void RaycastVehicle::AddWheel(Node* wheelNode,
Vector3 wheelDirection, Vector3 wheelAxle,
float restLength, float wheelRadius,
bool frontWheel)
{
btRaycastVehicle* vehicle = vehicleData_->Get();
int id = GetNumWheels();
Vector3 connectionPoint = wheelNode->GetWorldPosition() - node_->GetWorldPosition();
btVector3 connectionPointCS0(connectionPoint.x_, connectionPoint.y_, connectionPoint.z_);
btVector3 wheelDirectionCS0(wheelDirection.x_, wheelDirection.y_, wheelDirection.z_);
btVector3 wheelAxleCS(wheelAxle.x_, wheelAxle.y_, wheelAxle.z_);
btWheelInfo& wheel = vehicle->addWheel(connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
restLength,
wheelRadius,
vehicleData_->tuning_,
frontWheel);
wheelNodes_.Push(wheelNode);
origRotation_.Push(wheelNode->GetWorldRotation());
skidInfoCumulative_.Push(1.0f);
wheelSideSlipSpeed_.Push(0.0f);
wheel.m_raycastInfo.m_isInContact = false;
}
void VehicleObject::init_wheels()
{
m_vWheelDirCS0 = btVector3(0, -1, 0);
m_vWheelAxelCS = btVector3(0, 0, -1);
//Wheel connection
float fWheelHeight = m_vehicle_properties.m_fWheelHeight;
float fWheelRadius = m_vehicle_properties.m_fWheelRadius;
float fSuspRestLength = m_vehicle_properties.m_fSuspRestLength;
float fWheelWidth = m_vehicle_properties.m_fWheelWidth;
float halfExtx = m_vehicle_properties.m_fWheelPosOffset_x;
float halfExty = m_vehicle_properties.m_fWheelPosOffset_y;
float halfExtz = m_vehicle_properties.m_fWheelPosOffset_z;
bool m_bIsFrontWheel = true;
btVector3 connectionPointCS0(m_box_size.x()*halfExtx-fWheelRadius, fWheelHeight, halfExtz-(0.3f*fWheelWidth));
//Add front wheels
m_pvehicle->addWheel(connectionPointCS0, m_vWheelDirCS0, m_vWheelAxelCS, fSuspRestLength,
fWheelRadius, m_vehicle_tuning, m_bIsFrontWheel);
connectionPointCS0 = btVector3(m_box_size.x()*halfExtx-fWheelRadius, fWheelHeight,-halfExtz+(0.3f*fWheelWidth) );
m_pvehicle->addWheel(connectionPointCS0, m_vWheelDirCS0, m_vWheelAxelCS, fSuspRestLength,
fWheelRadius, m_vehicle_tuning, m_bIsFrontWheel);
//Add rear wheels
m_bIsFrontWheel = false;
connectionPointCS0 = btVector3(-m_box_size.x()*halfExtx+fWheelRadius, fWheelHeight,-halfExtz+(0.3f*fWheelWidth) );
m_pvehicle->addWheel(connectionPointCS0, m_vWheelDirCS0, m_vWheelAxelCS, fSuspRestLength, fWheelRadius,
m_vehicle_tuning, m_bIsFrontWheel);
connectionPointCS0 = btVector3(-m_box_size.x()*halfExtx+fWheelRadius, fWheelHeight,halfExtz-(0.3f*fWheelWidth) );
m_pvehicle->addWheel(connectionPointCS0, m_vWheelDirCS0, m_vWheelAxelCS, fSuspRestLength, fWheelRadius,
m_vehicle_tuning, m_bIsFrontWheel);
//
for(int i =0; i < m_pvehicle->getNumWheels(); i++)
{
btWheelInfo& wheel = m_pvehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = m_vehicle_properties.m_fSuspStiffness;
wheel.m_wheelsDampingRelaxation = m_vehicle_properties.m_fSuspDamping;
wheel.m_wheelsDampingCompression = m_vehicle_properties.m_fSuspCompression;
wheel.m_frictionSlip = m_vehicle_properties.m_fWheelFriction;
wheel.m_rollInfluence = m_vehicle_properties.m_fRollInfluence;
}
}
virtual void AddWheel(
PHY_IMotionState* motionState,
PHY__Vector3 connectionPoint,
PHY__Vector3 downDirection,
PHY__Vector3 axleDirection,
float suspensionRestLength,
float wheelRadius,
bool hasSteering
)
{
SimdVector3 connectionPointCS0(connectionPoint[0],connectionPoint[1],connectionPoint[2]);
SimdVector3 wheelDirectionCS0(downDirection[0],downDirection[1],downDirection[2]);
SimdVector3 wheelAxle(axleDirection[0],axleDirection[1],axleDirection[2]);
WheelInfo& info = m_vehicle->AddWheel(connectionPointCS0,wheelDirectionCS0,wheelAxle,
suspensionRestLength,wheelRadius,gTuning,hasSteering);
info.m_clientInfo = motionState;
}
void ForkLiftDemo::initPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-10,0));
//either use heightfield or triangle mesh
//create ground object
localCreateRigidBody(0,tr,groundShape);
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
m_collisionShapes.push_back(chassisShape);
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back(compound);
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
#endif
compound->addChildShape(localTrans,chassisShape);
{
btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f));
btTransform suppLocalTrans;
suppLocalTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
suppLocalTrans.setOrigin(btVector3(0,1.0,2.5));
compound->addChildShape(suppLocalTrans, suppShape);
}
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
//m_carChassis->setDamping(0.2,0.2);
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
{
btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
m_collisionShapes.push_back(liftShape);
btTransform liftTrans;
m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
liftTrans.setIdentity();
liftTrans.setOrigin(m_liftStartPos);
m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);
btTransform localA, localB;
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, M_PI_2, 0);
localA.setOrigin(btVector3(0.0, 1.0, 3.05));
localB.getBasis().setEulerZYX(0, M_PI_2, 0);
localB.setOrigin(btVector3(0.0, -1.5, -0.05));
m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_dynamicsWorld->addConstraint(m_liftHinge, true);
btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
m_collisionShapes.push_back(forkShapeA);
btCompoundShape* forkCompound = new btCompoundShape();
m_collisionShapes.push_back(forkCompound);
btTransform forkLocalTrans;
forkLocalTrans.setIdentity();
forkCompound->addChildShape(forkLocalTrans, forkShapeA);
btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeB);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeB);
btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeC);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeC);
btTransform forkTrans;
m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
forkTrans.setIdentity();
forkTrans.setOrigin(m_forkStartPos);
m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, 0, M_PI_2);
localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f));
localB.getBasis().setEulerZYX(0, 0, M_PI_2);
localB.setOrigin(btVector3(0.0, 0.0, -0.1));
m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true);
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(0.1f);
// m_forkSlider->setLowerAngLimit(-LIFT_EPS);
// m_forkSlider->setUpperAngLimit(LIFT_EPS);
m_forkSlider->setLowerAngLimit(0.0f);
m_forkSlider->setUpperAngLimit(0.0f);
m_dynamicsWorld->addConstraint(m_forkSlider, true);
btCompoundShape* loadCompound = new btCompoundShape();
m_collisionShapes.push_back(loadCompound);
btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f));
m_collisionShapes.push_back(loadShapeA);
btTransform loadTrans;
loadTrans.setIdentity();
loadCompound->addChildShape(loadTrans, loadShapeA);
btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
m_collisionShapes.push_back(loadShapeB);
loadTrans.setIdentity();
loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f));
loadCompound->addChildShape(loadTrans, loadShapeB);
btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
m_collisionShapes.push_back(loadShapeC);
loadTrans.setIdentity();
loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
loadCompound->addChildShape(loadTrans, loadShapeC);
loadTrans.setIdentity();
m_loadStartPos = btVector3(0.0f, -3.5f, 7.0f);
loadTrans.setOrigin(m_loadStartPos);
m_loadBody = localCreateRigidBody(4, loadTrans, loadCompound);
}
clientResetScene();
/// create vehicle
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel=true;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
setCameraDistance(26.f);
}
void RaycastVehicle::ApplyAttributes()
{
int index = 0;
hullBody_ = node_->GetOrCreateComponent<RigidBody>();
Scene* scene = GetScene();
vehicleData_->Init(scene, hullBody_);
VariantVector& value = loadedWheelData_;
int numObjects = value[index++].GetInt();
int wheelIndex = 0;
origRotation_.Clear();
skidInfoCumulative_.Clear();
wheelSideSlipSpeed_.Clear();
for (int i = 0; i < numObjects; i++)
{
int node_id = value[index++].GetInt();
Vector3 direction = value[index++].GetVector3();
Vector3 axle = value[index++].GetVector3();
float restLength = value[index++].GetFloat();
float radius = value[index++].GetFloat();
bool isFrontWheel = value[index++].GetBool();
float steering = value[index++].GetFloat();
Vector3 connectionPoint = value[index++].GetVector3();
Quaternion origRotation = value[index++].GetQuaternion();
float skidInfoC = value[index++].GetFloat();
float sideSlipSpeed = value[index++].GetFloat();
bool isContact = value[index++].GetBool();
Vector3 contactPosition = value[index++].GetVector3();
Vector3 contactNormal = value[index++].GetVector3();
float suspensionStiffness = value[index++].GetFloat();
float dampingRelaxation = value[index++].GetFloat();
float dampingCompression = value[index++].GetFloat();
float frictionSlip = value[index++].GetFloat();
float rollInfluence = value[index++].GetFloat();
float engineForce = value[index++].GetFloat();
float brake = value[index++].GetFloat();
float skidInfo = value[index++].GetFloat();
Node* wheelNode = GetScene()->GetNode(node_id);
if (!wheelNode)
{
URHO3D_LOGERROR("RaycastVehicle: Incorrect node id = " + String(node_id) + " index: " + String(index));
continue;
}
btRaycastVehicle* vehicle = vehicleData_->Get();
int id = GetNumWheels();
btVector3 connectionPointCS0(connectionPoint.x_, connectionPoint.y_, connectionPoint.z_);
btVector3 wheelDirectionCS0(direction.x_, direction.y_, direction.z_);
btVector3 wheelAxleCS(axle.x_, axle.y_, axle.z_);
btWheelInfo& wheel = vehicle->addWheel(connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
restLength,
radius,
vehicleData_->tuning_,
isFrontWheel);
wheelNodes_.Push(wheelNode);
origRotation_.Push(origRotation);
skidInfoCumulative_.Push(skidInfoC);
wheelSideSlipSpeed_.Push(sideSlipSpeed);
SetSteeringValue(wheelIndex, steering);
wheel.m_raycastInfo.m_isInContact = isContact;
wheel.m_raycastInfo.m_contactNormalWS = btVector3(contactNormal.x_, contactNormal.y_, contactNormal.z_);
wheel.m_raycastInfo.m_contactPointWS = btVector3(contactPosition.x_, contactPosition.y_, contactPosition.z_);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = dampingRelaxation;
wheel.m_wheelsDampingCompression = dampingCompression;
wheel.m_frictionSlip = frictionSlip;
wheel.m_rollInfluence = rollInfluence;
wheel.m_engineForce = engineForce;
wheel.m_brake = brake;
wheel.m_skidInfo = skidInfo;
wheelIndex++;
}
URHO3D_LOGDEBUG("maxSideSlipSpeed_ value: " + String(maxSideSlipSpeed_));
URHO3D_LOGDEBUG("loaded items: " + String(index));
URHO3D_LOGDEBUG("loaded wheels: " + String(GetNumWheels()));
}
void VehicleDemo::initPhysics()
{
#ifdef FORCE_ZAXIS_UP
m_cameraUp = btVector3(0,0,1);
m_forwardAxis = 1;
#endif
btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
m_constraintSolver = new btSequentialImpulseConstraintSolver();
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
#ifdef FORCE_ZAXIS_UP
m_dynamicsWorld->setGravity(btVector3(0,0,-10));
#endif
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
//either use heightfield or triangle mesh
//#define USE_TRIMESH_GROUND 1
#ifdef USE_TRIMESH_GROUND
int i;
const float TRIANGLE_SIZE=20.f;
//create a triangle-mesh ground
int vertStride = sizeof(btVector3);
int indexStride = 3*sizeof(int);
const int NUM_VERTS_X = 20;
const int NUM_VERTS_Y = 20;
const int totalVerts = NUM_VERTS_X*NUM_VERTS_Y;
const int totalTriangles = 2*(NUM_VERTS_X-1)*(NUM_VERTS_Y-1);
m_vertices = new btVector3[totalVerts];
int* gIndices = new int[totalTriangles*3];
for ( i=0;i<NUM_VERTS_X;i++)
{
for (int j=0;j<NUM_VERTS_Y;j++)
{
float wl = .2f;
//height set to zero, but can also use curved landscape, just uncomment out the code
float height = 0.f;//20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
#ifdef FORCE_ZAXIS_UP
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE,
height
);
#else
m_vertices[i+j*NUM_VERTS_X].setValue(
(i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,
height,
(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
#endif
}
}
int index=0;
for ( i=0;i<NUM_VERTS_X-1;i++)
{
for (int j=0;j<NUM_VERTS_Y-1;j++)
{
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = j*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = j*NUM_VERTS_X+i;
gIndices[index++] = (j+1)*NUM_VERTS_X+i+1;
gIndices[index++] = (j+1)*NUM_VERTS_X+i;
}
}
m_indexVertexArrays = new btTriangleIndexVertexArray(totalTriangles,
gIndices,
indexStride,
totalVerts,(btScalar*) &m_vertices[0].x(),vertStride);
bool useQuantizedAabbCompression = true;
groundShape = new btBvhTriangleMeshShape(m_indexVertexArrays,useQuantizedAabbCompression);
tr.setOrigin(btVector3(0,-4.5f,0));
#else
//testing btHeightfieldTerrainShape
int width=128;
int length=128;
#ifdef LOAD_FROM_FILE
unsigned char* heightfieldData = new unsigned char[width*length];
{
for (int i=0;i<width*length;i++)
{
heightfieldData[i]=0;
}
}
char* filename="heightfield128x128.raw";
FILE* heightfieldFile = fopen(filename,"r");
if (!heightfieldFile)
{
filename="../../heightfield128x128.raw";
heightfieldFile = fopen(filename,"r");
}
if (heightfieldFile)
{
int numBytes =fread(heightfieldData,1,width*length,heightfieldFile);
//btAssert(numBytes);
if (!numBytes)
{
printf("couldn't read heightfield at %s\n",filename);
}
fclose (heightfieldFile);
}
#else
char* heightfieldData = MyHeightfield;
#endif
//btScalar maxHeight = 20000.f;//exposes a bug
btScalar maxHeight = 100;
bool useFloatDatam=false;
bool flipQuadEdges=false;
btHeightfieldTerrainShape* heightFieldShape = new btHeightfieldTerrainShape(width,length,heightfieldData,maxHeight,upIndex,useFloatDatam,flipQuadEdges);;
btVector3 mmin,mmax;
heightFieldShape->getAabb(btTransform::getIdentity(),mmin,mmax);
groundShape = heightFieldShape;
heightFieldShape->setUseDiamondSubdivision(true);
btVector3 localScaling(100,1,100);
localScaling[upIndex]=1.f;
groundShape->setLocalScaling(localScaling);
//tr.setOrigin(btVector3(0,9940,0));
tr.setOrigin(btVector3(0,49.4,0));
#endif //
m_collisionShapes.push_back(groundShape);
//create ground object
localCreateRigidBody(0,tr,groundShape);
tr.setOrigin(btVector3(0,0,0));//-64.5f,0));
#ifdef FORCE_ZAXIS_UP
// indexRightAxis = 0;
// indexUpAxis = 2;
// indexForwardAxis = 1;
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,2.f, 0.5f));
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,0,1));
#else
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
m_collisionShapes.push_back(chassisShape);
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back(compound);
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
#endif
compound->addChildShape(localTrans,chassisShape);
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
//m_carChassis->setDamping(0.2,0.2);
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
clientResetScene();
/// create vehicle
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel=true;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
#ifdef FORCE_ZAXIS_UP
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),2*CUBE_HALF_EXTENTS-wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif //FORCE_ZAXIS_UP
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
#ifdef FORCE_ZAXIS_UP
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),-2*CUBE_HALF_EXTENTS+wheelRadius, connectionHeight);
#else
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
#endif
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
setCameraDistance(26.f);
}
void ForkLiftDemo::initPhysics()
{
int upAxis = 1;
m_guiHelper->setUpAxis(upAxis);
btVector3 groundExtents(50,50,50);
groundExtents[upAxis]=3;
btCollisionShape* groundShape = new btBoxShape(groundExtents);
m_collisionShapes.push_back(groundShape);
m_collisionConfiguration = new btDefaultCollisionConfiguration();
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
btVector3 worldMin(-1000,-1000,-1000);
btVector3 worldMax(1000,1000,1000);
m_overlappingPairCache = new btAxisSweep3(worldMin,worldMax);
if (useMCLPSolver)
{
btDantzigSolver* mlcp = new btDantzigSolver();
//btSolveProjectedGaussSeidel* mlcp = new btSolveProjectedGaussSeidel;
btMLCPSolver* sol = new btMLCPSolver(mlcp);
m_constraintSolver = sol;
} else
{
m_constraintSolver = new btSequentialImpulseConstraintSolver();
}
m_dynamicsWorld = new btDiscreteDynamicsWorld(m_dispatcher,m_overlappingPairCache,m_constraintSolver,m_collisionConfiguration);
if (useMCLPSolver)
{
m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 1;//for direct solver it is better to have a small A matrix
} else
{
m_dynamicsWorld ->getSolverInfo().m_minimumSolverBatchSize = 128;//for direct solver, it is better to solve multiple objects together, small batches have high overhead
}
m_dynamicsWorld->getSolverInfo().m_globalCfm = 0.00001;
m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
//m_dynamicsWorld->setGravity(btVector3(0,0,0));
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(0,-3,0));
//either use heightfield or triangle mesh
//create ground object
localCreateRigidBody(0,tr,groundShape);
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
m_collisionShapes.push_back(chassisShape);
btCompoundShape* compound = new btCompoundShape();
m_collisionShapes.push_back(compound);
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1,0));
compound->addChildShape(localTrans,chassisShape);
{
btCollisionShape* suppShape = new btBoxShape(btVector3(0.5f,0.1f,0.5f));
btTransform suppLocalTrans;
suppLocalTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
suppLocalTrans.setOrigin(btVector3(0,1.0,2.5));
compound->addChildShape(suppLocalTrans, suppShape);
}
tr.setOrigin(btVector3(0,0.f,0));
m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
//m_carChassis->setDamping(0.2,0.2);
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
m_guiHelper->createCollisionShapeGraphicsObject(m_wheelShape);
int wheelGraphicsIndex = m_wheelShape->getUserIndex();
const float position[4]={0,10,10,0};
const float quaternion[4]={0,0,0,1};
const float color[4]={0,1,0,1};
const float scaling[4] = {1,1,1,1};
for (int i=0;i<4;i++)
{
m_wheelInstances[i] = m_guiHelper->registerGraphicsInstance(wheelGraphicsIndex, position, quaternion, color, scaling);
}
{
btCollisionShape* liftShape = new btBoxShape(btVector3(0.5f,2.0f,0.05f));
m_collisionShapes.push_back(liftShape);
btTransform liftTrans;
m_liftStartPos = btVector3(0.0f, 2.5f, 3.05f);
liftTrans.setIdentity();
liftTrans.setOrigin(m_liftStartPos);
m_liftBody = localCreateRigidBody(10,liftTrans, liftShape);
btTransform localA, localB;
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, M_PI_2, 0);
localA.setOrigin(btVector3(0.0, 1.0, 3.05));
localB.getBasis().setEulerZYX(0, M_PI_2, 0);
localB.setOrigin(btVector3(0.0, -1.5, -0.05));
m_liftHinge = new btHingeConstraint(*m_carChassis,*m_liftBody, localA, localB);
// m_liftHinge->setLimit(-LIFT_EPS, LIFT_EPS);
m_liftHinge->setLimit(0.0f, 0.0f);
m_dynamicsWorld->addConstraint(m_liftHinge, true);
btCollisionShape* forkShapeA = new btBoxShape(btVector3(1.0f,0.1f,0.1f));
m_collisionShapes.push_back(forkShapeA);
btCompoundShape* forkCompound = new btCompoundShape();
m_collisionShapes.push_back(forkCompound);
btTransform forkLocalTrans;
forkLocalTrans.setIdentity();
forkCompound->addChildShape(forkLocalTrans, forkShapeA);
btCollisionShape* forkShapeB = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeB);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(-0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeB);
btCollisionShape* forkShapeC = new btBoxShape(btVector3(0.1f,0.02f,0.6f));
m_collisionShapes.push_back(forkShapeC);
forkLocalTrans.setIdentity();
forkLocalTrans.setOrigin(btVector3(0.9f, -0.08f, 0.7f));
forkCompound->addChildShape(forkLocalTrans, forkShapeC);
btTransform forkTrans;
m_forkStartPos = btVector3(0.0f, 0.6f, 3.2f);
forkTrans.setIdentity();
forkTrans.setOrigin(m_forkStartPos);
m_forkBody = localCreateRigidBody(5, forkTrans, forkCompound);
localA.setIdentity();
localB.setIdentity();
localA.getBasis().setEulerZYX(0, 0, M_PI_2);
localA.setOrigin(btVector3(0.0f, -1.9f, 0.05f));
localB.getBasis().setEulerZYX(0, 0, M_PI_2);
localB.setOrigin(btVector3(0.0, 0.0, -0.1));
m_forkSlider = new btSliderConstraint(*m_liftBody, *m_forkBody, localA, localB, true);
m_forkSlider->setLowerLinLimit(0.1f);
m_forkSlider->setUpperLinLimit(0.1f);
// m_forkSlider->setLowerAngLimit(-LIFT_EPS);
// m_forkSlider->setUpperAngLimit(LIFT_EPS);
m_forkSlider->setLowerAngLimit(0.0f);
m_forkSlider->setUpperAngLimit(0.0f);
m_dynamicsWorld->addConstraint(m_forkSlider, true);
btCompoundShape* loadCompound = new btCompoundShape();
m_collisionShapes.push_back(loadCompound);
btCollisionShape* loadShapeA = new btBoxShape(btVector3(2.0f,0.5f,0.5f));
m_collisionShapes.push_back(loadShapeA);
btTransform loadTrans;
loadTrans.setIdentity();
loadCompound->addChildShape(loadTrans, loadShapeA);
btCollisionShape* loadShapeB = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
m_collisionShapes.push_back(loadShapeB);
loadTrans.setIdentity();
loadTrans.setOrigin(btVector3(2.1f, 0.0f, 0.0f));
loadCompound->addChildShape(loadTrans, loadShapeB);
btCollisionShape* loadShapeC = new btBoxShape(btVector3(0.1f,1.0f,1.0f));
m_collisionShapes.push_back(loadShapeC);
loadTrans.setIdentity();
loadTrans.setOrigin(btVector3(-2.1f, 0.0f, 0.0f));
loadCompound->addChildShape(loadTrans, loadShapeC);
loadTrans.setIdentity();
m_loadStartPos = btVector3(0.0f, 3.5f, 7.0f);
loadTrans.setOrigin(m_loadStartPos);
m_loadBody = localCreateRigidBody(loadMass, loadTrans, loadCompound);
}
/// create vehicle
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_dynamicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
m_dynamicsWorld->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel=true;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0;i<m_vehicle->getNumWheels();i++)
{
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
resetForklift();
// setCameraDistance(26.f);
m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
}
Vehicle::Vehicle(btDynamicsWorld* world):
carChassis(0),
collisionShapes(),
tuning(),
vehicleRayCaster(0),
vehicle(0),
wheelShape(0),
dynamicsWorld(world),
rightIndex(0),
upIndex(1),
forwardIndex(2),
wheelDirectionCS0(0,-1,0),
wheelAxleCS(-1,0,0),
engineForce(0.f),
brakingForce(0.f),
maxEngineForce(3000.f),
maxBrakingForce(300.f),
steering(0.f),
targetSteering(0.f),
steeringIncrement(0.9f),
steeringClamp(0.4f),
wheelRadius(0.5f),
wheelWidth(0.4f),
wheelFriction(10.f),
suspensionStiffness(20.f),
suspensionDamping(2.3f),
suspensionCompression(4.4f),
rollInfluence(0.1f),
wheelColor(1,0,0),
suspensionRestLength(0.6f)
{
btTransform tr;
tr.setIdentity();
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
collisionShapes.push_back(chassisShape);
btCompoundShape* compound = new btCompoundShape();
collisionShapes.push_back(compound);
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(btVector3(0,0.7,0));//localTrans effectively shifts the center of mass with respect to the chassis
compound->addChildShape(localTrans,chassisShape);
tr.setOrigin(btVector3(0,0.f,0));
carChassis = World::CreateRigidBody(1000,tr,compound);//chassisShape);
dynamicsWorld->addRigidBody(carChassis);
//m_carChassis->setDamping(0.2,0.2);
wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
Reset();
/// create vehicle
vehicleRayCaster = new btDefaultVehicleRaycaster(dynamicsWorld);
vehicle = new btRaycastVehicle(tuning, carChassis, vehicleRayCaster);
///never deactivate the vehicle
carChassis->setActivationState(DISABLE_DEACTIVATION);
dynamicsWorld->addVehicle(vehicle);
float connectionHeight = 0.5f;
bool isFrontWheel=true;
//choose coordinate system
vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3f*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,tuning,isFrontWheel);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3f*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,tuning,isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3f*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,tuning,isFrontWheel);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3f*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,tuning,isFrontWheel);
for (int i=0;i<vehicle->getNumWheels();i++)
{
btWheelInfo& wheel = vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
//=============================================================================
//=============================================================================
void Vehicle::Init()
{
// This function is called only from the main program when initially creating the vehicle, not on scene load
ResourceCache* cache = GetSubsystem<ResourceCache>();
StaticModel* hullObject = node_->CreateComponent<StaticModel>();
hullBody_ = node_->CreateComponent<RigidBody>();
CollisionShape* hullColShape = node_->CreateComponent<CollisionShape>();
hullBody_->SetMass(1200.0f);
hullBody_->SetLinearDamping(0.2f); // Some air resistance
hullBody_->SetAngularDamping(0.5f);
hullBody_->SetCollisionLayer(1);
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
PhysicsWorld *pPhysWorld = GetScene()->GetComponent<PhysicsWorld>();
btDynamicsWorld *pbtDynWorld = (btDynamicsWorld*)pPhysWorld->GetWorld();
m_vehicleRayCaster = new btDefaultVehicleRaycaster( pbtDynWorld );
m_vehicle = new btRaycastVehicle( m_tuning, hullBody_->GetBody(), m_vehicleRayCaster );
pbtDynWorld->addVehicle( m_vehicle );
m_vehicle->setCoordinateSystem( rightIndex, upIndex, forwardIndex );
//Vector3 v3BoxExtents = Vector3::ONE;//Vector3(1.5f, 1.0f, 3.0f);
hullObject->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/Chassis_001.mdl"));
node_->SetScale( Vector3(1.0f, 1.0f, 1.0f) );
hullColShape->SetConvexHull(cache->GetResource<Model>("MyProjects/MiniCooper/test/collision.mdl"));
//hullColShape->SetConvexHull(cache->GetResource<Model>("Models/Box.mdl"));
//hullColShape->SetBox((hullObject->GetBoundingBox()).Size());
//hullColShape->SetTriangleMesh(cache->GetResource<Model>("Models/Box.mdl"));
//hullColShape->SetSize(Vector3(1.0f, 1.0f, 3.0f));
//hullColShape->SetPosition((hullObject->GetBoundingBox()).Center() - Vector3(0.0f, 0.0f, 0.0f) );
//hullColShape->SetPosition( Vector3(0.0f, +0.2f, 0.0f) );
hullObject->SetCastShadows(true);
Node* patricleTest = node_->CreateChild("patricleTest");
patricleTest->LoadXML(cache->GetResource<XMLFile>("MyProjects/MiniCooper/particleTest.xml")->GetRoot());
patricleTest->SetPosition(Vector3(0.0f, 0.2f, -2.0f));
Node* lightTest = node_->CreateChild("lightTest");
lightTest->LoadXML(cache->GetResource<XMLFile>("MyProjects/MiniCooper/lightTest.xml")->GetRoot());
lightTest->SetPosition(Vector3(0.0f, 0.2f, 2.0f));
//float connectionHeight = -0.4f;//1.2f;
//float connectionHeight = 0.0f;
bool isFrontWheel=true;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
double wheelOffset = 0.5;
// front right
//////////////
Node* node_wheel_temp0 = GetScene()->CreateChild("node_wheel_temp0");
StaticModel* model_wheel_temp0 = node_wheel_temp0->CreateComponent<StaticModel>();
model_wheel_temp0->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_000.mdl"));
model_wheel_temp0->ApplyMaterialList("MyProjects/MiniCooper/test/wheel_000.txt");
model_wheel_temp0->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
btVector3 connectionPointCS0((model_wheel_temp0->GetBoundingBox()).Center().x_,((model_wheel_temp0->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp0->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_0 = GetScene()->CreateChild("node_wheel_0");
node_wheel_0->SetPosition((model_wheel_temp0->GetBoundingBox()).Center());
node_wheel_0->SetRotation(Quaternion(0.0f, 0.0f, 90.0f));
node_wheel_temp0->SetParent(node_wheel_0);
m_vpNodeWheel.Push( node_wheel_0 );
//SDL_Log( "node_wheel_temp0: %f, %f, %f \n", ((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//SDL_Log( "node_wheel_temp0.HalfSize: %s \n", model_wheel_temp0->GetBoundingBox().HalfSize().ToString().CString() );
//SDL_Log("##################### \n");
//SDL_Log("node_wheel_temp0WorldP: %f, %f, %f \n", node_wheel_temp0->GetWorldPosition().x_, node_wheel_temp0->GetWorldPosition().y_, node_wheel_temp0->GetWorldPosition().z_);
//SDL_Log("node_wheel_temp0P: %f, %f, %f \n", node_wheel_temp0->GetPosition().x_, node_wheel_temp0->GetPosition().y_, node_wheel_temp0->GetPosition().z_);
//SDL_Log( "model_wheel_temp0BoundP: %f, %f, %f \n", ((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//node_wheel_temp0->SetPosition(node_wheel_temp0->GetPosition() - (model_wheel_temp0->GetBoundingBox()).Center());
//SDL_Log("transform: %f, %f, %f \n", v3Origin.x_, v3Origin.y_, v3Origin.z_);
//v3Origin = v3Origin - Vector3(0.704, 0.379, 1.19);
//SDL_Log("transform: %f, %f, %f \n", v3Origin.x_, v3Origin.y_, v3Origin.z_);
// front left
/////////////
Node* node_wheel_temp1 = GetScene()->CreateChild("node_wheel_temp1");
StaticModel* model_wheel_temp1 = node_wheel_temp1->CreateComponent<StaticModel>();
model_wheel_temp1->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_001.mdl"));
model_wheel_temp1->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp1->GetBoundingBox()).Center().x_,((model_wheel_temp1->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp1->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_1 = GetScene()->CreateChild("node_wheel_1");
node_wheel_1->SetPosition((model_wheel_temp1->GetBoundingBox()).Center());
node_wheel_1->SetRotation(Quaternion(0.0f, 0.0f, -90.0f));
node_wheel_temp1->SetParent(node_wheel_1);
m_vpNodeWheel.Push( node_wheel_1 );
isFrontWheel = false;
// back right
/////////////
Node* node_wheel_temp2 = GetScene()->CreateChild("node_wheel_temp2");
StaticModel* model_wheel_temp2 = node_wheel_temp2->CreateComponent<StaticModel>();
model_wheel_temp2->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_002.mdl"));
model_wheel_temp2->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp2->GetBoundingBox()).Center().x_,((model_wheel_temp2->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp2->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_2 = GetScene()->CreateChild("node_wheel_2");
node_wheel_2->SetPosition((model_wheel_temp2->GetBoundingBox()).Center());
node_wheel_2->SetRotation(Quaternion(0.0f, 0.0f, 90.0f));
node_wheel_temp2->SetParent(node_wheel_2);
m_vpNodeWheel.Push( node_wheel_2 );
// back left
/////////////
/// \brief objectNode3
Node* node_wheel_temp3 = GetScene()->CreateChild("node_wheel_temp3");
StaticModel* model_wheel_temp3 = node_wheel_temp3->CreateComponent<StaticModel>();
model_wheel_temp3->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_003.mdl"));
model_wheel_temp3->SetCastShadows(true);
//btVector3 connectionPointCS0(((model_wheel_temp0->GetBoundingBox()).Center()).x_, ((model_wheel_temp0->GetBoundingBox()).Center()).y_, ((model_wheel_temp0->GetBoundingBox()).Center()).z_);
//wheelRadius = model_wheel_temp0->GetBoundingBox().HalfSize().y_;
//m_vehicle->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, m_tuning, isFrontWheel);
connectionPointCS0 = btVector3((model_wheel_temp3->GetBoundingBox()).Center().x_,((model_wheel_temp3->GetBoundingBox()).Center()).y_ + wheelOffset,((model_wheel_temp3->GetBoundingBox()).Center()).z_);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,btVector3(-1,0,0),suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
Node* node_wheel_3 = GetScene()->CreateChild("node_wheel_2");
node_wheel_3->SetPosition((model_wheel_temp3->GetBoundingBox()).Center());
node_wheel_3->SetRotation(Quaternion(0.0f, 0.0f, -90.0f));
node_wheel_temp3->SetParent(node_wheel_3);
m_vpNodeWheel.Push( node_wheel_3 );
/*
for ( int i = 0; i < m_vehicle->getNumWheels(); i++ )
{
btWheelInfo& wheel = m_vehicle->getWheelInfo( i );
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
*/
if ( m_vehicle )
{
m_vehicle->resetSuspension();
for ( int i = 0; i < m_vehicle->getNumWheels(); i++ )
{
//synchronize the wheels with the (interpolated) chassis worldtransform
m_vehicle->updateWheelTransform(i,true);
btTransform transform = m_vehicle->getWheelTransformWS( i );
/*
//Vector3 v3Origin = ToVector3( transform.getOrigin() );
//Quaternion qRot = ToQuaternion( transform.getRotation() );
// create wheel node
Node *wheelNode = GetScene()->CreateChild();
//wheelNode->SetPosition( v3Origin );
//btWheelInfo whInfo = m_vehicle->getWheelInfo( i );
//Vector3 v3PosLS = ToVector3( whInfo.m_chassisConnectionPointCS );
//wheelNode->SetRotation( v3PosLS.x_ >= 0.0 ? Quaternion(0.0f, 0.0f, -90.0f) : Quaternion(0.0f, 0.0f, 90.0f) );
//wheelNode->SetScale(Vector3(1.0f, 0.65f, 1.0f));
StaticModel *pWheel = wheelNode->CreateComponent<StaticModel>();
if(i == 0)
pWheel->SetModel(cache->GetResource<Model>("MyProjects/SimpeCar/wheel.mdl"));
else
pWheel->SetModel(cache->GetResource<Model>("MyProjects/SimpeCar/wheel.mdl"));
if(i == 0) {
//wheelNode->SetPosition( Vector3(50,50,50) );
//wheelNode->SetRotation(Quaternion(0.0f, 0.0f, 0.0f));
}else {
//wheelNode->SetPosition( v3Origin );
//wheelNode->SetRotation(Quaternion(0.0f, 0.0f, 0.0f));
}
m_vpNodeWheel.Push( wheelNode );
//pWheel->SetModel(cache->GetResource<Model>("MyProjects/MiniCooper/test/wheel_004.mdl"));
pWheel->SetMaterial(cache->GetResource<Material>("MyProjects/SimpeCar/TireTextureMaterial.xml"));
pWheel->SetCastShadows(true);
*/
}
}
}
void Vehicle::initPhysics(){
m_chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
// stash this shape away
cPhysics::Get().getCollisionShapes().push_back(m_chassisShape);
m_compound = new btCompoundShape();
cPhysics::Get().getCollisionShapes().push_back(m_compound);
btTransform localTrans;
localTrans.setIdentity();
//localTrans effectively shifts the center of mass with respect to the chassis
localTrans.setOrigin(btVector3(0,1.4,0)); //** localTrans.setOrigin(btVector3(0,1,0));
m_compound->addChildShape(localTrans,m_chassisShape);
float mass = 800.f;
m_carChassis = cPhysics::Get().GetNewBody(m_compound, mass, cVec3(0.f, 0.f, 0.f), 329.9f); //chassisShape
//m_carChassis->setDamping(0.2,0.2);
m_wheelShape = new btCylinderShapeX(btVector3(wheelWidth,wheelRadius,wheelRadius));
ResetVehicleParams();
/// create vehicle
{
m_vehicleRayCaster = new btDefaultVehicleRaycaster(cPhysics::Get().GetBulletWorld());
m_vehicle = new btRaycastVehicle(m_tuning, m_carChassis, m_vehicleRayCaster);
///never deactivate the vehicle
m_carChassis->setActivationState(DISABLE_DEACTIVATION);
cPhysics::Get().GetBulletWorld()->addAction(m_vehicle); //** ->addVehicle(m_vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel=true;
//choose coordinate system
m_vehicle->setCoordinateSystem(rightIndex, upIndex, forwardIndex);
// front left
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
// front right
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
// rear left
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
// rear right
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
btWheelInfo& wheel_RR = m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
for (int i=0;i<m_vehicle->getNumWheels();i++){
btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
wheel.m_suspensionStiffness = suspensionStiffness;
wheel.m_wheelsDampingRelaxation = suspensionDamping;
wheel.m_wheelsDampingCompression = suspensionCompression;
wheel.m_frictionSlip = wheelFriction;
wheel.m_rollInfluence = rollInfluence;
}
}
}
