Exposed another glut method (the demos really require cleanup soon!)

First steps for a raycast-vehicle demo (far from finished)

22 files changed, 317 insertions, 61 deletions

diff --git a/Bullet/CollisionShapes/CylinderShape.h b/Bullet/CollisionShapes/CylinderShape.h
index 217ce7036..b99e3fa8c 100644
--- a/Bullet/CollisionShapes/CylinderShape.h
+++ b/Bullet/CollisionShapes/CylinderShape.h
@@ -71,6 +71,11 @@ public:
 		return 1;
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getX();
+	}
+
 	//debugging
 	virtual char*	GetName()const
 	{
@@ -98,6 +103,11 @@ public:
 		return "CylinderX";
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getY();
+	}
+
 };
 
 class CylinderShapeZ : public CylinderShape
@@ -118,6 +128,11 @@ public:
 		return "CylinderZ";
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getX();
+	}
+
 };
 
 
diff --git a/BulletDynamics/Vehicle/RaycastVehicle.cpp b/BulletDynamics/Vehicle/RaycastVehicle.cpp
index c2a6f4d5d..2d31c104e 100644
--- a/BulletDynamics/Vehicle/RaycastVehicle.cpp
+++ b/BulletDynamics/Vehicle/RaycastVehicle.cpp
@@ -76,6 +76,7 @@ WheelInfo&	RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const
 	WheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];

 	

 	UpdateWheelTransformsWS( wheel );

+	UpdateWheelTransform(GetNumWheels()-1);

 	return wheel;

 }

 

@@ -344,17 +345,9 @@ SimdScalar	RaycastVehicle::GetSteeringValue(int wheel) const
 

 void	RaycastVehicle::ApplyEngineForce(SimdScalar force, int wheel)

 {

-	for (int i=0;i<GetNumWheels();i++)

-	{

-		WheelInfo& wheelInfo = GetWheelInfo(i);

-

-		bool applyOnFrontWheel = !wheel;

-

-		if (applyOnFrontWheel == wheelInfo.m_bIsFrontWheel)

-		{

-			wheelInfo.m_engineForce = force;

-		}

-	}

+	assert(wheel>=0 && wheel < GetNumWheels());

+	WheelInfo& wheelInfo = GetWheelInfo(wheel);

+	wheelInfo.m_engineForce = force;

 }

 

 

diff --git a/BulletDynamics/Vehicle/RaycastVehicle.h b/BulletDynamics/Vehicle/RaycastVehicle.h
index 13993b87d..3410f03d7 100644
--- a/BulletDynamics/Vehicle/RaycastVehicle.h
+++ b/BulletDynamics/Vehicle/RaycastVehicle.h
@@ -143,6 +143,13 @@ public:
 		return m_indexForwardAxis;

 	}

 

+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)

+	{

+		m_indexRightAxis = rightIndex;

+		m_indexUpAxis = upIndex;

+		m_indexForwardAxis = forwardIndex;

+	}

+

 	virtual void	BuildJacobian()

 	{

 		//not yet

diff --git a/Demos/BspDemo/BspDemo.cpp b/Demos/BspDemo/BspDemo.cpp
index 60990b6a5..4acbb9d5b 100644
--- a/Demos/BspDemo/BspDemo.cpp
+++ b/Demos/BspDemo/BspDemo.cpp
@@ -668,6 +668,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)

+{

+	defaultSpecialKeyboard(key,x,y);

+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 
diff --git a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
index 271963ee1..13f418f41 100644
--- a/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
+++ b/Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp
@@ -851,6 +851,13 @@ void clientKeyboard(unsigned char key, int x, int y)
 	defaultKeyboard(key, x, y);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
+
 int gPickingConstraintId = 0;
 SimdVector3 gOldPickingPos;
 float gOldPickingDist  = 0.f;
diff --git a/Demos/ColladaDemo/ColladaDemo.cpp b/Demos/ColladaDemo/ColladaDemo.cpp
index 1aa4760a6..f461a44b2 100644
--- a/Demos/ColladaDemo/ColladaDemo.cpp
+++ b/Demos/ColladaDemo/ColladaDemo.cpp
@@ -1399,6 +1399,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);

 }

 

+void clientSpecialKeyboard(int key, int x, int y)

+{

+	defaultSpecialKeyboard(key,x,y);

+}

+

 void clientKeyboard(unsigned char key, int x, int y)

 {

 

diff --git a/Demos/CollisionDemo/CollisionDemo.cpp b/Demos/CollisionDemo/CollisionDemo.cpp
index caf66dabb..9c39dd2c4 100644
--- a/Demos/CollisionDemo/CollisionDemo.cpp
+++ b/Demos/CollisionDemo/CollisionDemo.cpp
@@ -197,6 +197,12 @@ void clientResetScene()
 {
 
 }
+
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
index 5a85e4619..716ea1b48 100644
--- a/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
+++ b/Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp
@@ -193,6 +193,11 @@ void clientResetScene()
 	objects[1].m_worldTransform.setOrigin(SimdVector3(0.0f,9.f,0.f));
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
index 27b54fb96..429eb56fc 100644
--- a/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
+++ b/Demos/ConcaveDemo/ConcavePhysicsDemo.cpp
@@ -484,6 +484,12 @@ void clientResetScene()
 {
 
 }
+
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/ConstraintDemo/ConstraintDemo.cpp b/Demos/ConstraintDemo/ConstraintDemo.cpp
index 7fa48d85c..d9d38acc3 100644
--- a/Demos/ConstraintDemo/ConstraintDemo.cpp
+++ b/Demos/ConstraintDemo/ConstraintDemo.cpp
@@ -381,6 +381,12 @@ void clientResetScene()
 	}
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
index 09475e671..0c1808c2c 100644
--- a/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
+++ b/Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp
@@ -303,6 +303,12 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
index d31de53a9..4e625ace9 100644
--- a/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
+++ b/Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp
@@ -918,6 +918,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);

 }

 

+void clientSpecialKeyboard(int key, int x, int y)

+{

+	defaultSpecialKeyboard(key,x,y);

+}

+

 void clientKeyboard(unsigned char key, int x, int y)

 {

 

diff --git a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
index 7f035c569..49e060ee0 100644
--- a/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
+++ b/Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp
@@ -243,6 +243,11 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/OpenGL/GL_ShapeDrawer.cpp b/Demos/OpenGL/GL_ShapeDrawer.cpp
index 91d5b4c5c..b81e286e1 100644
--- a/Demos/OpenGL/GL_ShapeDrawer.cpp
+++ b/Demos/OpenGL/GL_ShapeDrawer.cpp
@@ -192,21 +192,23 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 					int upAxis = cylinder->GetUpAxis();
 					
 					GLUquadricObj *quadObj = gluNewQuadric();
-					
+					float radius = cylinder->GetRadius();
+					float halfHeight = cylinder->GetHalfExtents()[upAxis];
+
 					glPushMatrix();
 					switch (upAxis)
 					{
 					case 0:
 						glRotatef(-90.0, 0.0, 1.0, 0.0);
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					case 1:
 						glRotatef(-90.0, 1.0, 0.0, 0.0);
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					case 2:
 						
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					default:
 						{
@@ -221,9 +223,9 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 					
 					gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
 					gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
-					float radius = cylinder->GetHalfExtents().getX();
-					float height = 2.f*cylinder->GetHalfExtents().getY();
-					gluCylinder(quadObj, radius, radius, height, 15, 10);
+					
+					
+					gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
 					glPopMatrix();
 					glEndList();
 
diff --git a/Demos/OpenGL/GlutStuff.cpp b/Demos/OpenGL/GlutStuff.cpp
index 71fcd570a..88ea4c204 100644
--- a/Demos/OpenGL/GlutStuff.cpp
+++ b/Demos/OpenGL/GlutStuff.cpp
@@ -136,6 +136,10 @@ void setCamera() {
 	eyePos[gForwardAxis] = -DISTANCE;
 
 	SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
+	if (forward.length2() < SIMD_EPSILON)
+	{
+		forward.setValue(1.f,0.f,0.f);
+	}
 	SimdVector3 right = gCameraUp.cross(forward);
 	SimdQuaternion roll(right,-rele);
 
@@ -289,7 +293,8 @@ void defaultKeyboard(unsigned char key, int x, int y)
 }
 
 
-void mySpecial(int key, int x, int y)
+
+void defaultSpecialKeyboard(int key, int x, int y)
 {
     switch (key) 
     {
@@ -372,7 +377,7 @@ int glutmain(int argc, char **argv,int width,int height,const char* title) {
 	
     myinit();
     glutKeyboardFunc(clientKeyboard);
-    glutSpecialFunc(mySpecial);
+    glutSpecialFunc(clientSpecialKeyboard);
     glutReshapeFunc(myReshape);
     //createMenu();
 	glutIdleFunc(clientMoveAndDisplay);
diff --git a/Demos/OpenGL/GlutStuff.h b/Demos/OpenGL/GlutStuff.h
index 7a139a82a..d18d3dd0e 100644
--- a/Demos/OpenGL/GlutStuff.h
+++ b/Demos/OpenGL/GlutStuff.h
@@ -30,6 +30,9 @@ void	setDebugMode(int mode);
 void defaultKeyboard(unsigned char key, int x, int y);
 void clientKeyboard(unsigned char key, int x, int y);
 
+void defaultSpecialKeyboard(int key, int x, int y);
+void clientSpecialKeyboard(int key, int x, int y);
+
 void clientMouseFunc(int button, int state, int x, int y);
 void	clientMotionFunc(int x,int y);
 #endif //GLUT_STUFF_H
diff --git a/Demos/Raytracer/Raytracer.cpp b/Demos/Raytracer/Raytracer.cpp
index d2194706a..4179c637e 100644
--- a/Demos/Raytracer/Raytracer.cpp
+++ b/Demos/Raytracer/Raytracer.cpp
@@ -405,6 +405,11 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/SimplexDemo/SimplexDemo.cpp b/Demos/SimplexDemo/SimplexDemo.cpp
index a5805e0e1..21a6c4acc 100644
--- a/Demos/SimplexDemo/SimplexDemo.cpp
+++ b/Demos/SimplexDemo/SimplexDemo.cpp
@@ -126,6 +126,11 @@ void clientResetScene()
 
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp
index 27d055361..c5cf0146c 100644
--- a/Demos/VehicleDemo/VehicleDemo.cpp
+++ b/Demos/VehicleDemo/VehicleDemo.cpp
@@ -13,14 +13,19 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.

 */

 

+//Ignore this USE_PARALLEL_DISPATCHER define, it is for future optimizations

 //#define USE_PARALLEL_DISPATCHER 1

 

 

+/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder

+/// This VehicleDemo file is very early in development, please check it later

+

+

+

 #include "CcdPhysicsEnvironment.h"

 #include "ParallelPhysicsEnvironment.h"

 

 #include "CcdPhysicsController.h"

-#include "MyMotionState.h"

 //#include "GL_LineSegmentShape.h"

 #include "CollisionShapes/BoxShape.h"

 #include "CollisionShapes/SphereShape.h"

@@ -29,12 +34,17 @@ subject to the following restrictions:
 #include "CollisionShapes/CompoundShape.h"

 #include "CollisionShapes/Simplex1to4Shape.h"

 #include "CollisionShapes/EmptyShape.h"

+#include "CollisionShapes/CylinderShape.h"

+

 #include "CollisionShapes/TriangleMeshShape.h"

 #include "CollisionShapes/TriangleIndexVertexArray.h"

 #include "CollisionShapes/BvhTriangleMeshShape.h"

 #include "CollisionShapes/TriangleMesh.h"

 

 #include "Dynamics/RigidBody.h"

+#include "Vehicle/RaycastVehicle.h"

+#include "PHY_IVehicle.h"

+

 #include "CollisionDispatch/CollisionDispatcher.h"

 

 #include "ParallelIslandDispatcher.h"

@@ -94,21 +104,45 @@ const int maxProxies = 32766;
 const int maxOverlap = 65535;

 

 bool createConstraint = true;//false;

-bool useCompound = true;//false;

+bool useCompound = false;//true;//false;

 

 

 #ifdef _DEBUG

-const int numObjects = 50;

+const int numObjects = 2;

 #else

-const int numObjects = 120;

+const int numObjects = 2;

 #endif

-

 const int maxNumObjects = 32760;

-

-MyMotionState ms[maxNumObjects];

+DefaultMotionState ms[maxNumObjects];

 CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};

 int	shapeIndex[maxNumObjects];

 

+

+

+DefaultMotionState wheelMotionState[4];

+

+///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a RaycastVehicle)

+///notice that for higher-quality slow-moving vehicles, another approach might be better

+///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts

+PHY_IVehicle* gVehicleConstraint=0;

+float	gEngineForce = 0.f;

+float	maxEngineForce = 1.f;

+float	gVehicleSteering = 0.f;

+float steeringIncrement = 0.1f;

+float	steeringClamp = 0.3f;

+float	wheelRadius = 0.5f;

+float	wheelWidth = 0.2f;

+float wheelFriction = 100.f;

+float suspensionStiffness = 10.f;

+float suspensionDamping = 1.3f;

+float suspensionCompression = 2.4f;

+float rollInfluence = 0.1f;

+SimdVector3 wheelDirectionCS0(0,-1,0);

+SimdVector3 wheelAxleCS(1,0,0);

+SimdScalar suspensionRestLength(0.6);

+

+

+

 #ifdef USE_PARALLEL_DISPATCHER

 ParallelPhysicsEnvironment* physicsEnvironmentPtr = 0;

 #else

@@ -134,7 +168,7 @@ CollisionShape* shapePtr[numShapes] =
 	new BoxShape (SimdVector3(50,10,50)),

 #endif

 		

-		new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),

+		new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,0.5f*CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS)),

 		new SphereShape (CUBE_HALF_EXTENTS- 0.05f),

 

 		//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),

@@ -180,7 +214,7 @@ int main(int argc,char** argv)
 	physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);

 	int i;

 

-//#define  USE_TRIMESH_GROUND 1

+#define  USE_TRIMESH_GROUND 1

 #ifdef USE_TRIMESH_GROUND

 

 

@@ -205,7 +239,7 @@ const float TRIANGLE_SIZE=20.f;
 	{

 		for (int j=0;j<NUM_VERTS_Y;j++)

 		{

-			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

+			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j)+10.f,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);

 		}

 	}

 

@@ -249,7 +283,7 @@ const float TRIANGLE_SIZE=20.f;
 	shapeProps.m_inertia = 1.f;

 	shapeProps.m_lin_drag = 0.2f;

 	shapeProps.m_ang_drag = 0.1f;

-	shapeProps.m_mass = 10.0f;

+	shapeProps.m_mass = 800.0f;

 

 	PHY_MaterialProps materialProps;

 	materialProps.m_friction = 10.5f;

@@ -281,7 +315,7 @@ const float TRIANGLE_SIZE=20.f;
 		ident.setIdentity();

 		ident.setOrigin(SimdVector3(0,0,0));	

 		compoundShape->AddChildShape(ident,oldShape);//

-		ident.setOrigin(SimdVector3(0,0,2));	

+		ident.setOrigin(SimdVector3(0,1,-1));	

 		compoundShape->AddChildShape(ident,new SphereShape(0.9));//

 	}

 

@@ -422,15 +456,70 @@ const float TRIANGLE_SIZE=20.f;
 

 

 		constraintId =physicsEnvironmentPtr->createConstraint(

-		physObjects[1],

-		//0,

-		physObjects[2],

-			////PHY_POINT2POINT_CONSTRAINT,

-			PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'

-			//PHY_LINEHINGE_CONSTRAINT,

-			pivotX,pivotY,pivotZ,

-			axisX,axisY,axisZ

-			);

+		physObjects[1],0,

+			PHY_VEHICLE_CONSTRAINT,

+			0,0,0,

+			0,0,0);

+

+		///never deactivate the vehicle

+		physObjects[1]->GetRigidBody()->SetActivationState(DISABLE_DEACTIVATION);

+		

+		gVehicleConstraint = physicsEnvironmentPtr->getVehicleConstraint(constraintId);

+

+		SimdVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

+		RaycastVehicle::VehicleTuning tuning;

+		bool isFrontWheel=true;

+		int rightIndex = 0;

+		int upIndex = 1;

+		int forwardIndex = 2;

+

+		gVehicleConstraint->SetCoordinateSystem(rightIndex,upIndex,forwardIndex);

+

+		gVehicleConstraint->AddWheel(&wheelMotionState[0],

+			(PHY__Vector3&)connectionPointCS0,

+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+

+		connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);

+		gVehicleConstraint->AddWheel(&wheelMotionState[1],

+			(PHY__Vector3&)connectionPointCS0,

+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+

+		connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

+		isFrontWheel = false;

+		gVehicleConstraint->AddWheel(&wheelMotionState[2],

+			(PHY__Vector3&)connectionPointCS0,

+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+		

+		connectionPointCS0 = SimdVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);

+		gVehicleConstraint->AddWheel(&wheelMotionState[3],

+			(PHY__Vector3&)connectionPointCS0,

+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);

+		

+	

+

+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);

+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);

+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);

+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);

+		

+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,0);

+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,1);

+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,2);

+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,3);

+		

+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,0);

+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,1);

+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,2);

+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,3);

+

+		gVehicleConstraint->SetWheelFriction(wheelFriction,0);

+		gVehicleConstraint->SetWheelFriction(wheelFriction,1);

+		gVehicleConstraint->SetWheelFriction(wheelFriction,2);

+		gVehicleConstraint->SetWheelFriction(wheelFriction,3);

+

+		

+

+

 

 	}

 

@@ -440,28 +529,27 @@ const float TRIANGLE_SIZE=20.f;
 	return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/");

 }

 

+

 //to be implemented by the demo

 void renderme()

 {

 	debugDrawer.SetDebugMode(getDebugMode());

+	float m[16];

+	int i;

 

-	//render the hinge axis

-	if (createConstraint)

+	CylinderShapeX wheelShape(SimdVector3(wheelWidth,wheelRadius,wheelRadius));

+	SimdVector3 wheelColor(1,0,0);

+

+	for (i=0;i<4;i++)

 	{

-		SimdVector3 color(1,0,0);

-		SimdVector3 dirLocal(0,1,0);

-		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);

-		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);

-		SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);

-		SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);

-		SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;

-		SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;

-		debugDrawer.DrawLine(from,from+dirWorldA,color);

-		debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);

+		//draw wheels (cylinders)

+		wheelMotionState[i].m_worldTransform.getOpenGLMatrix(m);

+		GL_ShapeDrawer::DrawOpenGL(m,&wheelShape,wheelColor,getDebugMode());

+	//	debugDrawer.DrawLine(from,from+dirWorldA,color);

+	//	debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);

 	}

 

-	float m[16];

-	int i;

+	

 

 

 	if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)

@@ -581,13 +669,13 @@ void renderme()
 		SimdTransform ident;

 		ident.setIdentity();

 		ident.getOpenGLMatrix(vec);

-		glPushMatrix(); 

+		//glPushMatrix(); 

 	  

-		glLoadMatrixf(vec);

+		//glLoadMatrixf(vec);

 

 		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());

 

-		glPopMatrix(); 

+		//glPopMatrix(); 

 

 		///this block is just experimental code to show some internal issues with replacing shapes on the fly.

 		if (getDebugMode()!=0 && (i>0))

@@ -725,13 +813,29 @@ void clientMoveAndDisplay()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 

 

 

+{			

+		int steerWheelIndex = 2;

+		gVehicleConstraint->ApplyEngineForce(gEngineForce,steerWheelIndex);

+		steerWheelIndex = 3;

+		gVehicleConstraint->ApplyEngineForce(gEngineForce,steerWheelIndex);

+

+		steerWheelIndex = 0;

+		gVehicleConstraint->SetSteeringValue(gVehicleSteering,steerWheelIndex);

+		steerWheelIndex = 1;

+		gVehicleConstraint->SetSteeringValue(gVehicleSteering,steerWheelIndex);

+

+	}

 

 	physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);

 

+	

+

+

 #ifdef USE_QUICKPROF 

         Profiler::beginBlock("render"); 

 #endif //USE_QUICKPROF 

-	

+

+

 	renderme(); 

 

 #ifdef USE_QUICKPROF 

@@ -769,6 +873,9 @@ void clientDisplay(void) {
 void clientResetScene()

 {

 

+	gEngineForce = 0.f;

+	gVehicleSteering = 0.f;

+

 	int i;

 	for (i=0;i<numObjects;i++)

 	{

@@ -828,9 +935,51 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);

 }

 

+void clientSpecialKeyboard(int key, int x, int y)

+{

+	printf("key = %i x=%i y=%i\n",key,x,y);

+

+    switch (key) 

+    {

+    case GLUT_KEY_LEFT : 

+		{

+			gVehicleSteering += steeringIncrement;

+			if (	gVehicleSteering > steeringClamp)

+					gVehicleSteering = steeringClamp;

+

+		break;

+		}

+    case GLUT_KEY_RIGHT : 

+		{

+			gVehicleSteering -= steeringIncrement;

+			if (	gVehicleSteering < -steeringClamp)

+					gVehicleSteering = -steeringClamp;

+

+		break;

+		}

+    case GLUT_KEY_UP :

+		{

+			gEngineForce = -maxEngineForce;

+		break;

+		}

+	case GLUT_KEY_DOWN :

+		{			

+			gEngineForce = maxEngineForce;

+		break;

+		}

+	default:

+			defaultSpecialKeyboard(key,x,y);

+        break;

+    }

+

+//	glutPostRedisplay();

+

+}

+

 void clientKeyboard(unsigned char key, int x, int y)

 {

 

+

 	if (key == '.')

 	{

 		shootBox(SimdVector3(0,0,0));

diff --git a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
index 936259517..ba068ee79 100644
--- a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
+++ b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp
@@ -278,6 +278,11 @@ public:
 		}
 	}
 
+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_vehicle->SetCoordinateSystem(rightIndex,upIndex,forwardIndex);
+	}
+
 
 
 };
diff --git a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
index 053abcbd3..3f03371cc 100644
--- a/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
+++ b/Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h
@@ -43,7 +43,7 @@ class OverlappingPairCache;
 class IDebugDraw;
 class PHY_IVehicle;
 
-/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
+/// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection.
 /// Physics Environment takes care of stepping the simulation and is a container for physics entities.
 /// It stores rigidbodies,constraints, materials etc.
 /// A derived class may be able to 'construct' entities by loading and/or converting
diff --git a/Extras/PhysicsInterface/Common/PHY_IVehicle.h b/Extras/PhysicsInterface/Common/PHY_IVehicle.h
index 6d2cb6684..58694b77b 100644
--- a/Extras/PhysicsInterface/Common/PHY_IVehicle.h
+++ b/Extras/PhysicsInterface/Common/PHY_IVehicle.h
@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef PHY_IVEHICLE_H
 #define PHY_IVEHICLE_H
 
@@ -56,6 +55,18 @@ public:
 
 	virtual	void	ApplyBraking(float braking,int wheelIndex) = 0;
 
+	virtual	void	SetWheelFriction(float friction,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionStiffness(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionDamping(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionCompression(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetRollInfluence(float rollInfluence,int wheelIndex) = 0;
+
+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) =0;
+
 };
 
 #endif //PHY_IVEHICLE_H