private void CreateCharacter()
{
Broadphase.OverlappingPairCache.SetInternalGhostPairCallback(new GhostPairCallback());
const float characterHeight = 1.75f;
const float characterWidth = 1.75f;
var capsule = new CapsuleShape(characterWidth, characterHeight);
GhostObject = new PairCachingGhostObject()
{
CollisionShape = capsule,
CollisionFlags = CollisionFlags.CharacterObject,
WorldTransform = Matrix.Translation(10.210098f, -1.6433364f, 16.453260f)
};
World.AddCollisionObject(GhostObject, CollisionFilterGroups.CharacterFilter, CollisionFilterGroups.StaticFilter | CollisionFilterGroups.DefaultFilter);
const float stepHeight = 0.35f;
Character = new KinematicCharacterController(GhostObject, capsule, stepHeight);
World.AddAction(Character);
}
private void CreateVehicle(Matrix transform)
{
var chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
var compound = new CompoundShape();
//localTrans effectively shifts the center of mass with respect to the chassis
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
RigidBody carChassis = PhysicsHelper.CreateBody(800, Matrix.Identity, compound, World);
carChassis.UserObject = "Chassis";
//carChassis.SetDamping(0.2f, 0.2f);
var tuning = new VehicleTuning();
var vehicleRayCaster = new DefaultVehicleRaycaster(World);
//vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
_vehicle = new CustomVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
World.AddAction(_vehicle);
const float connectionHeight = 1.2f;
// choose coordinate system
_vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 wheelDirection = Vector3.Zero;
Vector3 wheelAxle = Vector3.Zero;
wheelDirection[upIndex] = -1;
wheelAxle[rightIndex] = -1;
bool isFrontWheel = true;
var connectionPoint = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
_vehicle.AddWheel(connectionPoint, wheelDirection, wheelAxle, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPoint = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
_vehicle.AddWheel(connectionPoint, wheelDirection, wheelAxle, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPoint = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
_vehicle.AddWheel(connectionPoint, wheelDirection, wheelAxle, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPoint = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
_vehicle.AddWheel(connectionPoint, wheelDirection, wheelAxle, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (int i = 0; i < _vehicle.NumWheels; i++)
{
WheelInfo wheel = _vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
_vehicle.RigidBody.WorldTransform = transform;
}
