void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
bodyDesc.solverIterationCount = 20;
// steer axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
steerAxis = scene.createActor(actorDesc);
wheel.create(scene, pos, rad, steerAxis);
// revolute joint connecting steerAxis with the holder
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = steerAxis;
revJointDesc.actor[1] = holder;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,1,0));
steerJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// disable collision detection
scene.setActorPairFlags(*wheel.wheel, *holder, NX_IGNORE_PAIR);
}
void create(NxScene& scene, const NxVec3& pos, float rad, NxActor* holder)
{
NxActorDesc actorDesc;
NxBodyDesc bodyDesc;
NxSphereShapeDesc sphereDesc;
bodyDesc.solverIterationCount = 20;
// wheel
sphereDesc.radius = rad;
sphereDesc.materialIndex = wheelMaterialIndex;
actorDesc.shapes.pushBack(&sphereDesc);
bodyDesc.mass = 400;
actorDesc.body = &bodyDesc;
actorDesc.globalPose.t = pos;
wheel = scene.createActor(actorDesc);
// roll axis
bodyDesc.mass = 50;
bodyDesc.massSpaceInertia = NxVec3(1,1,1);
actorDesc.body = &bodyDesc;
actorDesc.shapes.clear();
actorDesc.globalPose.t = pos;
rollAxis = scene.createActor(actorDesc);
// revolute joint connecting wheel with rollAxis
NxRevoluteJointDesc revJointDesc;
revJointDesc.projectionMode = NX_JPM_POINT_MINDIST;
revJointDesc.actor[0] = wheel;
revJointDesc.actor[1] = rollAxis;
revJointDesc.setGlobalAnchor(pos);
revJointDesc.setGlobalAxis(NxVec3(0,0,1));
rollJoint = (NxRevoluteJoint*)scene.createJoint(revJointDesc);
// prismatic joint connecting rollAxis with holder
NxPrismaticJointDesc prisJointDesc;
prisJointDesc.actor[0] = rollAxis;
prisJointDesc.actor[1] = holder;
prisJointDesc.setGlobalAnchor(pos);
prisJointDesc.setGlobalAxis(NxVec3(0,1,0));
scene.createJoint(prisJointDesc);
// add springs and dampers to the suspension (i.e. the related actors)
float springLength = 0.1f;
NxSpringAndDamperEffector * springNdamp = scene.createSpringAndDamperEffector(NxSpringAndDamperEffectorDesc());
springNdamp->setBodies(rollAxis, pos, holder, pos + NxVec3(0,springLength,0));
springNdamp->setLinearSpring(0, springLength, 2*springLength, 100000, 100000);
springNdamp->setLinearDamper(-1, 1, 1e5, 1e5);
// disable collision detection
scene.setActorPairFlags(*wheel, *holder, NX_IGNORE_PAIR);
}