelDesc2.springDamping = wheelDesc.springDamping = vp->springDamping;
wheelDesc4.springBias = wheelDesc3.springBias = wheelDesc2.springBias = wheelDesc.springBias = vp->springBias;
wheelDesc4.maxBrakeForce = wheelDesc3.maxBrakeForce = wheelDesc2.maxBrakeForce = wheelDesc.maxBrakeForce = vp->maxBrakeForce; // 100;
}
m_wheelFrontLeft = AddWheelToActor(m_actor, &wheelDesc);
m_wheelFrontRight = AddWheelToActor(m_actor, &wheelDesc2);
m_wheelRearLeft = AddWheelToActor(m_actor, &wheelDesc3);
m_wheelRearRight = AddWheelToActor(m_actor, &wheelDesc4);
m_wheelFrontLeft->userData = (void*)new ShapeUserData;
m_wheelFrontRight->userData = (void*)new ShapeUserData;
m_wheelRearLeft->userData = (void*)new ShapeUserData;
m_wheelRearRight->userData = (void*)new ShapeUserData;
// LOWER THE CENTER OF MASS
NxVec3 massPos = m_actor->getCMassLocalPosition();
massPos.y -= 1;
m_actor->setCMassOffsetLocalPosition(massPos);
m_actor->wakeUp(1e30);
}
