diff options
Diffstat (limited to 'Demos/VehicleDemo')
| -rw-r--r-- | Demos/VehicleDemo/VehicleDemo.cpp | 88 |
1 files changed, 51 insertions, 37 deletions
diff --git a/Demos/VehicleDemo/VehicleDemo.cpp b/Demos/VehicleDemo/VehicleDemo.cpp index afbcf01aa..1d3d7915d 100644 --- a/Demos/VehicleDemo/VehicleDemo.cpp +++ b/Demos/VehicleDemo/VehicleDemo.cpp @@ -34,17 +34,17 @@ const int maxOverlap = 65535; ///notice that for higher-quality slow-moving vehicles, another approach might be better
///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
float gEngineForce = 0.f;
-float maxEngineForce = 100.f;
+float maxEngineForce = 3000.f;
float gVehicleSteering = 0.f;
-float steeringIncrement = 0.1f;
+float steeringIncrement = 0.04f;
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;
+float wheelWidth = 0.4f;
+float wheelFriction = 1e30f;//1000;//1e30f;
+float suspensionStiffness = 20.f;
+float suspensionDamping = 2.3f;
+float suspensionCompression = 4.4f;
+float rollInfluence = 0.1f;//1.0f;
btVector3 wheelDirectionCS0(0,-1,0);
btVector3 wheelAxleCS(1,0,0);
btScalar suspensionRestLength(0.6);
@@ -76,6 +76,7 @@ m_cameraHeight(4.f), m_minCameraDistance(3.f),
m_maxCameraDistance(10.f)
{
+ m_vehicle = 0;
m_cameraPosition = btVector3(30,30,30);
}
@@ -86,6 +87,7 @@ void VehicleDemo::setupPhysics() btCollisionShape* groundShape = new btBoxShape(btVector3(50,3,50));
m_dynamicsWorld = new btDiscreteDynamicsWorld();
+ m_dynamicsWorld->setDebugDrawer(&debugDrawer);
#define USE_TRIMESH_GROUND 1
@@ -113,7 +115,9 @@ 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);
+ float wl = .2f;
+ float height = 20.f*sinf(float(i)*wl)*cosf(float(j)*wl);
+ gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,height,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
}
}
@@ -150,9 +154,18 @@ const float TRIANGLE_SIZE=20.f; localCreateRigidBody(0,tr,groundShape);
btCollisionShape* chassisShape = new btBoxShape(btVector3(1.f,0.5f,2.f));
+ btCompoundShape* compound = new btCompoundShape();
+ btTransform localTrans;
+ localTrans.setIdentity();
+ //localTrans effectively shifts the center of mass with respect to the chassis
+ localTrans.setOrigin(btVector3(0,1,0));
+ compound->addChildShape(localTrans,chassisShape);
+
tr.setOrigin(btVector3(0,0.f,0));
- m_carChassis = localCreateRigidBody(800,tr,chassisShape);
+ m_carChassis = localCreateRigidBody(800,tr,compound);//chassisShape);
+ m_carChassis->setDamping(0.2,0.2);
+
clientResetScene();
@@ -167,46 +180,34 @@ const float TRIANGLE_SIZE=20.f; m_dynamicsWorld->addVehicle(m_vehicle);
+ float connectionHeight = 1.2f;
+
- btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
+ btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
bool isFrontWheel=true;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
m_vehicle->setCoordinateSystem(rightIndex,upIndex,forwardIndex);
-
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
- connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
+ connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,2*CUBE_HALF_EXTENTS-wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
- connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
+ connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
isFrontWheel = false;
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,isFrontWheel);
- connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
+ connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+wheelRadius);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,suspensionRestLength,wheelRadius,m_tuning,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);
- */
-
-
+ for (int i=0;i<m_vehicle->getNumWheels();i++)
+ {
+ btWheelInfo& wheel = m_vehicle->getWheelInfo(i);
+ wheel.m_suspensionStiffness = suspensionStiffness;
+ wheel.m_wheelsDampingRelaxation = suspensionDamping;
+ wheel.m_wheelsDampingCompression = suspensionCompression;
+ wheel.m_frictionSlip = wheelFriction;
+ wheel.m_rollInfluence = rollInfluence;
+ }
}
@@ -338,6 +339,19 @@ void VehicleDemo::clientResetScene() gEngineForce = 0.f;
gVehicleSteering = 0.f;
m_carChassis->setCenterOfMassTransform(btTransform::getIdentity());
+ m_carChassis->setLinearVelocity(btVector3(0,0,0));
+ m_carChassis->setAngularVelocity(btVector3(0,0,0));
+ m_dynamicsWorld->getBroadphase()->cleanProxyFromPairs(m_carChassis->getBroadphaseHandle());
+ if (m_vehicle)
+ {
+ m_vehicle->resetSuspension();
+ for (int i=0;i<m_vehicle->getNumWheels();i++)
+ {
+ //synchronize the wheels with the (interpolated) chassis worldtransform
+ m_vehicle->updateWheelTransform(i);
+ }
+ }
+
}
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