/// <summary>
/// Create a car Actor which can interface with the BEPU physics engine
/// </summary>
/// <param name="position"></param>
/// <param name="orientation"></param>
public BepuCarActor(Game game, CarModelRenderer renderer, Matrix worldMatrix)
: base(game, renderer)
{
emitter_ = new AudioEmitter();
CarSoundEmitters.AudioEmitters.Add(emitter_);
// create a pin (for keeping the car stuck to the track)
Capsule pin = new Capsule(new Vector3(0, -0.7f, -2), 0.6f, 0.12f, 1);
pin.Bounciness = 0f;
pin.DynamicFriction = 0f;
pin.StaticFriction = 0f;
// create a body:
CompoundBody body = new CompoundBody();
body.AddBody(new Box(new Vector3(0, 0, 0), 2.5f, .75f, 4.5f, 60));
body.AddBody(new Box(new Vector3(0, .75f / 2 + .3f / 2, .5f), 2.5f, .3f, 2f, 1));
body.AddBody(pin);
body.CenterOfMassOffset = new Vector3(0, -.5f, 0);
body.WorldTransform = worldMatrix;
body.LinearVelocity = Vector3.Zero;
body.AngularVelocity = Vector3.Zero;
// construct the car:
car = new Vehicle(body);
// attach wheels:
Matrix wheelGraphicRotation = Matrix.CreateFromAxisAngle(Vector3.Forward, MathHelper.PiOver2);
for (int i = 0; i < 4; i++)
{
Wheel wheel = new Wheel(
new RaycastWheelShape(.375f, wheelGraphicRotation),
new WheelSuspension(2000, 100f, Vector3.Down, .8f,
new Vector3(
( i <= 1 ) ? -1.1f : 1.1f,
0,
( (i & 1) == 0 ) ? 1.8f : - 1.8f)),
new WheelDrivingMotor(2.5f, 30000, 10000),
new WheelBrake(1.5f, 2, .02f),
new WheelSlidingFriction(4, 5));
car.AddWheel(wheel);
// adjust additional values
wheel.Shape.FreezeWheelsWhileBraking = true;
wheel.Suspension.SolverSettings.MaximumIterations = 2;
wheel.Brake.SolverSettings.MaximumIterations = 2;
wheel.SlidingFriction.SolverSettings.MaximumIterations = 2;
wheel.DrivingMotor.SolverSettings.MaximumIterations = 2;
}
// add it to physics
Engine.currentWorld.Space.Add(car);
}
public CarActor(Game game, CarModelRenderer renderer)
: base(game)
{
this.renderer = renderer;
}
