/// <summary>
/// Updates the rotational state etc
/// </summary>
/// <param name="dt"></param>
public void Update(float dt)
{
if (dt <= 0.0f)
{
return;
}
float origAngVel = angVel;
upSpeed = (displacement - lastDisplacement) / System.Math.Max(dt, JiggleMath.Epsilon);
if (locked)
{
angVel = 0;
torque = 0;
}
else
{
angVel += torque * dt / inertia;
torque = 0;
// prevent friction from reversing dir - todo do this better
// by limiting the torque
if (((origAngVel > angVelForGrip) && (angVel < angVelForGrip)) ||
((origAngVel < angVelForGrip) && (angVel > angVelForGrip)))
{
angVel = angVelForGrip;
}
angVel += driveTorque * dt / inertia;
driveTorque = 0;
float maxAngVel = 200;
angVel = OpenTKHelper.Clamp(angVel, -maxAngVel, maxAngVel);
axisAngle += OpenTKHelper.ToDegrees(dt * angVel);
}
}
/// <summary>
/// Update stuff at the end of physics
/// </summary>
/// <param name="dt"></param>
public void PostPhysics(float dt)
{
for (int i = 0; i < wheels.Count; i++)
{
wheels[i].Update(dt);
}
// control inputs
float deltaAccelerate = dt * 4.0f;
float deltaSteering = dt * steerRate;
// update the actual values
float dAccelerate = destAccelerate - accelerate;
dAccelerate = OpenTKHelper.Clamp(dAccelerate, -deltaAccelerate, deltaAccelerate);
accelerate += dAccelerate;
float dSteering = destSteering - steering;
dSteering = OpenTKHelper.Clamp(dSteering, -deltaSteering, deltaSteering);
steering += dSteering;
// apply these inputs
float maxTorque = driveTorque;
if (fWDrive && bWDrive)
{
maxTorque *= 0.5f;
}
if (fWDrive)
{
wheels[(int)WheelId.WheelFL].AddTorque(maxTorque * accelerate);
wheels[(int)WheelId.WheelFR].AddTorque(maxTorque * accelerate);
}
if (bWDrive)
{
wheels[(int)WheelId.WheelBL].AddTorque(maxTorque * accelerate);
wheels[(int)WheelId.WheelBR].AddTorque(maxTorque * accelerate);
}
wheels[(int)WheelId.WheelBL].Lock = (hBrake > 0.5f);
wheels[(int)WheelId.WheelBR].Lock = (hBrake > 0.5f);
// steering angle applies to the inner wheel. The outer one needs to match it
int inner, outer;
if (steering > 0.0f)
{
inner = (int)WheelId.WheelFL;
outer = (int)WheelId.WheelFR;
}
else
{
inner = (int)WheelId.WheelFR;
outer = (int)WheelId.WheelFL;
}
float alpha = System.Math.Abs(maxSteerAngle * steering);
float angleSgn = steering > 0.0f ? 1.0f : -1.0f;
wheels[inner].SteerAngle = (angleSgn * alpha);
float beta;
if (alpha == 0.0f)
{
beta = alpha;
}
else
{
float dx = (wheels[(int)WheelId.WheelFR].Pos.X - wheels[(int)WheelId.WheelBR].Pos.X);
float dy = (wheels[(int)WheelId.WheelFL].Pos.Z - wheels[(int)WheelId.WheelFR].Pos.Z);
//beta = ATan2Deg(dy, dx + (dy / TanDeg(alpha)));
beta = (float)System.Math.Atan2(OpenTKHelper.ToRadians(dy), OpenTKHelper.ToRadians(dx + (dy / (float)System.Math.Tan(OpenTKHelper.ToRadians(alpha)))));
beta = OpenTKHelper.ToDegrees(beta);
}
wheels[outer].SteerAngle = (angleSgn * beta);
}
