void VehicleObject::init_vehicle_physics(const Vector3f& box_size, const PhysObjInfo& info,
const VehicleProperties& properties)
{
m_iright_index = 0;
m_iup_index = 1;
m_iforward_index = 2;
set_vehicle_properties(properties);
m_box_size = btVector3((btScalar)box_size.x, (btScalar)box_size.y, (btScalar)box_size.z);
//Physics stuff
btCollisionShape* pChassisShape = new btBoxShape(m_box_size);
m_pListOfCollisionShapes.push_back(pChassisShape);
btCompoundShape* pCompoundShape = new btCompoundShape();
m_pListOfCollisionShapes.push_back(pCompoundShape);
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(btVector3(0, 1, 0));
pCompoundShape->addChildShape(localTrans, pChassisShape);
//Setup chassis
btTransform chassisTrans;
chassisTrans.setIdentity();
chassisTrans.setOrigin(btVector3(0, 0, 0));
btVector3 localInertia(0, 0, 0);
pCompoundShape->calculateLocalInertia(info.mass, localInertia);
btDefaultMotionState* vehicleMotionState = new btDefaultMotionState(chassisTrans);
btRigidBody::btRigidBodyConstructionInfo cInfo(info.mass, vehicleMotionState, pCompoundShape, localInertia);
if(m_rbody)
{
delete m_rbody;
m_rbody = 0;
}
m_rbody = new btRigidBody(cInfo);
m_rbody->setContactProcessingThreshold(1e18f);
m_rbody->setUserPointer(&m_entity_id);
//initialise other parts of the vehicle
init_engine();
init_vehicle();
init_wheels();
}
void init_robot()
{
init_bumper();
init_body();
init_wheels();
}