private void LoadVehiclePhysics(Scene scene)
{
// Create a 2 ton car with 4 wheels
BodyDescription bodyDesc = new BodyDescription()
{
Mass = 2000
};
//bodyDesc.MassLocalPose = Matrix.CreateTranslation( 0, -1.5f, 0 ); // Seems not to be working
ActorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
Shapes = { new BoxShapeDescription(5, 3, 7) },
GlobalPose = Matrix.Translation(-50, 5, -70)
};
VehicleBodyActor = scene.CreateActor(ActorDesc);
VehicleBodyActor.SetCenterOfMassOffsetLocalPosition(new Vector3(0, -1.5f, 0)); // Move the COM to the bottom of the vehicle to stop it flipping over so much
//
WheelShapeDescription leftFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, 3)
};
WheelShapeDescription leftRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, -3),
};
WheelShapeDescription rightFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, 3)
};
WheelShapeDescription rightRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, -3)
};
this.LeftFront = VehicleBodyActor.CreateShape(leftFrontDesc) as WheelShape;
this.LeftRear = VehicleBodyActor.CreateShape(leftRearDesc) as WheelShape;
this.RightFront = VehicleBodyActor.CreateShape(rightFrontDesc) as WheelShape;
this.RightRear = VehicleBodyActor.CreateShape(rightRearDesc) as WheelShape;
}
private void LoadVehiclePhysics(Scene scene)
{
// Create a 2 ton car with 4 wheels
BodyDescription bodyDesc = new BodyDescription()
{
Mass = 2000
};
//bodyDesc.MassLocalPose = Matrix.CreateTranslation( 0, -1.5f, 0 ); // Seems not to be working
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
Shapes = { new BoxShapeDescription(5, 3, 7) },
GlobalPose = Matrix.Translation(-50, 5, -70)
};
_vehicleBodyActor = scene.CreateActor(actorDesc);
_vehicleBodyActor.SetCenterOfMassOffsetLocalPosition(new Vector3(0, -1.5f, 0)); // Move the COM to the bottom of the vehicle to stop it flipping over so much
//
WheelShapeDescription leftFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, 3)
};
WheelShapeDescription leftRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(-2.5f, -1, -3),
};
WheelShapeDescription rightFrontDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, 3)
};
WheelShapeDescription rightRearDesc = new WheelShapeDescription()
{
Radius = 0.8f,
SuspensionTravel = 1,
LocalPosition = new Vector3(2.5f, -1, -3)
};
this.LeftFront = _vehicleBodyActor.CreateShape(leftFrontDesc) as WheelShape;
this.LeftRear = _vehicleBodyActor.CreateShape(leftRearDesc) as WheelShape;
this.RightFront = _vehicleBodyActor.CreateShape(rightFrontDesc) as WheelShape;
this.RightRear = _vehicleBodyActor.CreateShape(rightRearDesc) as WheelShape;
}
protected override void iniPhysx()
{
BodyDescription bodyDesc = new BodyDescription();
bodyDesc.Mass = 5;
this.shapeDesc = new WheelShapeDescription();
this.shapeDesc.Radius = this.Radius;
shapeDesc.SuspensionTravel = 10;
//shapeDesc.LocalPosition = localPosition;
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = bodyDesc;
actorDesc.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(100,30,0);
actorDesc.Shapes.Add(shapeDesc);
this.actor = game.scene.CreateActor(actorDesc);
this.shape = actor.Shapes[0];
//this.shape = this.actor.CreateShape(shapeDesc) as WheelShape;
}
protected override void iniPhysx()
{
BodyDescription bodyDesc = new BodyDescription();
bodyDesc.Mass = 5;
this.shapeDesc = new WheelShapeDescription();
this.shapeDesc.Radius = this.Radius;
shapeDesc.SuspensionTravel = 10;
//shapeDesc.LocalPosition = localPosition;
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = bodyDesc;
actorDesc.GlobalPose = StillDesign.PhysX.MathPrimitives.Matrix.Translation(100, 30, 0);
actorDesc.Shapes.Add(shapeDesc);
this.actor = game.scene.CreateActor(actorDesc);
this.shape = actor.Shapes[0];
//this.shape = this.actor.CreateShape(shapeDesc) as WheelShape;
}
public VehicleChassis(Vehicle vehicle)
{
Vehicle = vehicle;
Wheels = new List <VehicleWheel>();
VehicleFile carFile = vehicle.Config;
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = new BodyDescription();
actorDesc.BodyDescription.Mass = carFile.Mass;
var boxDesc = new BoxShapeDescription();
boxDesc.Size = carFile.BoundingBox.GetSize();
boxDesc.LocalPosition = carFile.BoundingBox.GetCenter();
boxDesc.Name = PhysXConsts.VehicleBody;
boxDesc.Flags |= ShapeFlag.PointContactForce;
actorDesc.Shapes.Add(boxDesc);
foreach (Vector3 extraPoint in carFile.ExtraBoundingBoxPoints)
{
var extraDesc = new SphereShapeDescription(0.2f);
extraDesc.LocalPosition = extraPoint;
extraDesc.Mass = 0;
actorDesc.Shapes.Add(extraDesc);
}
using (UtilitiesLibrary lib = new UtilitiesLibrary())
{
Vector3 size = carFile.Size;
Vector3 inertiaTensor = lib.ComputeBoxInteriaTensor(Vector3.Zero, carFile.Mass, size);
//actorDesc.BodyDescription.MassSpaceInertia = inertiaTensor;
}
TireFunctionDescription lngTFD = new TireFunctionDescription();
lngTFD.ExtremumSlip = 0.1f;
lngTFD.ExtremumValue = 4f;
lngTFD.AsymptoteSlip = 2.0f;
lngTFD.AsymptoteValue = 3.2f;
_rearLateralTireFn = new TireFunctionDescription();
_rearLateralTireFn.ExtremumSlip = 0.2f;
_rearLateralTireFn.ExtremumValue = 2.1f;
_rearLateralTireFn.AsymptoteSlip = 0.0013f * carFile.Mass;
_rearLateralTireFn.AsymptoteValue = 0.02f;
_frontLateralTireFn = _rearLateralTireFn;
_frontLateralTireFn.ExtremumValue = 1.9f;
MaterialDescription md = new MaterialDescription();
md.Flags = MaterialFlag.DisableFriction;
Material m = PhysX.Instance.Scene.CreateMaterial(md);
int wheelIndex = 0;
foreach (CWheelActor wheel in carFile.WheelActors)
{
WheelShapeDescription wheelDesc = new WheelShapeDescription();
wheelDesc.InverseWheelMass = 0.08f;
wheelDesc.LongitudalTireForceFunction = lngTFD;
wheelDesc.Flags = WheelShapeFlag.ClampedFriction;
wheelDesc.Material = m;
wheelDesc.Radius = wheel.IsDriven ? carFile.DrivenWheelRadius : carFile.NonDrivenWheelRadius;
wheelDesc.SuspensionTravel = (wheel.IsFront ? carFile.SuspensionGiveFront : carFile.SuspensionGiveRear) * 18;
float heightModifier = (wheelDesc.SuspensionTravel + wheelDesc.Radius) / wheelDesc.SuspensionTravel;
SpringDescription spring = new SpringDescription();
if (carFile.Mass > 3000)
{
spring.SpringCoefficient = 10.5f * heightModifier * carFile.Mass;
}
else
{
spring.SpringCoefficient = 6.5f * heightModifier * Math.Min(1000, carFile.Mass);
}
spring.DamperCoefficient = carFile.SuspensionDamping * 6f;
wheelDesc.Suspension = spring;
wheelDesc.LocalPosition = wheel.Position;
wheelDesc.Name = (wheelIndex).ToString();
wheelIndex++;
wheelDesc.LateralTireForceFunction = wheel.IsFront ? _frontLateralTireFn : _rearLateralTireFn;
actorDesc.Shapes.Add(wheelDesc);
}
_physXActor = PhysX.Instance.Scene.CreateActor(actorDesc);
_heightOffset = _physXActor.Shapes[0].LocalPosition.Y * -2;
if (_heightOffset < 0)
{
_heightOffset = 0;
}
foreach (Shape shape in _physXActor.Shapes)
{
shape.LocalPosition += new Vector3(0, _heightOffset, 0);
if (shape is WheelShape)
{
wheelIndex = int.Parse(shape.Name);
Wheels.Add(new VehicleWheel(this, carFile.WheelActors[wheelIndex], (WheelShape)shape, carFile.WheelActors[wheelIndex].IsLeft ? 0.17f : -0.17f)
{
Index = wheelIndex
});
}
}
_physXActor.Group = PhysXConsts.VehicleId;
_physXActor.UserData = vehicle;
_physXActor.WakeUp(60.0f);
//_physXActor.RaiseBodyFlag(BodyFlag.DisableGravity);
//set center of mass
Vector3 massPos = carFile.CenterOfMass;
massPos.Y = carFile.WheelActors[0].Position.Y - carFile.NonDrivenWheelRadius + _heightOffset + 0.35f;
_massPos = massPos;
_physXActor.SetCenterOfMassOffsetLocalPosition(massPos);
//a real power curve doesnt work too well :)
List <float> power = new List <float>(new float[] { 0.5f, 0.5f, 0.5f, 1f, 1f, 1.0f, 1.0f, 0 });
List <float> ratios = new List <float>(new float[] { 3.227f, 2.360f, 1.685f, 1.312f, 1.000f, 0.793f });
BaseGearbox gearbox = BaseGearbox.Create(false, ratios, 0.4f);
Motor = new Motor(power, carFile.EnginePower, 6f, carFile.TopSpeed, gearbox);
Motor.Gearbox.CurrentGear = 0;
}
public VehicleChassis(Vehicle vehicle)
{
Vehicle = vehicle;
Wheels = new List<VehicleWheel>();
VehicleFile carFile = vehicle.Config;
ActorDescription actorDesc = new ActorDescription();
actorDesc.BodyDescription = new BodyDescription();
actorDesc.BodyDescription.Mass = carFile.Mass;
var boxDesc = new BoxShapeDescription();
boxDesc.Size = carFile.BoundingBox.GetSize();
boxDesc.LocalPosition = carFile.BoundingBox.GetCenter();
boxDesc.Name = PhysXConsts.VehicleBody;
boxDesc.Flags |= ShapeFlag.PointContactForce;
actorDesc.Shapes.Add(boxDesc);
foreach (Vector3 extraPoint in carFile.ExtraBoundingBoxPoints)
{
var extraDesc = new SphereShapeDescription(0.2f);
extraDesc.LocalPosition = extraPoint;
extraDesc.Mass = 0;
actorDesc.Shapes.Add(extraDesc);
}
using (UtilitiesLibrary lib = new UtilitiesLibrary())
{
Vector3 size = carFile.Size;
Vector3 inertiaTensor = lib.ComputeBoxInteriaTensor(Vector3.Zero, carFile.Mass, size);
//actorDesc.BodyDescription.MassSpaceInertia = inertiaTensor;
}
TireFunctionDescription lngTFD = new TireFunctionDescription();
lngTFD.ExtremumSlip = 0.1f;
lngTFD.ExtremumValue = 4f;
lngTFD.AsymptoteSlip = 2.0f;
lngTFD.AsymptoteValue = 3.2f;
_rearLateralTireFn = new TireFunctionDescription();
_rearLateralTireFn.ExtremumSlip = 0.2f;
_rearLateralTireFn.ExtremumValue = 2.1f;
_rearLateralTireFn.AsymptoteSlip = 0.0013f * carFile.Mass;
_rearLateralTireFn.AsymptoteValue = 0.02f;
_frontLateralTireFn = _rearLateralTireFn;
_frontLateralTireFn.ExtremumValue = 1.9f;
MaterialDescription md = new MaterialDescription();
md.Flags = MaterialFlag.DisableFriction;
Material m = PhysX.Instance.Scene.CreateMaterial(md);
int wheelIndex = 0;
foreach (CWheelActor wheel in carFile.WheelActors)
{
WheelShapeDescription wheelDesc = new WheelShapeDescription();
wheelDesc.InverseWheelMass = 0.08f;
wheelDesc.LongitudalTireForceFunction = lngTFD;
wheelDesc.Flags = WheelShapeFlag.ClampedFriction;
wheelDesc.Material = m;
wheelDesc.Radius = wheel.IsDriven ? carFile.DrivenWheelRadius : carFile.NonDrivenWheelRadius;
wheelDesc.SuspensionTravel = (wheel.IsFront ? carFile.SuspensionGiveFront : carFile.SuspensionGiveRear) * 18;
float heightModifier = (wheelDesc.SuspensionTravel + wheelDesc.Radius) / wheelDesc.SuspensionTravel;
SpringDescription spring = new SpringDescription();
if (carFile.Mass > 3000)
spring.SpringCoefficient = 10.5f * heightModifier * carFile.Mass;
else
spring.SpringCoefficient = 6.5f * heightModifier * Math.Min(1000, carFile.Mass);
spring.DamperCoefficient = carFile.SuspensionDamping * 6f;
wheelDesc.Suspension = spring;
wheelDesc.LocalPosition = wheel.Position;
wheelDesc.Name = (wheelIndex).ToString();
wheelIndex++;
wheelDesc.LateralTireForceFunction = wheel.IsFront ? _frontLateralTireFn : _rearLateralTireFn;
actorDesc.Shapes.Add(wheelDesc);
}
_physXActor = PhysX.Instance.Scene.CreateActor(actorDesc);
_heightOffset = _physXActor.Shapes[0].LocalPosition.Y * -2;
if (_heightOffset < 0) _heightOffset = 0;
foreach (Shape shape in _physXActor.Shapes)
{
shape.LocalPosition += new Vector3(0, _heightOffset, 0);
if (shape is WheelShape)
{
wheelIndex = int.Parse(shape.Name);
Wheels.Add(new VehicleWheel(this, carFile.WheelActors[wheelIndex], (WheelShape)shape, carFile.WheelActors[wheelIndex].IsLeft ? 0.17f : -0.17f) { Index = wheelIndex });
}
}
_physXActor.Group = PhysXConsts.VehicleId;
_physXActor.UserData = vehicle;
_physXActor.WakeUp(60.0f);
//_physXActor.RaiseBodyFlag(BodyFlag.DisableGravity);
//set center of mass
Vector3 massPos = carFile.CenterOfMass;
massPos.Y = carFile.WheelActors[0].Position.Y - carFile.NonDrivenWheelRadius + _heightOffset + 0.35f;
_massPos = massPos;
_physXActor.SetCenterOfMassOffsetLocalPosition(massPos);
//a real power curve doesnt work too well :)
List<float> power = new List<float>(new float[] { 0.5f, 0.5f, 0.5f, 1f, 1f, 1.0f, 1.0f, 0 });
List<float> ratios = new List<float>(new float[] { 3.227f, 2.360f, 1.685f, 1.312f, 1.000f, 0.793f });
BaseGearbox gearbox = BaseGearbox.Create(false, ratios, 0.4f);
Motor = new Motor(power, carFile.EnginePower, 6f, carFile.TopSpeed, gearbox);
Motor.Gearbox.CurrentGear = 0;
}
