/// <summary>
///
/// </summary>
/// <param name="chassis"></param>
/// <param name="paramRaycastInfo">Not used!</param>
public void UpdateWheel(RigidBody chassis, RaycastInfo paramRaycastInfo)
{
if (_raycastInfo.IsInContact)
{
float project = Vector3.Dot(_raycastInfo.ContactNormalWS, _raycastInfo.WheelDirectionWS);
Vector3 chassisVelocityAtContactPoint = new Vector3();
Vector3 relpos = _raycastInfo.ContactPointWS - chassis.CenterOfMassPosition;
chassisVelocityAtContactPoint = chassis.GetVelocityInLocalPoint(relpos);
float projVel = Vector3.Dot(_raycastInfo.ContactNormalWS, chassisVelocityAtContactPoint);
if (project >= -0.1f)
{
_suspensionRelativeVelocity = 0;
_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1 / project;
_suspensionRelativeVelocity = projVel * inv;
_clippedInvContactDotSuspension = inv;
}
}
else
{
_raycastInfo.SuspensionLength = _suspensionRestLength;
_suspensionRelativeVelocity = 0.0f;
_raycastInfo.ContactNormalWS = -_raycastInfo.WheelDirectionWS;
_clippedInvContactDotSuspension = 1.0f;
}
}
public WheelInfo(WheelInfoConstructionInfo constructionInfo)
{
_suspensionRestLength = constructionInfo.SuspensionRestLength;
_maxSuspensionTravelCm = constructionInfo.MaxSuspensionTravelCm;
_wheelsRadius = constructionInfo.WheelRadius;
_wheelsDampingCompression = constructionInfo.WheelsDampingCompression;
_wheelsDampingRelaxation = constructionInfo.WheelsDampingRelaxation;
_wheelDirectionCS = constructionInfo.WheelDirectionCS;
_suspensionStiffness = constructionInfo.SuspensionStiffness;
_chassicConnectionPointCS = constructionInfo.ChassicConnectionCS;
_wheelAxleCS = constructionInfo.WheelAxleCS;
_frictionSlip = constructionInfo.FrictionSlip;
_clippedInvContactDotSuspension = 0;
_suspensionRelativeVelocity = 0;
_wheelsSuspensionForce = 0;
_skidInfo = 0;
_steering = 0;
_engineForce = 0;
_rotation = 0;
_rotation = 0;
_deltaRotation = 0;
_brake = 0;
_rollInfluence = 0.1f;
_brake = 0;
_rollInfluence = 0.1f;
_isFrontWheel = constructionInfo.IsFrontWheel;
_raycastInfo = default(RaycastInfo);
_worldTransform = default(Matrix);
_clientInfo = null;
}
/// <summary>
///
/// </summary>
/// <param name="chassis"></param>
/// <param name="paramRaycastInfo">Not used!</param>
public void UpdateWheel(RigidBody chassis, RaycastInfo paramRaycastInfo)
{
if (_raycastInfo.IsInContact)
{
float project = Vector3.Dot(_raycastInfo.ContactNormalWS, _raycastInfo.WheelDirectionWS);
Vector3 chassisVelocityAtContactPoint = new Vector3();
Vector3 relpos = _raycastInfo.ContactPointWS - chassis.CenterOfMassPosition;
chassisVelocityAtContactPoint = chassis.GetVelocityInLocalPoint(relpos);
float projVel = Vector3.Dot(_raycastInfo.ContactNormalWS, chassisVelocityAtContactPoint);
if (project >= -0.1f)
{
_suspensionRelativeVelocity = 0;
_clippedInvContactDotSuspension = 1.0f / 0.1f;
}
else
{
float inv = -1 / project;
_suspensionRelativeVelocity = projVel * inv;
_clippedInvContactDotSuspension = inv;
}
}
else
{
_raycastInfo.SuspensionLength = _suspensionRestLength;
_suspensionRelativeVelocity = 0.0f;
_raycastInfo.ContactNormalWS = -_raycastInfo.WheelDirectionWS;
_clippedInvContactDotSuspension = 1.0f;
}
}
public WheelInfo(WheelInfoConstructionInfo constructionInfo)
{
_suspensionRestLength = constructionInfo.SuspensionRestLength;
_maxSuspensionTravelCm = constructionInfo.MaxSuspensionTravelCm;
_wheelsRadius = constructionInfo.WheelRadius;
_wheelsDampingCompression = constructionInfo.WheelsDampingCompression;
_wheelsDampingRelaxation = constructionInfo.WheelsDampingRelaxation;
_wheelDirectionCS = constructionInfo.WheelDirectionCS;
_suspensionStiffness = constructionInfo.SuspensionStiffness;
_chassicConnectionPointCS = constructionInfo.ChassicConnectionCS;
_wheelAxleCS = constructionInfo.WheelAxleCS;
_frictionSlip = constructionInfo.FrictionSlip;
_clippedInvContactDotSuspension = 0;
_suspensionRelativeVelocity = 0;
_wheelsSuspensionForce = 0;
_skidInfo = 0;
_steering = 0;
_engineForce = 0;
_rotation = 0;
_rotation = 0;
_deltaRotation = 0;
_brake = 0;
_rollInfluence = 0.1f;
_brake = 0;
_rollInfluence = 0.1f;
_isFrontWheel = constructionInfo.IsFrontWheel;
_raycastInfo = default(RaycastInfo);
_worldTransform = default(Matrix);
_clientInfo = null;
}
