/** creates vehicle at desired position
@param pos struct Position with desired position
*/
void SchlangeVelocity::create(const osg::Matrix& pose){
Schlange::create(pose);
//*****************joint definition***********
for ( int n = 0; n < conf.segmNumber-1; n++ ) {
Pos p1(objects[n]->getPosition());
Pos p2(objects[n]->getPosition());
UniversalJoint* j = new UniversalJoint(objects[n], objects[n+1],
(objects[n]->getPosition() + objects[n+1]->getPosition())/2,
Axis(0,0,1)* pose, Axis(0,1,0)* pose);
j->init(odeHandle, osgHandle, true, conf.segmDia * 1.02);
// setting stops at universal joints
j->setParam(dParamLoStop, -conf.jointLimit*1.5);
j->setParam(dParamHiStop, conf.jointLimit*1.5);
j->setParam(dParamLoStop2, -conf.jointLimit*1.5);
j->setParam(dParamHiStop2, conf.jointLimit*1.5);
// making stops bouncy
j->setParam (dParamBounce, 0.9 );
j->setParam (dParamBounce2, 0.9 ); // universal
joints.push_back(j);
}
}
