private static NewtonTire CreateTire(TireID tireID, TransformNode tireTrans,
GeometryNode carNode, float gravity)
{
NewtonTire tire = new NewtonTire();
Material tireMat = new Material();
tireMat.Diffuse = Color.Orange.ToVector4();
tireMat.Specular = Color.White.ToVector4();
tireMat.SpecularPower = 10;
float tireRadius = 0.7f;
GeometryNode tireNode = new GeometryNode("Race Car " + tireID + " Tire");
tireNode.Model = new Cylinder(tireRadius, tireRadius, 0.3f, 20);
tireNode.Material = tireMat;
carNode.AddChild(tireTrans);
tireTrans.AddChild(tireNode);
tire.Mass = 5.0f;
tire.Width = 0.3f * 1.25f;
tire.Radius = tireRadius;
switch (tireID)
{
case TireID.FrontLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, -1f));
break;
case TireID.FrontRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, 1f));
break;
case TireID.RearLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, -1f));
break;
case TireID.RearRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, 1f));
break;
}
// the tire will spin around the lateral axis of the same tire space
tire.Pin = Vector3.UnitZ;
tire.SuspensionLength = RaceCar.SUSPENSION_LENGTH;
// calculate the spring and damper contact for the subquestion
//
// from the equation of a simple spring the force is given by
// a = k * x
// where k is a spring constant and x is the displacement and a is the spring acceleration.
// we desire that a rest length the acceleration generated by the spring equal that of the gravity
// several gravity forces
// m * gravity = k * SUSPENSION_LENGTH * 0.5f,
float x = RaceCar.SUSPENSION_LENGTH;
tire.SuspensionSpring = (200.0f * (float)Math.Abs(gravity)) / x;
//tireSuspesionSpring = (100.0f * dAbs (GRAVITY)) / x;
// from the equation of a simple spring / damper system
// the system resonate at a frequency
// w^2 = ks
//
// and the damping attenuation is given by
// d = ks / 2.0f
// where:
// if d = w = 2 * pi * f -> the system is critically damped
// if d > w < 2 * pi * f -> the system is super critically damped
// if d < w < 2 * pi * f -> the system is under damped damped
// for a vehicle we usually want a suspension that is about 10% super critically damped
float w = (float)Math.Sqrt(tire.SuspensionSpring);
// a critically damped suspension act too jumpy for a race car
tire.SuspensionShock = 1.0f * w;
// make it a little super critical y damped
//tireSuspesionShock = 2.0f * w;
tire.CollisionID = 0x100;
return tire;
}
private static NewtonTire CreateTire(TireID tireID, TransformNode tireTrans,
GeometryNode carNode, float gravity)
{
NewtonTire tire = new NewtonTire();
Material tireMat = new Material();
tireMat.Diffuse = Color.Orange.ToVector4();
tireMat.Specular = Color.White.ToVector4();
tireMat.SpecularPower = 10;
float tireRadius = 1.4f;
GeometryNode tireNode = new GeometryNode("Race Car " + tireID + " Tire");
tireNode.Model = new Cylinder(tireRadius, tireRadius, 0.9f, 20);
tireNode.Material = tireMat;
carNode.AddChild(tireTrans);
tireTrans.AddChild(tireNode);
tire.Mass = 5.0f;
tire.Width = 0.3f * 1.25f;
tire.Radius = tireRadius;
switch (tireID)
{
case TireID.FrontLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-5.9f, 0, -3.0f));
break;
case TireID.FrontRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-5.9f, 0, 3.0f));
break;
case TireID.RearLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(5.0f, 0, -3.0f));
break;
case TireID.RearRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(5.0f, 0, 3.0f));
break;
}
// the tire will spin around the lateral axis of the same tire space
tire.Pin = Vector3.UnitZ;
tire.SuspensionLength = RaceCar.SUSPENSION_LENGTH;
float x = RaceCar.SUSPENSION_LENGTH;
tire.SuspensionSpring = (200.0f * (float)Math.Abs(gravity)) / x;
//tireSuspesionSpring = (100.0f * dAbs (GRAVITY)) / x;
float w = (float)Math.Sqrt(tire.SuspensionSpring);
// a critically damped suspension act too jumpy for a race car
tire.SuspensionShock = 1.0f * w;
// make it a little super critical y damped
//tireSuspesionShock = 2.0f * w;
tire.CollisionID = 0x100;
return(tire);
}
private static NewtonTire CreateTire(TireID tireID, TransformNode tireTrans,
GeometryNode carNode, float gravity)
{
NewtonTire tire = new NewtonTire();
Material tireMat = new Material();
tireMat.Diffuse = Color.Orange.ToVector4();
tireMat.Specular = Color.White.ToVector4();
tireMat.SpecularPower = 10;
float tireRadius = 1.4f;
GeometryNode tireNode = new GeometryNode("Race Car " + tireID + " Tire");
tireNode.Model = new Cylinder(tireRadius, tireRadius, 0.9f, 20);
tireNode.Material = tireMat;
carNode.AddChild(tireTrans);
tireTrans.AddChild(tireNode);
tire.Mass = 5.0f;
tire.Width = 0.3f * 1.25f;
tire.Radius = tireRadius;
switch (tireID)
{
case TireID.FrontLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-5.9f, 0, -3.0f));
break;
case TireID.FrontRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-5.9f, 0, 3.0f));
break;
case TireID.RearLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(5.0f, 0, -3.0f));
break;
case TireID.RearRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(5.0f, 0, 3.0f));
break;
}
// the tire will spin around the lateral axis of the same tire space
tire.Pin = Vector3.UnitZ;
tire.SuspensionLength = RaceCar.SUSPENSION_LENGTH;
float x = RaceCar.SUSPENSION_LENGTH;
tire.SuspensionSpring = (200.0f * (float)Math.Abs(gravity)) / x;
//tireSuspesionSpring = (100.0f * dAbs (GRAVITY)) / x;
float w = (float)Math.Sqrt(tire.SuspensionSpring);
// a critically damped suspension act too jumpy for a race car
tire.SuspensionShock = 1.0f * w;
// make it a little super critical y damped
//tireSuspesionShock = 2.0f * w;
tire.CollisionID = 0x100;
return tire;
}
private static NewtonTire CreateTire(TireID tireID, TransformNode tireTrans,
GeometryNode carNode, float gravity)
{
NewtonTire tire = new NewtonTire();
Material tireMat = new Material();
tireMat.Diffuse = Color.Orange.ToVector4();
tireMat.Specular = Color.White.ToVector4();
tireMat.SpecularPower = 10;
float tireRadius = 0.7f;
GeometryNode tireNode = new GeometryNode("Race Car " + tireID + " Tire");
tireNode.Model = new Cylinder(tireRadius, tireRadius, 0.3f, 20);
tireNode.Material = tireMat;
carNode.AddChild(tireTrans);
tireTrans.AddChild(tireNode);
tire.Mass = 5.0f;
tire.Width = 0.3f * 1.25f;
tire.Radius = tireRadius;
switch (tireID)
{
case TireID.FrontLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, -1f));
break;
case TireID.FrontRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(-1.5f, 0, 1f));
break;
case TireID.RearLeft:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, -1f));
break;
case TireID.RearRight:
tire.TireOffsetMatrix = Matrix.CreateTranslation(new Vector3(1.5f, 0, 1f));
break;
}
// the tire will spin around the lateral axis of the same tire space
tire.Pin = Vector3.UnitZ;
tire.SuspensionLength = RaceCar.SUSPENSION_LENGTH;
// calculate the spring and damper contact for the subquestion
//
// from the equation of a simple spring the force is given by
// a = k * x
// where k is a spring constant and x is the displacement and a is the spring acceleration.
// we desire that a rest length the acceleration generated by the spring equal that of the gravity
// several gravity forces
// m * gravity = k * SUSPENSION_LENGTH * 0.5f,
float x = RaceCar.SUSPENSION_LENGTH;
tire.SuspensionSpring = (200.0f * (float)Math.Abs(gravity)) / x;
//tireSuspesionSpring = (100.0f * dAbs (GRAVITY)) / x;
// from the equation of a simple spring / damper system
// the system resonate at a frequency
// w^2 = ks
//
// and the damping attenuation is given by
// d = ks / 2.0f
// where:
// if d = w = 2 * pi * f -> the system is critically damped
// if d > w < 2 * pi * f -> the system is super critically damped
// if d < w < 2 * pi * f -> the system is under damped damped
// for a vehicle we usually want a suspension that is about 10% super critically damped
float w = (float)Math.Sqrt(tire.SuspensionSpring);
// a critically damped suspension act too jumpy for a race car
tire.SuspensionShock = 1.0f * w;
// make it a little super critical y damped
//tireSuspesionShock = 2.0f * w;
tire.CollisionID = 0x100;
return(tire);
}
