Ejemplo n.º 1
0
        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;
        }
Ejemplo n.º 2
0
        protected override void OnInitializePhysics()
        {
            CollisionShape groundShape = new BoxShape(50, 3, 50);

            CollisionShapes.Add(groundShape);

            CollisionConf = new DefaultCollisionConfiguration();
            Dispatcher    = new CollisionDispatcher(CollisionConf);
            Solver        = new SequentialImpulseConstraintSolver();

            Vector3 worldMin = new Vector3(-10000, -10000, -10000);
            Vector3 worldMax = new Vector3(10000, 10000, 10000);

            Broadphase = new AxisSweep3(worldMin, worldMax);
            //Broadphase = new DbvtBroadphase();

            World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);

            int    i;
            Matrix tr;
            Matrix vehicleTr;

            //if (UseTrimeshGround)
            {
                const float scale = 20.0f;

                //create a triangle-mesh ground
                const int NumVertsX  = 20;
                const int NumVertsY  = 20;
                const int totalVerts = NumVertsX * NumVertsY;

                const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);

                TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
                IndexedMesh mesh = new IndexedMesh();
                mesh.Allocate(totalTriangles, totalVerts);
                mesh.NumTriangles        = totalTriangles;
                mesh.NumVertices         = totalVerts;
                mesh.TriangleIndexStride = 3 * sizeof(int);
                mesh.VertexStride        = Vector3.SizeInBytes;
                using (var indicesStream = mesh.GetTriangleStream())
                {
                    var indices = new BinaryWriter(indicesStream);
                    for (i = 0; i < NumVertsX - 1; i++)
                    {
                        for (int j = 0; j < NumVertsY - 1; j++)
                        {
                            indices.Write(j * NumVertsX + i);
                            indices.Write(j * NumVertsX + i + 1);
                            indices.Write((j + 1) * NumVertsX + i + 1);

                            indices.Write(j * NumVertsX + i);
                            indices.Write((j + 1) * NumVertsX + i + 1);
                            indices.Write((j + 1) * NumVertsX + i);
                        }
                    }
                    indices.Dispose();
                }

                using (var vertexStream = mesh.GetVertexStream())
                {
                    var vertices = new BinaryWriter(vertexStream);
                    for (i = 0; i < NumVertsX; i++)
                    {
                        for (int j = 0; j < NumVertsY; j++)
                        {
                            float wl     = .2f;
                            float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));

                            vertices.Write((i - NumVertsX * 0.5f) * scale);
                            vertices.Write(height);
                            vertices.Write((j - NumVertsY * 0.5f) * scale);
                        }
                    }
                    vertices.Dispose();
                }

                vertexArray.AddIndexedMesh(mesh);
                groundShape = new BvhTriangleMeshShape(vertexArray, true);

                tr        = Matrix.Identity;
                vehicleTr = Matrix.Translation(0, -2, 0);
            }/*
              * else
              * {
              * // Use HeightfieldTerrainShape
              *
              * int width = 40, length = 40;
              * //int width = 128, length = 128; // Debugging is too slow for this
              * float maxHeight = 10.0f;
              * float heightScale = maxHeight / 256.0f;
              * Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);
              *
              * //PhyScalarType scalarType = PhyScalarType.PhyUChar;
              * //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);
              *
              * // Use float data
              * PhyScalarType scalarType = PhyScalarType.PhyFloat;
              * byte[] terr = new byte[width * length * 4];
              * MemoryStream file = new MemoryStream(terr);
              * BinaryWriter writer = new BinaryWriter(file);
              * for (i = 0; i < width; i++)
              *     for (int j = 0; j < length; j++)
              *         writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
              * writer.Flush();
              * file.Position = 0;
              *
              * HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
              *     file, heightScale, 0, maxHeight, upIndex, scalarType, false);
              * heightterrainShape.SetUseDiamondSubdivision(true);
              *
              * groundShape = heightterrainShape;
              * groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);
              *
              * tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
              * vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));
              *
              *
              * // Create graphics object
              *
              * file.Position = 0;
              * BinaryReader reader = new BinaryReader(file);
              *
              * int totalTriangles = (width - 1) * (length - 1) * 2;
              * int totalVerts = width * length;
              *
              * game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
              *     MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
              * SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
              * for (i = 0; i < width; i++)
              * {
              *     for (int j = 0; j < length; j++)
              *     {
              *         float height;
              *         if (scalarType == PhyScalarType.PhyFloat)
              *         {
              *             // heightScale isn't applied internally for float data
              *             height = reader.ReadSingle();
              *         }
              *         else if (scalarType == PhyScalarType.PhyUChar)
              *         {
              *             height = file.ReadByte() * heightScale;
              *         }
              *         else
              *         {
              *             height = 0.0f;
              *         }
              *
              *         data.Write((j - length * 0.5f) * scale.X);
              *         data.Write(height);
              *         data.Write((i - width * 0.5f) * scale.Z);
              *
              *         // Normals will be calculated later
              *         data.Position += 12;
              *     }
              * }
              * game.groundMesh.UnlockVertexBuffer();
              * file.Close();
              *
              * data = game.groundMesh.LockIndexBuffer(LockFlags.None);
              * for (i = 0; i < width - 1; i++)
              * {
              *     for (int j = 0; j < length - 1; j++)
              *     {
              *         // Using diamond subdivision
              *         if ((j + i) % 2 == 0)
              *         {
              *             data.Write(j * width + i);
              *             data.Write((j + 1) * width + i + 1);
              *             data.Write(j * width + i + 1);
              *
              *             data.Write(j * width + i);
              *             data.Write((j + 1) * width + i);
              *             data.Write((j + 1) * width + i + 1);
              *         }
              *         else
              *         {
              *             data.Write(j * width + i);
              *             data.Write((j + 1) * width + i);
              *             data.Write(j * width + i + 1);
              *
              *             data.Write(j * width + i + 1);
              *             data.Write((j + 1) * width + i);
              *             data.Write((j + 1) * width + i + 1);
              *         }
              *
              *         / *
              *         // Not using diamond subdivision
              *         data.Write(j * width + i);
              *         data.Write((j + 1) * width + i);
              *         data.Write(j * width + i + 1);
              *
              *         data.Write(j * width + i + 1);
              *         data.Write((j + 1) * width + i);
              *         data.Write((j + 1) * width + i + 1);
              * /
              *     }
              * }
              * game.groundMesh.UnlockIndexBuffer();
              *
              * game.groundMesh.ComputeNormals();
              * }*/

            CollisionShapes.Add(groundShape);


            //create ground object
            RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);

            ground.UserObject = "Ground";


            CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);

            CollisionShapes.Add(chassisShape);

            CompoundShape compound = new CompoundShape();

            CollisionShapes.Add(compound);

            //localTrans effectively shifts the center of mass with respect to the chassis
            Matrix localTrans = Matrix.Translation(Vector3.UnitY);

            compound.AddChildShape(localTrans, chassisShape);
            RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);

            carChassis.UserObject = "Chassis";
            //carChassis.SetDamping(0.2f, 0.2f);

            //CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);


            // clientResetScene();

            // create vehicle
            VehicleTuning     tuning           = new VehicleTuning();
            IVehicleRaycaster 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;
            bool        isFrontWheel     = true;

            // choose coordinate system
            vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

            BulletSharp.Math.Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            isFrontWheel       = false;
            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);


            for (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 = vehicleTr;
        }
Ejemplo n.º 3
0
        protected override void OnInitializePhysics()
        {
            CollisionShape groundShape = new BoxShape(50, 3, 50);
            CollisionShapes.Add(groundShape);

            CollisionConf = new DefaultCollisionConfiguration();
            Dispatcher = new CollisionDispatcher(CollisionConf);
            Solver = new SequentialImpulseConstraintSolver();

            Vector3 worldMin = new Vector3(-10000, -10000, -10000);
            Vector3 worldMax = new Vector3(10000, 10000, 10000);
            Broadphase = new AxisSweep3(worldMin, worldMax);
            //Broadphase = new DbvtBroadphase();

            World = new DiscreteDynamicsWorld(Dispatcher, Broadphase, Solver, CollisionConf);

            int i;
            Matrix tr;
            Matrix vehicleTr;
            //if (UseTrimeshGround)
            {
                const float scale = 20.0f;

                //create a triangle-mesh ground
                const int NumVertsX = 20;
                const int NumVertsY = 20;
                const int totalVerts = NumVertsX * NumVertsY;

                const int totalTriangles = 2 * (NumVertsX - 1) * (NumVertsY - 1);

                TriangleIndexVertexArray vertexArray = new TriangleIndexVertexArray();
                IndexedMesh mesh = new IndexedMesh();
                mesh.Allocate(totalTriangles, totalVerts);
                mesh.NumTriangles = totalTriangles;
                mesh.NumVertices = totalVerts;
                mesh.TriangleIndexStride = 3 * sizeof(int);
                mesh.VertexStride = Vector3.SizeInBytes;
                using (var indicesStream = mesh.GetTriangleStream())
                {
                    var indices = new BinaryWriter(indicesStream);
                    for (i = 0; i < NumVertsX - 1; i++)
                    {
                        for (int j = 0; j < NumVertsY - 1; j++)
                        {
                            indices.Write(j * NumVertsX + i);
                            indices.Write(j * NumVertsX + i + 1);
                            indices.Write((j + 1) * NumVertsX + i + 1);

                            indices.Write(j * NumVertsX + i);
                            indices.Write((j + 1) * NumVertsX + i + 1);
                            indices.Write((j + 1) * NumVertsX + i);
                        }
                    }
                    indices.Dispose();
                }

                using (var vertexStream = mesh.GetVertexStream())
                {
                    var vertices = new BinaryWriter(vertexStream);
                    for (i = 0; i < NumVertsX; i++)
                    {
                        for (int j = 0; j < NumVertsY; j++)
                        {
                            float wl = .2f;
                            float height = 20.0f * (float)(Math.Sin(i * wl) * Math.Cos(j * wl));

                            vertices.Write((i - NumVertsX * 0.5f) * scale);
                            vertices.Write(height);
                            vertices.Write((j - NumVertsY * 0.5f) * scale);
                        }
                    }
                    vertices.Dispose();
                }

                vertexArray.AddIndexedMesh(mesh);
                groundShape = new BvhTriangleMeshShape(vertexArray, true);

                tr = Matrix.Identity;
                vehicleTr = Matrix.Translation(0, -2, 0);
            }/*
            else
            {
                // Use HeightfieldTerrainShape

                int width = 40, length = 40;
                //int width = 128, length = 128; // Debugging is too slow for this
                float maxHeight = 10.0f;
                float heightScale = maxHeight / 256.0f;
                Vector3 scale = new Vector3(20.0f, maxHeight, 20.0f);

                //PhyScalarType scalarType = PhyScalarType.PhyUChar;
                //FileStream file = new FileStream(heightfieldFile, FileMode.Open, FileAccess.Read);

                // Use float data
                PhyScalarType scalarType = PhyScalarType.PhyFloat;
                byte[] terr = new byte[width * length * 4];
                MemoryStream file = new MemoryStream(terr);
                BinaryWriter writer = new BinaryWriter(file);
                for (i = 0; i < width; i++)
                    for (int j = 0; j < length; j++)
                        writer.Write((float)((maxHeight / 2) + 4 * Math.Sin(j * 0.5f) * Math.Cos(i)));
                writer.Flush();
                file.Position = 0;

                HeightfieldTerrainShape heightterrainShape = new HeightfieldTerrainShape(width, length,
                    file, heightScale, 0, maxHeight, upIndex, scalarType, false);
                heightterrainShape.SetUseDiamondSubdivision(true);

                groundShape = heightterrainShape;
                groundShape.LocalScaling = new Vector3(scale.X, 1, scale.Z);

                tr = Matrix.Translation(new Vector3(-scale.X / 2, scale.Y / 2, -scale.Z / 2));
                vehicleTr = Matrix.Translation(new Vector3(20, 3, -3));


                // Create graphics object

                file.Position = 0;
                BinaryReader reader = new BinaryReader(file);

                int totalTriangles = (width - 1) * (length - 1) * 2;
                int totalVerts = width * length;

                game.groundMesh = new Mesh(game.Device, totalTriangles, totalVerts,
                    MeshFlags.SystemMemory | MeshFlags.Use32Bit, VertexFormat.Position | VertexFormat.Normal);
                SlimDX.DataStream data = game.groundMesh.LockVertexBuffer(LockFlags.None);
                for (i = 0; i < width; i++)
                {
                    for (int j = 0; j < length; j++)
                    {
                        float height;
                        if (scalarType == PhyScalarType.PhyFloat)
                        {
                            // heightScale isn't applied internally for float data
                            height = reader.ReadSingle();
                        }
                        else if (scalarType == PhyScalarType.PhyUChar)
                        {
                            height = file.ReadByte() * heightScale;
                        }
                        else
                        {
                            height = 0.0f;
                        }

                        data.Write((j - length * 0.5f) * scale.X);
                        data.Write(height);
                        data.Write((i - width * 0.5f) * scale.Z);

                        // Normals will be calculated later
                        data.Position += 12;
                    }
                }
                game.groundMesh.UnlockVertexBuffer();
                file.Close();

                data = game.groundMesh.LockIndexBuffer(LockFlags.None);
                for (i = 0; i < width - 1; i++)
                {
                    for (int j = 0; j < length - 1; j++)
                    {
                        // Using diamond subdivision
                        if ((j + i) % 2 == 0)
                        {
                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i + 1);
                            data.Write(j * width + i + 1);

                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i);
                            data.Write((j + 1) * width + i + 1);
                        }
                        else
                        {
                            data.Write(j * width + i);
                            data.Write((j + 1) * width + i);
                            data.Write(j * width + i + 1);

                            data.Write(j * width + i + 1);
                            data.Write((j + 1) * width + i);
                            data.Write((j + 1) * width + i + 1);
                        }

                        / *
                        // Not using diamond subdivision
                        data.Write(j * width + i);
                        data.Write((j + 1) * width + i);
                        data.Write(j * width + i + 1);

                        data.Write(j * width + i + 1);
                        data.Write((j + 1) * width + i);
                        data.Write((j + 1) * width + i + 1);
                        * /
                    }
                }
                game.groundMesh.UnlockIndexBuffer();

                game.groundMesh.ComputeNormals();
            }*/

            CollisionShapes.Add(groundShape);


            //create ground object
            RigidBody ground = LocalCreateRigidBody(0, tr, groundShape);
            ground.UserObject = "Ground";


            CollisionShape chassisShape = new BoxShape(1.0f, 0.5f, 2.0f);
            CollisionShapes.Add(chassisShape);

            CompoundShape compound = new CompoundShape();
            CollisionShapes.Add(compound);

            //localTrans effectively shifts the center of mass with respect to the chassis
            Matrix localTrans = Matrix.Translation(Vector3.UnitY);
            compound.AddChildShape(localTrans, chassisShape);
            RigidBody carChassis = LocalCreateRigidBody(800, Matrix.Identity, compound);
            carChassis.UserObject = "Chassis";
            //carChassis.SetDamping(0.2f, 0.2f);

            //CylinderShapeX wheelShape = new CylinderShapeX(wheelWidth, wheelRadius, wheelRadius);


            // clientResetScene();

            // create vehicle
            VehicleTuning tuning = new VehicleTuning();
            IVehicleRaycaster 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;
            bool isFrontWheel = true;

            // choose coordinate system
            vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);

            BulletSharp.Math.Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            isFrontWheel = false;
            connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);

            connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
            vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);


            for (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 = vehicleTr;
        }