void NxVehicle::_computeLocalVelocity()
{
_computeMostTouchedActor();
NxVec3 relativeVelocity;
if (_mostTouchedActor == NULL || !_mostTouchedActor->isDynamic())
{
relativeVelocity = _bodyActor->getLinearVelocity();
} else {
relativeVelocity = _bodyActor->getLinearVelocity() - _mostTouchedActor->getLinearVelocity();
}
NxQuat rotation = _bodyActor->getGlobalOrientationQuat();
NxQuat global2Local;
_localVelocity = relativeVelocity;
rotation.inverseRotate(_localVelocity);
//printf("Velocity: %2.3f %2.3f %2.3f\n", _localVelocity.x, _localVelocity.y, _localVelocity.z);
}
void pVehicle::_computeLocalVelocity()
{
_computeMostTouchedActor();
NxVec3 relativeVelocity;
if (_mostTouchedActor == NULL || !_mostTouchedActor->isDynamic())
{
relativeVelocity = getActor()->getLinearVelocity();
} else {
relativeVelocity = getActor()->getLinearVelocity() - _mostTouchedActor->getLinearVelocity();
}
NxQuat rotation = getActor()->getGlobalOrientationQuat();
NxQuat global2Local;
_localVelocity = relativeVelocity;
rotation.inverseRotate(_localVelocity);
char master[512];
//sprintf(master,"Velocity: %2.3f %2.3f %2.3f\n", _localVelocity.x, _localVelocity.y, _localVelocity.z);
//OutputDebugString(master);
}
void pWheel2::_tick(float dt)
{
NxWheelShape *wShape = getWheelShape();
if (!wShape) return;
NxVec3 _localVelocity;
bool _breaking=false;
//////////////////////////////////////////////////////////////////////////
//
//
//
NxWheelContactData wcd;
NxShape* contactShape = wShape->getContact(wcd);
if (contactShape)
{
NxVec3 relativeVelocity;
if ( !contactShape->getActor().isDynamic())
{
relativeVelocity = getActor()->getLinearVelocity();
} else {
relativeVelocity = getActor()->getLinearVelocity() - contactShape->getActor().getLinearVelocity();
}
NxQuat rotation = getActor()->getGlobalOrientationQuat();
_localVelocity = relativeVelocity;
rotation.inverseRotate(_localVelocity);
_breaking = false; //NxMath::abs(_localVelocity.z) < ( 0.1 );
// wShape->setAxleSpeed()
}
float rollAngle = getWheelRollAngle();
rollAngle+=wShape->getAxleSpeed() * (dt* 0.01f);
//rollAngle+=wShape->getAxleSpeed() * (1.0f/60.0f /*dt* 0.01f*/);
while (rollAngle > NxTwoPi) //normally just 1x
rollAngle-= NxTwoPi;
while (rollAngle< -NxTwoPi) //normally just 1x
rollAngle+= NxTwoPi;
setWheelRollAngle(rollAngle);
NxMat34& wheelPose = wShape->getGlobalPose();
NxReal stravel = wShape->getSuspensionTravel();
NxReal radius = wShape->getRadius();
//have ground contact?
if( contactShape && wcd.contactPosition <= (stravel + radius) ) {
wheelPose.t = NxVec3( wheelPose.t.x, wcd.contactPoint.y + getRadius(), wheelPose.t.z );
}
else {
wheelPose.t = NxVec3( wheelPose.t.x, wheelPose.t.y - getSuspensionTravel(), wheelPose.t.z );
}
float rAngle = getWheelRollAngle();
float steer = wShape->getSteerAngle();
NxVec3 p0;
NxVec3 dir;
/*
getWorldSegmentFast(seg);
seg.computeDirection(dir);
dir.normalize();
*/
NxReal r = wShape->getRadius();
NxReal st = wShape->getSuspensionTravel();
NxReal steerAngle = wShape->getSteerAngle();
p0 = wheelPose.t; //cast from shape origin
wheelPose.M.getColumn(1, dir);
dir = -dir; //cast along -Y.
NxReal castLength = r + st; //cast ray this long
NxMat33 rot, axisRot, rollRot;
rot.rotY( wShape->getSteerAngle() );
axisRot.rotY(0);
rollRot.rotX(rAngle);
wheelPose.M = rot * wheelPose.M * axisRot * rollRot;
setWheelPose(wheelPose);
}
