CustomVehicleControllerBodyStateTire* AddTire (const dVector& offset, dFloat width, dFloat radius, dFloat mass, dFloat suspensionLength, dFloat suspensionSpring, dFloat suspensionDamper, dFloat lateralStiffness, dFloat longitudinalStiffness, dFloat aligningMomentTrail, const dMatrix& tireAligmentMatrix)
{
NewtonBody* const body = m_controller->GetBody();
// make the tire matrix from the offset and the body matrix
dMatrix tireMatrix (GetNextMatrix());
tireMatrix.m_posit = offset;
// add the visual representation of the is tire to as a child of the vehicle model
NewtonCollision* const tireMeshGenerator = NewtonCreateChamferCylinder (NewtonBodyGetWorld(body), 0.5f, 1.0f, 0, NULL);
NewtonCollisionSetScale (tireMeshGenerator, width, radius, radius);
DemoEntity* const tireEntity = new DemoEntity (tireMatrix, this);
DemoMesh* const visualMesh = new DemoMesh ("tireMesh", tireMeshGenerator, "smilli.tga", "smilli.tga", "smilli.tga");
tireEntity->SetMesh (visualMesh, dYawMatrix(3.141592f * 90.0f / 180.0f));
visualMesh->Release();
NewtonDestroyCollision (tireMeshGenerator);
// add the tire to the vehicle
CustomVehicleControllerBodyStateTire::TireCreationInfo tireInfo;
tireInfo.m_location = tireMatrix.m_posit;
tireInfo.m_mass = mass;
tireInfo.m_radio = radius;
tireInfo.m_width = width;
tireInfo.m_dampingRatio = suspensionDamper;
tireInfo.m_springStrength = suspensionSpring;
tireInfo.m_suspesionlenght = suspensionLength;
tireInfo.m_lateralStiffness = lateralStiffness;
tireInfo.m_longitudialStiffness = longitudinalStiffness;
tireInfo.m_aligningMomentTrail = aligningMomentTrail;
tireInfo.m_userData = tireEntity;
return m_controller->AddTire (tireInfo);
}
void dVehicleChassis::Finalize()
{
dVector minP;
dVector maxP;
m_vehicle->CalculateNodeAABB(dGetIdentityMatrix(), minP, maxP);
const dList<dVehicleNode*>& children = m_vehicle->GetChildren();
for (dList<dVehicleNode*>::dListNode* tireNode = children.GetFirst(); tireNode; tireNode = tireNode->GetNext()) {
dVehicleVirtualTire* const tire = (dVehicleVirtualTire*)tireNode->GetInfo()->GetAsTire();
if (tire) {
dVector tireMinP;
dVector tireMaxP;
dMatrix tireMatrix(tire->GetHardpointMatrix(0.0f));
tire->CalculateNodeAABB(tireMatrix, tireMinP, tireMaxP);
minP = minP.Min (tireMinP);
maxP = maxP.Max (tireMaxP);
}
}
m_obbOrigin = (maxP + minP).Scale (0.5f);
m_obbSize = (maxP - minP).Scale (0.5f) + dVector (0.1f, 0.1f, 0.1f, 0.0f);
m_vehicle->RigidBodyToStates();
m_solver.Finalize(this);
}