void dCustomTireSpringDG::SubmitConstraints(dFloat timestep, int threadIndex) { NewtonBody* BodyAttach; //NewtonBody* BodyFrame; // dVector tireOmega = dVector(0.0f, 0.0f, 0.0f); //BodyFrame = GetBody0(); BodyAttach = GetBody1(); // SteeringController(timestep); // // calculate the position of the pivot point and the Jacobian direction vectors, in global space. CalculateGlobalMatrix(mChassisPivotMatrix, mTirePivotMatrix); // NewtonBodyGetOmega(BodyAttach, &tireOmega[0]); // mRealOmega = dAbs(tireOmega.DotProduct3(mChassisPivotMatrix.m_front)); // TireCenterPin(timestep); // TireCenterBolt(timestep); // SuspenssionSpringLimits(timestep); // TireBreakAction(BodyAttach, timestep); }
void Pit2ISR(void) { SteeringController(); PIT.CH[2].TFLG.B.TIF = 1; /* MPC56xxP/B/S: CLear PIT 2 flag by writing 1 */ }