void Start()
{
meshes = new MeshBase[5];
meshes[0] = AddGear();
meshes[1] = AddStar();
meshes[2] = AddBox();
meshes[3] = AddPointedCircle();
meshes[4] = AddTriangleMesh();
int verticesCount = 0;
foreach (MeshBase mesh in meshes)
{
verticesCount += mesh.Vertices.Length;
mesh.AddHingeJoint(C_JM2D);
mesh.SetCollidersEnabled(false);
}
allVertices = new Vector3[verticesCount];
convexMesh = ConvexMesh.AddConvexMesh(Vector3.zero, GetUpdatedVertices(), convexMaterial, false);
//move body back a bit
convexMesh.transform.Translate(Vector3.forward * 0.1f);
}
public static ConvexShapeDesc CreateConvexHull(this Physics physics, StaticMeshData meshData)
{
// create descriptor for convex hull
ConvexShapeDesc convexMeshShapeDesc = null;
ConvexMeshDesc convexMeshDesc = new ConvexMeshDesc();
convexMeshDesc.PinPoints <float>(meshData.Points, 0, sizeof(float) * 3);
convexMeshDesc.PinTriangles <uint>(meshData.Indices, 0, sizeof(uint) * 3);
convexMeshDesc.VertexCount = (uint)meshData.Vertices.Length;
convexMeshDesc.TriangleCount = (uint)meshData.TriangleCount;
convexMeshDesc.Flags = ConvexFlags.ComputeConvex;
MemoryStream stream = new MemoryStream(1024);
CookingInterface.InitCooking();
if (CookingInterface.CookConvexMesh(convexMeshDesc, stream))
{
stream.Seek(0, SeekOrigin.Begin);
ConvexMesh convexMesh = physics.CreateConvexMesh(stream);
convexMeshShapeDesc = new ConvexShapeDesc(convexMesh);
CookingInterface.CloseCooking();
}
convexMeshDesc.UnpinAll();
return(convexMeshShapeDesc);
}
private MeshBase GetChoosenMesh(MeshCreator meshCreator)
{
switch (meshCreator.meshType)
{
case MeshCreator.MeshType.Triangle:
return(TriangleMesh.AddTriangle(meshCreator.transform.position, meshCreator.triangleVertex1,
meshCreator.triangleVertex2, meshCreator.triangleVertex3, Space.World, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Rectangle:
return(RectangleMesh.AddRectangle(meshCreator.transform.position, meshCreator.boxSize,
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Circle:
return(CircleMesh.AddCircle(meshCreator.transform.position, meshCreator.circleRadius,
meshCreator.circleSides, meshCreator.circleUseCircleCollider, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Quadrangle:
Vector2[] verts = new Vector2[4] {
meshCreator.quadrangleVertex1, meshCreator.quadrangleVertex2,
meshCreator.quadrangleVertex3, meshCreator.quadrangleVertex4
};
return(QuadrangleMesh.AddQuadrangle(meshCreator.transform.position, verts, Space.World,
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Ellipse:
return(EllipseMesh.AddEllipse(meshCreator.transform.position, meshCreator.ellipseHorizontalRadius,
meshCreator.ellipseVerticalRadius, meshCreator.ellipseSides, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.PointedCircle:
return(PointedCircleMesh.AddPointedCircle(meshCreator.transform.position, meshCreator.pointedCircleRadius,
meshCreator.pointedCircleSides, meshCreator.pointedCircleShift, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Cake:
return(CakeMesh.AddCakeMesh(meshCreator.transform.position, meshCreator.cakeRadius, meshCreator.cakeSides,
meshCreator.cakeSidesToFill, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Convex:
return(ConvexMesh.AddConvexMesh(meshCreator.transform.position,
MeshHelper.ConvertVec2ToVec3(meshCreator.convexPoints), Space.World,
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Star:
return(StarMesh.AddStar(meshCreator.transform.position, meshCreator.starRadiusA, meshCreator.starRadiusB,
meshCreator.starSides, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Gear:
return(GearMesh.AddGear(meshCreator.transform.position, meshCreator.gearInnerRadius, meshCreator.gearRootRadius,
meshCreator.gearOuterRadius, meshCreator.gearSides, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Line:
return(LineMesh.AddLine(meshCreator.transform.position, meshCreator.linePoints.ToArray(), meshCreator.lineWidth,
meshCreator.lineUseDoubleCollider, Space.World, meshCreator.material, meshCreator.attachRigidbody));
}
return(null);
}
private void AddConvex(Vector3 pos)
{
Vector3[] verts = new Vector3[20];
for (int i = 0; i < verts.Length; i++)
{
float x = Random.Range(-1f, 1f);
float y = Random.Range(-1f, 1f);
verts[i] = new Vector3(x, y);
}
ConvexMesh convex = ConvexMesh.AddConvexMesh(pos, verts, Space.Self, material);
convex.SetTexture(uvGridTexture);
}
public PxGhRigidStaticCMesh(Plane plane, List <Mesh> meshes, Material material)
{
ghMeshes = new List <GH_Mesh>();
List <Mesh> initialMeshes = new List <Mesh>(meshes);
actor = PhysXManager.Physics.CreateRigidStatic();
foreach (Mesh initialMesh in initialMeshes)
{
Mesh meshLocal = initialMesh.DuplicateMesh();
meshLocal.Transform(Transform.PlaneToPlane(plane, Plane.WorldXY));
List <Vector3> points = new List <Vector3>();
foreach (Point3d v in meshLocal.Vertices)
{
points.Add(new Vector3((float)v.X, (float)v.Y, (float)v.Z));
}
List <int> faceVertexIndices = new List <int>();
foreach (MeshFace face in meshLocal.Faces)
{
faceVertexIndices.Add(face.A);
faceVertexIndices.Add(face.B);
faceVertexIndices.Add(face.C);
}
ConvexMeshDesc convexMeshDescription = new ConvexMeshDesc();
convexMeshDescription.Flags = ConvexFlag.ComputeConvex;
convexMeshDescription.SetPositions(points.ToArray());
convexMeshDescription.SetTriangles(faceVertexIndices.ToArray());
MemoryStream memoryStream = new MemoryStream();
PhysXManager.Physics.CreateCooking().CookConvexMesh(convexMeshDescription, memoryStream);
memoryStream.Position = 0;
ConvexMesh convexMesh = PhysXManager.Physics.CreateConvexMesh(memoryStream);
ConvexMeshGeometry convexMeshGeometry = new ConvexMeshGeometry(convexMesh);
actor.CreateShape(convexMeshGeometry, material);
ghMeshes.Add(new GH_Mesh(meshLocal));
}
actor.GlobalPose = plane.ToMatrix();
}
public PxGhRigidDynamiCompoundConvexMesh(List <Mesh> meshes, Plane frame, Material material, float mass, Vector3d initialLinearVelocity, Vector3d initialAngularVelocity)
: base(frame, initialLinearVelocity, initialAngularVelocity)
{
DisplayMeshes = new List <Mesh>(meshes);
foreach (Mesh mesh in DisplayMeshes)
{
mesh.Transform(Transform.PlaneToPlane(frame, Plane.WorldXY));
Vector3[] vertices = new Vector3[mesh.Vertices.Count];
for (int i = 0; i < vertices.Length; i++)
{
vertices[i] = mesh.Vertices[i].ToSystemVector();
}
int[] faceVertexIndices = new int[mesh.Faces.Count * 3];
for (int i = 0; i < mesh.Faces.Count; i++)
{
MeshFace face = mesh.Faces[i];
faceVertexIndices[3 * i + 0] = face.A;
faceVertexIndices[3 * i + 1] = face.B;
faceVertexIndices[3 * i + 2] = face.C;
}
ConvexMeshDesc convexMeshDescription = new ConvexMeshDesc();
convexMeshDescription.Flags = ConvexFlag.ComputeConvex;
convexMeshDescription.SetPositions(vertices);
convexMeshDescription.SetTriangles(faceVertexIndices);
MemoryStream memoryStream = new MemoryStream();
PxGhManager.Physics.CreateCooking().CookConvexMesh(convexMeshDescription, memoryStream);
memoryStream.Position = 0;
ConvexMesh convexMesh = PxGhManager.Physics.CreateConvexMesh(memoryStream);
ConvexMeshGeometry convexMeshGeometry = new ConvexMeshGeometry(convexMesh);
Actor.CreateShape(convexMeshGeometry, material);
}
Actor.SetMassAndUpdateInertia(mass);
}
void Start()
{
meshes = new MeshBase[5];
meshes[0] = AddGear();
meshes[1] = AddStar();
meshes[2] = AddBox();
meshes[3] = AddPointedCircle();
meshes[4] = AddTriangleMesh();
int v = 0;
for (int i = 0; i < meshes.Length; i++)
{
v += meshes[i].Vertices.Length;
meshes[i].AddHingeJoint(C_JM2D);
meshes[i].SetCollidersEnabled(false);
}
allVertices = new Vector3[v];
convexMesh = ConvexMesh.AddConvexMesh(Vector3.zero, UpdateVertices(), Space.World, convexMaterial, false);
convexMesh.C_MR.sortingOrder = -1;
}
private void CreateVehicle4WSimulationData(
float chassisMass,
ConvexMesh chassisConvexMesh,
float wheelMass,
ConvexMesh[] wheelConvexMeshes,
Vector3[] wheelCentreOffsets,
VehicleWheelsSimData wheelsData,
VehicleDriveSimData4W driveData,
VehicleChassisData chassisData)
{
const int TIRE_TYPE_SLICKS = 0;
//Extract the chassis AABB dimensions from the chassis convex mesh.
//Vector3 chassisDims = computeChassisAABBDimensions(chassisConvexMesh);
Vector3 chassisDims = new Vector3(10, 10, 10);
//The origin is at the center of the chassis mesh.
//Set the center of mass to be below this point and a little towards the front.
Vector3 chassisCMOffset = new Vector3(0.0f, -chassisDims.Y * 0.5f + 0.65f, 0.25f);
//Now compute the chassis mass and moment of inertia.
//Use the moment of inertia of a cuboid as an approximate value for the chassis moi.
Vector3 chassisMOI = new Vector3
(
(chassisDims.Y * chassisDims.Y + chassisDims.Z * chassisDims.Z) * chassisMass / 12.0f,
(chassisDims.X * chassisDims.X + chassisDims.Z * chassisDims.Z) * chassisMass / 12.0f,
(chassisDims.X * chassisDims.X + chassisDims.Y * chassisDims.Y) * chassisMass / 12.0f
);
//A bit of tweaking here. The car will have more responsive turning if we reduce the
//y-component of the chassis moment of inertia.
chassisMOI.Y *= 0.8f;
//Let's set up the chassis data structure now.
chassisData.Mass = chassisMass;
chassisData.MomentOfInertia = chassisMOI;
chassisData.CenterOfMassOffset = chassisCMOffset;
//Work out the front/rear mass split from the cm offset.
//This is a very approximate calculation with lots of assumptions.
//massRear*zRear + massFront*zFront = mass*cm (1)
//massRear + massFront = mass (2)
//Rearrange (2)
//massFront = mass - massRear (3)
//Substitute (3) into (1)
//massRear(zRear - zFront) + mass*zFront = mass*cm (4)
//Solve (4) for massRear
//massRear = mass(cm - zFront)/(zRear-zFront) (5)
//Now we also have
//zFront = (z-cm)/2 (6a)
//zRear = (-z-cm)/2 (6b)
//Substituting (6a-b) into (5) gives
//massRear = 0.5*mass*(z-3cm)/z (7)
float massRear = 0.5f * chassisMass * (chassisDims.Z - 3 * chassisCMOffset.Z) / chassisDims.Z;
float massFront = chassisMass - massRear;
//Extract the wheel radius and width from the wheel convex meshes.
float[] wheelWidths = new float[4];
float[] wheelRadii = new float[4];
//ComputeWheelWidthsAndRadii(wheelConvexMeshes, wheelWidths, wheelRadii);
wheelWidths = new[] { 3f, 3, 3, 3 };
wheelRadii = new[] { 1f, 1, 1, 1 };
//Now compute the wheel masses and inertias components around the axle's axis.
//http://en.wikipedia.org/wiki/List_of_moments_of_inertia
float[] wheelMOIs = new float[4];
for (int i = 0; i < 4; i++)
{
wheelMOIs[i] = 0.5f * wheelMass * wheelRadii[i] * wheelRadii[i];
}
//Let's set up the wheel data structures now with radius, mass, and moi.
VehicleWheelData[] wheels = new VehicleWheelData[4]
{
new VehicleWheelData(),
new VehicleWheelData(),
new VehicleWheelData(),
new VehicleWheelData()
};
for (int i = 0; i < 4; i++)
{
wheels[i].Radius = wheelRadii[i];
wheels[i].Mass = wheelMass;
wheels[i].MomentOfInertia = wheelMOIs[i];
wheels[i].Width = wheelWidths[i];
}
//Disable the handbrake from the front wheels and enable for the rear wheels
wheels[(int)VehicleWheelOrdering.FrontLeft].MaxHandBrakeTorque = 0.0f;
wheels[(int)VehicleWheelOrdering.FrontRight].MaxHandBrakeTorque = 0.0f;
wheels[(int)VehicleWheelOrdering.RearLeft].MaxHandBrakeTorque = 4000.0f;
wheels[(int)VehicleWheelOrdering.RearRight].MaxHandBrakeTorque = 4000.0f;
//Enable steering for the front wheels and disable for the front wheels.
wheels[(int)VehicleWheelOrdering.FrontLeft].MaxSteer = (float)System.Math.PI * 0.3333f;
wheels[(int)VehicleWheelOrdering.FrontRight].MaxSteer = (float)System.Math.PI * 0.3333f;
wheels[(int)VehicleWheelOrdering.RearLeft].MaxSteer = 0.0f;
wheels[(int)VehicleWheelOrdering.RearRight].MaxSteer = 0.0f;
//Let's set up the tire data structures now.
//Put slicks on the front tires and wets on the rear tires.
VehicleTireData[] tires = new VehicleTireData[4]
{
new VehicleTireData(),
new VehicleTireData(),
new VehicleTireData(),
new VehicleTireData()
};
tires[(int)VehicleWheelOrdering.FrontLeft].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.FrontRight].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.RearLeft].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.RearRight].Type = TIRE_TYPE_SLICKS;
//Let's set up the suspension data structures now.
VehicleSuspensionData[] susps = new VehicleSuspensionData[4]
{
new VehicleSuspensionData(),
new VehicleSuspensionData(),
new VehicleSuspensionData(),
new VehicleSuspensionData()
};
for (int i = 0; i < 4; i++)
{
susps[i].MaxCompression = 0.3f;
susps[i].MaxDroop = 0.1f;
susps[i].SpringStrength = 35000.0f;
susps[i].SpringDamperRate = 4500.0f;
}
susps[(int)VehicleWheelOrdering.FrontLeft].SprungMass = massFront * 0.5f;
susps[(int)VehicleWheelOrdering.FrontRight].SprungMass = massFront * 0.5f;
susps[(int)VehicleWheelOrdering.RearLeft].SprungMass = massRear * 0.5f;
susps[(int)VehicleWheelOrdering.RearRight].SprungMass = massRear * 0.5f;
//We need to set up geometry data for the suspension, wheels, and tires.
//We already know the wheel centers described as offsets from the rigid body centre of mass.
//From here we can approximate application points for the tire and suspension forces.
//Lets assume that the suspension travel directions are absolutely vertical.
//Also assume that we apply the tire and suspension forces 30cm below the centre of mass.
Vector3[] suspTravelDirections = new Vector3[] { new Vector3(0, -1, 0), new Vector3(0, -1, 0), new Vector3(0, -1, 0), new Vector3(0, -1, 0) };
Vector3[] wheelCentreCMOffsets = new Vector3[4];
Vector3[] suspForceAppCMOffsets = new Vector3[4];
Vector3[] tireForceAppCMOffsets = new Vector3[4];
for (int i = 0; i < 4; i++)
{
wheelCentreCMOffsets[i] = wheelCentreOffsets[i] - chassisCMOffset;
suspForceAppCMOffsets[i] = new Vector3(wheelCentreCMOffsets[i].X, -0.3f, wheelCentreCMOffsets[i].Z);
tireForceAppCMOffsets[i] = new Vector3(wheelCentreCMOffsets[i].X, -0.3f, wheelCentreCMOffsets[i].Z);
}
//Now add the wheel, tire and suspension data.
for (int i = 0; i < 4; i++)
{
wheelsData.SetWheelData(i, wheels[i]);
wheelsData.SetTireData(i, tires[i]);
wheelsData.SetSuspensionData(i, susps[i]);
wheelsData.SetSuspensionTravelDirection(i, suspTravelDirections[i]);
wheelsData.SetWheelCentreOffset(i, wheelCentreCMOffsets[i]);
wheelsData.SetSuspensionForceApplicationPointOffset(i, suspForceAppCMOffsets[i]);
wheelsData.SetTireForceApplicationPointOffset(i, tireForceAppCMOffsets[i]);
}
//Now set up the differential, engine, gears, clutch, and ackermann steering.
//Diff
VehicleDifferential4WData diff = new VehicleDifferential4WData();
diff.Type = VehicleDifferentialType.LimitedSlip4WheelDrive;
driveData.SetDifferentialData(diff);
//Engine
VehicleEngineData engine = new VehicleEngineData()
{
PeakTorque = 500.0f,
MaxOmega = 600.0f//approx 6000 rpm
};
driveData.SetEngineData(engine);
//Gears
VehicleGearsData gears = new VehicleGearsData()
{
SwitchTime = 0.5f
};
driveData.SetGearsData(gears);
//Clutch
VehicleClutchData clutch = new VehicleClutchData()
{
Strength = 10.0f
};
driveData.SetClutchData(clutch);
//Ackermann steer accuracy
var ackermann = new VehicleAckermannGeometryData()
{
Accuracy = 1.0f,
AxleSeparation = wheelCentreOffsets[(int)VehicleWheelOrdering.FrontLeft].Z - wheelCentreOffsets[(int)VehicleWheelOrdering.RearLeft].Z,
FrontWidth = wheelCentreOffsets[(int)VehicleWheelOrdering.FrontRight].X - wheelCentreOffsets[(int)VehicleWheelOrdering.FrontLeft].X,
RearWidth = wheelCentreOffsets[(int)VehicleWheelOrdering.RearRight].X - wheelCentreOffsets[(int)VehicleWheelOrdering.RearLeft].X
};
driveData.SetAckermannGeometryData(ackermann);
}
public Geometry(string id, string name, ConvexMesh convexMesh)
: this(id, name)
{
this.convexMesh = convexMesh;
}
private MeshBase GetChoosenMesh(MeshCreator meshCreator)
{
float?minArea = meshCreator.splineSimplification != SplineSimplification.Type.None
? meshCreator.minAbsoluteSplineArea
: (float?)null;
switch (meshCreator.meshType)
{
case MeshCreator.MeshType.Triangle:
return(TriangleMesh.AddTriangle(meshCreator.transform.position, meshCreator.triangleVertex1,
meshCreator.triangleVertex2, meshCreator.triangleVertex3, Space.World, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Rectangle:
return(RectangleMesh.AddRectangle(meshCreator.transform.position, meshCreator.boxSize,
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Circle:
return(CircleMesh.AddCircle(meshCreator.transform.position, meshCreator.circleRadius,
meshCreator.circleSides, meshCreator.circleUseCircleCollider, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Quadrangle:
Vector2[] verts = new Vector2[4] {
meshCreator.quadrangleVertex1, meshCreator.quadrangleVertex2,
meshCreator.quadrangleVertex3, meshCreator.quadrangleVertex4
};
return(QuadrangleMesh.AddQuadrangle(meshCreator.transform.position, verts, Space.World,
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Ellipse:
return(EllipseMesh.AddEllipse(meshCreator.transform.position, meshCreator.ellipseHorizontalRadius,
meshCreator.ellipseVerticalRadius, meshCreator.ellipseSides, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.PointedCircle:
return(PointedCircleMesh.AddPointedCircle(meshCreator.transform.position, meshCreator.pointedCircleRadius,
meshCreator.pointedCircleSides, meshCreator.pointedCircleShift, meshCreator.material,
meshCreator.attachRigidbody));
case MeshCreator.MeshType.Cake:
return(CakeMesh.AddCakeMesh(meshCreator.transform.position, meshCreator.cakeRadius, meshCreator.cakeSides,
meshCreator.cakeSidesToFill, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Convex:
return(ConvexMesh.AddConvexMesh(meshCreator.transform.position,
MeshHelper.ConvertVec2ToVec3(meshCreator.convexPoints),
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Star:
return(StarMesh.AddStar(meshCreator.transform.position, meshCreator.starRadiusA, meshCreator.starRadiusB,
meshCreator.starSides, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Gear:
return(GearMesh.AddGear(meshCreator.transform.position, meshCreator.gearInnerRadius, meshCreator.gearRootRadius,
meshCreator.gearOuterRadius, meshCreator.gearSides, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.Line:
return(LineMesh.AddLine(meshCreator.transform.position, meshCreator.linePoints.ToArray(), meshCreator.lineWidth,
meshCreator.lineUseDoubleCollider, Space.World, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.TriangulatedMesh:
return(TriangulatedMesh.Add(meshCreator.transform.position, meshCreator.triangulatedPoints.ToArray(),
meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.SplineShape:
return(SplineShapeMesh.AddSplineShape(meshCreator.transform.position, meshCreator.splinePoints.ToArray(), meshCreator.splineResolution,
minArea, Space.World, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.SplineCurve:
return(SplineCurveMesh.AddSplineCurve(meshCreator.transform.position, meshCreator.splineCurvePoints.ToArray(),
meshCreator.splineResolution, meshCreator.splineCurveWidth, meshCreator.splineCurveUseDoubleCollider, minArea,
Space.World, meshCreator.material, meshCreator.attachRigidbody));
case MeshCreator.MeshType.SplineConvexShape:
return(ConvexSplineMesh.AddConvexSpline(meshCreator.transform.position, meshCreator.convexSplinePoints.ToArray(),
meshCreator.splineResolution, minArea, Space.World, meshCreator.material, meshCreator.attachRigidbody));
default:
throw new System.ArgumentOutOfRangeException();
}
}
/// <summary>Simple examples of all the PhysX bits running together</summary>
private void LoadPhysics()
{
// The ground plane (if created) sould be the first actor
_groundActor = _scene.Actors.First();
_groundActor.Name = "Default Ground Plane";
//
#region Some Boxes
for (int x = 0; x < 5; x++)
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(2, 3, 8);
ActorDescription actorDesc = new ActorDescription()
{
Name = String.Format("Box {0}", x),
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(100, 15 + 3 * x, 20),
Shapes = { boxShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
#region Cloth (Flag)
{
// Create a Grid of Points
VertexGrid grid = VertexGrid.CreateGrid(10, 10);
ClothMeshDescription clothMeshDesc = new ClothMeshDescription();
clothMeshDesc.AllocateVertices <Vector3>(grid.Points.Length);
clothMeshDesc.AllocateTriangles <int>(grid.Indices.Length / 3);
clothMeshDesc.VertexCount = grid.Points.Length;
clothMeshDesc.TriangleCount = grid.Indices.Length / 3;
clothMeshDesc.VerticesStream.SetData(grid.Points);
clothMeshDesc.TriangleStream.SetData(grid.Indices);
// We are using 32 bit integers, so make sure the 16 bit flag is removed.
// 32 bits are the default, so this isn't technically needed
clothMeshDesc.Flags &= ~MeshFlag.Indices16Bit;
// Write the cooked data to memory
MemoryStream memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookClothMesh(clothMeshDesc, memoryStream);
Cooking.CloseCooking();
// Need to reset the position of the stream to the beginning
memoryStream.Position = 0;
ClothMesh clothMesh = _core.CreateClothMesh(memoryStream);
//
ClothDescription clothDesc = new ClothDescription()
{
ClothMesh = clothMesh,
Flags = ClothFlag.Gravity | ClothFlag.Bending | ClothFlag.CollisionTwoway | ClothFlag.Visualization,
GlobalPose =
Matrix.CreateFromYawPitchRoll(0, (float)Math.PI / 2.0f, (float)Math.PI / 2.0f) *
Matrix.CreateTranslation(0, 20, 0)
};
clothDesc.MeshData.AllocatePositions <Vector3>(grid.Points.Length);
clothDesc.MeshData.AllocateIndices <int>(grid.Indices.Length);
clothDesc.MeshData.MaximumVertices = grid.Points.Length;
clothDesc.MeshData.MaximumIndices = grid.Indices.Length;
clothDesc.MeshData.NumberOfVertices = grid.Points.Length;
clothDesc.MeshData.NumberOfIndices = grid.Indices.Length;
_flag = _scene.CreateCloth(clothDesc);
// Flag Pole
ActorDescription flagPoleActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(0, 10, 0),
Shapes = { new BoxShapeDescription(1.0f, 20.0f, 1.0f) }
};
Actor flagPoleActor = _scene.CreateActor(flagPoleActorDesc);
_flag.AttachToShape(flagPoleActor.Shapes[0], 0);
_flag.WindAcceleration = new Vector3(10, 10, 10);
_flag.BendingStiffness = 0.1f;
}
#endregion
#region Revolute Joint
{
BoxShapeDescription boxShapeDescA = new BoxShapeDescription(3, 3, 3);
BoxShapeDescription boxShapeDescB = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDescA = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(75, 1.5f, 55),
Shapes = { boxShapeDescA }
};
Actor actorA = _scene.CreateActor(actorDescA);
ActorDescription actorDescB = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(70, 1.5f, 55),
Shapes = { boxShapeDescB }
};
Actor actorB = _scene.CreateActor(actorDescB);
//
RevoluteJointDescription revoluteJointDesc = new RevoluteJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
Motor = new MotorDescription(20, 20.1f, true)
};
revoluteJointDesc.Flags |= RevoluteJointFlag.MotorEnabled;
revoluteJointDesc.SetGlobalAnchor(new Vector3(73.5f, 1.5f, 55));
revoluteJointDesc.SetGlobalAxis(new Vector3(1, 0, 0));
RevoluteJoint revoluteJoint = _scene.CreateJoint(revoluteJointDesc) as RevoluteJoint;
}
#endregion
#region Prismatic Joint with Limit
{
Actor actorA, actorB;
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
BodyDescription bodyDesc = new BodyDescription(10.0f);
bodyDesc.BodyFlags |= BodyFlag.Kinematic;
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = bodyDesc,
GlobalPose = Matrix.CreateTranslation(70, 25, 65),
Shapes = { boxShapeDesc }
};
actorA = _scene.CreateActor(actorDesc);
}
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(3, 3, 3);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(70, 15, 65),
Shapes = { boxShapeDesc }
};
actorB = _scene.CreateActor(actorDesc);
}
PrismaticJointDescription prismaticJointDesc = new PrismaticJointDescription()
{
Actor1 = actorA,
Actor2 = actorB,
};
prismaticJointDesc.SetGlobalAnchor(new Vector3(70, 20, 65));
prismaticJointDesc.SetGlobalAxis(new Vector3(0, 1, 0));
PrismaticJoint prismaticJoint = _scene.CreateJoint(prismaticJointDesc) as PrismaticJoint;
LimitPlane limitPlane = new LimitPlane(new Vector3(0, 1, 0), new Vector3(-30, 8, -30), 0);
prismaticJoint.AddLimitPlane(limitPlane);
}
#endregion
#region Fluid
{
const int maximumParticles = 1000;
FluidEmitterDescription fluidEmitterDesc = new FluidEmitterDescription()
{
DimensionX = 0.5f,
DimensionY = 0.5f,
Rate = 15,
RelativePose = Matrix.CreateTranslation(-40, 10, 50),
Shape = EmitterShape.Rectangular,
Type = EmitterType.ConstantFlowRate,
RandomAngle = 0.5f
};
fluidEmitterDesc.Flags |= (FluidEmitterFlag.Enabled | FluidEmitterFlag.Visualization);
FluidDescription fluidDesc = new FluidDescription()
{
Emitters = { fluidEmitterDesc },
Flags = FluidFlag.Enabled | FluidFlag.Visualization,
MaximumParticles = maximumParticles
};
fluidDesc.ParticleWriteData.AllocatePositionBuffer <Vector3>(maximumParticles);
fluidDesc.ParticleWriteData.NumberOfParticles = maximumParticles;
Fluid fluid = _scene.CreateFluid(fluidDesc);
// Ledge
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateRotationX(0.5f) * Matrix.CreateTranslation(-40, 5, 52),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
// Drain
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(5, 0.1f, 5);
boxShapeDesc.Flags |= ShapeFlag.FluidDrain;
ActorDescription drainActorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-40, 0, 55),
Shapes = { boxShapeDesc }
};
Actor drianActor = _scene.CreateActor(drainActorDesc);
}
}
#endregion
#region Force Field
{
BoxForceFieldShapeDescription boxForceFieldShapeDesc = new BoxForceFieldShapeDescription()
{
Size = new Vector3(10, 10, 10)
};
ForceFieldLinearKernelDescription kernelDesc = new ForceFieldLinearKernelDescription()
{
Constant = new Vector3(0, 100.0f, 0)
};
ForceFieldLinearKernel kernel = _scene.CreateForceFieldLinearKernel(kernelDesc);
ForceFieldShapeGroupDescription shapeGroupDesc = new ForceFieldShapeGroupDescription()
{
Shapes = { boxForceFieldShapeDesc }
};
ForceFieldShapeGroup shapeGroup = _scene.CreateForceFieldShapeGroup(shapeGroupDesc);
BoxForceFieldShape boxForceFieldShape = shapeGroup.CreateShape(boxForceFieldShapeDesc) as BoxForceFieldShape;
boxForceFieldShape.Pose = Matrix.CreateTranslation(30, 5, 0);
ForceFieldDescription forceFieldDesc = new ForceFieldDescription()
{
Kernel = kernel,
ShapeGroups = { shapeGroup }
};
ForceField forceField = _scene.CreateForceField(forceFieldDesc);
}
#endregion
#region Heightfield
{
int rows = 25;
int columns = 25;
HeightFieldSample[] samples = new HeightFieldSample[rows * columns];
for (int r = 0; r < rows; r++)
{
for (int c = 0; c < columns; c++)
{
// Put a z and x curve together
double h = Math.Sin(c) * Math.Cos(r) * short.MaxValue;
HeightFieldSample sample = new HeightFieldSample();
sample.Height = (short)h;
sample.MaterialIndex0 = 0;
sample.MaterialIndex1 = 1;
sample.TessellationFlag = 0;
samples[r * columns + c] = sample;
}
}
HeightFieldDescription heightFieldDesc = new HeightFieldDescription()
{
NumberOfRows = rows,
NumberOfColumns = columns,
Samples = samples
};
HeightField heightField = _core.CreateHeightField(heightFieldDesc);
//
HeightFieldShapeDescription heightFieldShapeDesc = new HeightFieldShapeDescription()
{
HeightField = heightField,
HoleMaterial = 2,
// The max height of our samples is short.MaxValue and we want it to be 1
HeightScale = 1.0f / (float)short.MaxValue,
RowScale = 3,
ColumnScale = 3
};
heightFieldShapeDesc.LocalPosition = new Vector3(-0.5f * rows * 1 * heightFieldShapeDesc.RowScale, 0, -0.5f * columns * 1 * heightFieldShapeDesc.ColumnScale);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(100, 0, 0),
Shapes = { heightFieldShapeDesc }
};
Actor actor = _scene.CreateActor(actorDesc);
}
#endregion
#region Convex Mesh
{
ModelMesh mesh = _torusModel.Meshes.First();
Matrix[] transforms = new Matrix[_torusModel.Bones.Count];
_torusModel.CopyAbsoluteBoneTransformsTo(transforms);
// Gets the vertices from the mesh
VertexPositionNormalTexture[] vertices = new VertexPositionNormalTexture[mesh.MeshParts[0].NumVertices];
mesh.VertexBuffer.GetData <VertexPositionNormalTexture>(vertices);
//
// Allocate memory for the points and triangles
var convexMeshDesc = new ConvexMeshDescription()
{
PointCount = vertices.Length
};
convexMeshDesc.Flags |= ConvexFlag.ComputeConvex;
convexMeshDesc.AllocatePoints <Vector3>(vertices.Length);
// Write in the points and triangles
// We only want the Position component of the vertex. Also scale down the mesh
foreach (VertexPositionNormalTexture vertex in vertices)
{
Vector3 position = Vector3.Transform(vertex.Position, Matrix.CreateScale(0.1f, 0.1f, 0.1f) * transforms[0]);
convexMeshDesc.PointsStream.Write(position);
}
//
// Cook to memory or to a file
MemoryStream stream = new MemoryStream();
//FileStream stream = new FileStream( @"Convex Mesh.cooked", FileMode.CreateNew );
Cooking.InitializeCooking(new ConsoleOutputStream());
Cooking.CookConvexMesh(convexMeshDesc, stream);
Cooking.CloseCooking();
stream.Position = 0;
ConvexMesh convexMesh = _core.CreateConvexMesh(stream);
ConvexShapeDescription convexShapeDesc = new ConvexShapeDescription(convexMesh);
ActorDescription actorDesc = new ActorDescription()
{
BodyDescription = new BodyDescription(10.0f),
GlobalPose = Matrix.CreateTranslation(30, 30, 0)
};
actorDesc.Shapes.Add(convexShapeDesc);
_torusActor = _scene.CreateActor(actorDesc);
}
#endregion
#region SoftBody
if (false) // Enable to view soft bodies, they run slowly
{
XmlDocument doc = new XmlDocument();
doc.Load("Teapot.xml");
// Not how NxuStream are meant to used but what ever :S
Vector3[] vertices = ReadVertices(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/vertices"));
int[] tetrahedraSingles = ReadTetrahedra(doc.SelectSingleNode("/NXUSTREAM2/NxuPhysicsCollection/NxSoftBodyMeshDesc/tetrahedra"));
var softBodyMeshDesc = new SoftBodyMeshDescription()
{
VertexCount = vertices.Length,
TetrahedraCount = tetrahedraSingles.Length / 4 // Tetrahedras come in quadruples of ints
};
softBodyMeshDesc.AllocateVertices <Vector3>(softBodyMeshDesc.VertexCount);
softBodyMeshDesc.AllocateTetrahedra <int>(softBodyMeshDesc.TetrahedraCount); // Note: T is an int. T is the type of each point
softBodyMeshDesc.VertexStream.SetData(vertices);
softBodyMeshDesc.TetrahedraStream.SetData(tetrahedraSingles);
MemoryStream memoryStream = new MemoryStream();
Cooking.InitializeCooking();
Cooking.CookSoftBodyMesh(softBodyMeshDesc, memoryStream);
Cooking.CloseCooking();
memoryStream.Position = 0;
SoftBodyMesh softBodyMesh = _core.CreateSoftBodyMesh(memoryStream);
SoftBodyDescription desc = new SoftBodyDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 20, -30),
SoftBodyMesh = softBodyMesh
};
desc.Flags |= SoftBodyFlag.Visualization;
desc.MeshData.AllocatePositions <Vector3>(vertices.Length);
desc.MeshData.AllocateIndices <int>(tetrahedraSingles.Length);
SoftBody softBody = _scene.CreateSoftBody(desc);
}
#endregion
#region Reports
// Contact report
// When the capsule actor hits the ground make it bounce by using the conact report
{
CapsuleShapeDescription capsuleShapeDesc = new CapsuleShapeDescription(1, 5);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 20, 0),
BodyDescription = new BodyDescription(10.0f),
Name = "Report Capsule",
Shapes = { capsuleShapeDesc }
};
_contactReportActor = _scene.CreateActor(actorDesc);
_scene.SetActorPairFlags(_contactReportActor, _groundActor, ContactPairFlag.All);
_scene.UserContactReport = new ContactReport(this);
}
// Trigger Reports
{
BoxShapeDescription boxShapeDesc = new BoxShapeDescription(15, 8, 15);
boxShapeDesc.Flags |= (ShapeFlag.TriggerOnEnter | ShapeFlag.TriggerOnLeave);
ActorDescription actorDesc = new ActorDescription()
{
GlobalPose = Matrix.CreateTranslation(-30, 4, 0),
Shapes = { boxShapeDesc }
};
_scene.CreateActor(actorDesc);
_scene.UserTriggerReport = new TriggerReport(this);
}
_scene.UserNotify = new Notify(this);
#endregion
#region Wheel
{
_basicVehicle = new Vehicle(this);
}
#endregion
#region Controller
{
ControllerManager manager = _scene.CreateControllerManager();
CapsuleControllerDescription capsuleControllerDesc = new CapsuleControllerDescription(4, 3)
{
Callback = new ControllerHitReport()
};
CapsuleController capsuleController = manager.CreateController <CapsuleController>(capsuleControllerDesc);
capsuleController.Position = new Vector3(0, 1.5f + 2, -15);
capsuleController.Actor.Name = "BoxController";
capsuleController.SetCollisionEnabled(true);
}
#endregion
}
private List <Vector3> GetConvexPoints()
{
return(ConvexMesh.QuickHull(new List <Vector3>(MeshHelper.ConvertVec2ToVec3(convexPoints))));
}
private void CreateVehicle4WSimulationData(
float chassisMass,
ConvexMesh chassisConvexMesh,
float wheelMass,
ConvexMesh[] wheelConvexMeshes,
Vector3[] wheelCentreOffsets,
VehicleWheelsSimData wheelsData,
VehicleDriveSimData4W driveData,
VehicleChassisData chassisData)
{
const int TIRE_TYPE_SLICKS = 0;
//Extract the chassis AABB dimensions from the chassis convex mesh.
//Vector3 chassisDims = computeChassisAABBDimensions(chassisConvexMesh);
Vector3 chassisDims = new Vector3(10, 10, 10);
//The origin is at the center of the chassis mesh.
//Set the center of mass to be below this point and a little towards the front.
Vector3 chassisCMOffset = new Vector3(0.0f, -chassisDims.Y * 0.5f + 0.65f, 0.25f);
//Now compute the chassis mass and moment of inertia.
//Use the moment of inertia of a cuboid as an approximate value for the chassis moi.
Vector3 chassisMOI = new Vector3
(
(chassisDims.Y * chassisDims.Y + chassisDims.Z * chassisDims.Z) * chassisMass / 12.0f,
(chassisDims.X * chassisDims.X + chassisDims.Z * chassisDims.Z) * chassisMass / 12.0f,
(chassisDims.X * chassisDims.X + chassisDims.Y * chassisDims.Y) * chassisMass / 12.0f
);
//A bit of tweaking here. The car will have more responsive turning if we reduce the
//y-component of the chassis moment of inertia.
chassisMOI.Y *= 0.8f;
//Let's set up the chassis data structure now.
chassisData.Mass = chassisMass;
chassisData.MomentOfInertia = chassisMOI;
chassisData.CenterOfMassOffset = chassisCMOffset;
//Work out the front/rear mass split from the cm offset.
//This is a very approximate calculation with lots of assumptions.
//massRear*zRear + massFront*zFront = mass*cm (1)
//massRear + massFront = mass (2)
//Rearrange (2)
//massFront = mass - massRear (3)
//Substitute (3) into (1)
//massRear(zRear - zFront) + mass*zFront = mass*cm (4)
//Solve (4) for massRear
//massRear = mass(cm - zFront)/(zRear-zFront) (5)
//Now we also have
//zFront = (z-cm)/2 (6a)
//zRear = (-z-cm)/2 (6b)
//Substituting (6a-b) into (5) gives
//massRear = 0.5*mass*(z-3cm)/z (7)
float massRear = 0.5f * chassisMass * (chassisDims.Z - 3 * chassisCMOffset.Z) / chassisDims.Z;
float massFront = chassisMass - massRear;
//Extract the wheel radius and width from the wheel convex meshes.
float[] wheelWidths = new float[4];
float[] wheelRadii = new float[4];
//ComputeWheelWidthsAndRadii(wheelConvexMeshes, wheelWidths, wheelRadii);
wheelWidths = new[] { 3f, 3, 3, 3 };
wheelRadii = new[] { 1f, 1, 1, 1 };
//Now compute the wheel masses and inertias components around the axle's axis.
//http://en.wikipedia.org/wiki/List_of_moments_of_inertia
float[] wheelMOIs = new float[4];
for (int i = 0; i < 4; i++)
{
wheelMOIs[i] = 0.5f * wheelMass * wheelRadii[i] * wheelRadii[i];
}
//Let's set up the wheel data structures now with radius, mass, and moi.
VehicleWheelData[] wheels = new VehicleWheelData[4]
{
new VehicleWheelData(),
new VehicleWheelData(),
new VehicleWheelData(),
new VehicleWheelData()
};
for (int i = 0; i < 4; i++)
{
wheels[i].Radius = wheelRadii[i];
wheels[i].Mass = wheelMass;
wheels[i].MomentOfInertia = wheelMOIs[i];
wheels[i].Width = wheelWidths[i];
}
//Disable the handbrake from the front wheels and enable for the rear wheels
wheels[(int)VehicleWheelOrdering.FrontLeftWheel].MaxHandBrakeTorque = 0.0f;
wheels[(int)VehicleWheelOrdering.FrontRightWheel].MaxHandBrakeTorque = 0.0f;
wheels[(int)VehicleWheelOrdering.RearLeftWheel].MaxHandBrakeTorque = 4000.0f;
wheels[(int)VehicleWheelOrdering.RearRightWheel].MaxHandBrakeTorque = 4000.0f;
//Enable steering for the front wheels and disable for the front wheels.
wheels[(int)VehicleWheelOrdering.FrontLeftWheel].MaxSteer = (float)System.Math.PI * 0.3333f;
wheels[(int)VehicleWheelOrdering.FrontRightWheel].MaxSteer = (float)System.Math.PI * 0.3333f;
wheels[(int)VehicleWheelOrdering.RearLeftWheel].MaxSteer = 0.0f;
wheels[(int)VehicleWheelOrdering.RearRightWheel].MaxSteer = 0.0f;
//Let's set up the tire data structures now.
//Put slicks on the front tires and wets on the rear tires.
VehicleTireData[] tires = new VehicleTireData[4]
{
new VehicleTireData(),
new VehicleTireData(),
new VehicleTireData(),
new VehicleTireData()
};
tires[(int)VehicleWheelOrdering.FrontLeftWheel].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.FrontRightWheel].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.RearLeftWheel].Type = TIRE_TYPE_SLICKS;
tires[(int)VehicleWheelOrdering.RearRightWheel].Type = TIRE_TYPE_SLICKS;
//Let's set up the suspension data structures now.
VehicleSuspensionData[] susps = new VehicleSuspensionData[4]
{
new VehicleSuspensionData(),
new VehicleSuspensionData(),
new VehicleSuspensionData(),
new VehicleSuspensionData()
};
for (int i = 0; i < 4; i++)
{
susps[i].MaxCompression = 0.3f;
susps[i].MaxDroop = 0.1f;
susps[i].SpringStrength = 35000.0f;
susps[i].SpringDamperRate = 4500.0f;
}
susps[(int)VehicleWheelOrdering.FrontLeftWheel].SprungMass = massFront * 0.5f;
susps[(int)VehicleWheelOrdering.FrontRightWheel].SprungMass = massFront * 0.5f;
susps[(int)VehicleWheelOrdering.RearLeftWheel].SprungMass = massRear * 0.5f;
susps[(int)VehicleWheelOrdering.RearRightWheel].SprungMass = massRear * 0.5f;
//We need to set up geometry data for the suspension, wheels, and tires.
//We already know the wheel centers described as offsets from the rigid body centre of mass.
//From here we can approximate application points for the tire and suspension forces.
//Lets assume that the suspension travel directions are absolutely vertical.
//Also assume that we apply the tire and suspension forces 30cm below the centre of mass.
Vector3[] suspTravelDirections = new Vector3[] { new Vector3(0, -1, 0), new Vector3(0, -1, 0), new Vector3(0, -1, 0), new Vector3(0, -1, 0) };
Vector3[] wheelCentreCMOffsets = new Vector3[4];
Vector3[] suspForceAppCMOffsets = new Vector3[4];
Vector3[] tireForceAppCMOffsets = new Vector3[4];
for (int i = 0; i < 4; i++)
{
wheelCentreCMOffsets[i] = wheelCentreOffsets[i] - chassisCMOffset;
suspForceAppCMOffsets[i] = new Vector3(wheelCentreCMOffsets[i].X, -0.3f, wheelCentreCMOffsets[i].Z);
tireForceAppCMOffsets[i] = new Vector3(wheelCentreCMOffsets[i].X, -0.3f, wheelCentreCMOffsets[i].Z);
}
//Now add the wheel, tire and suspension data.
for (int i = 0; i < 4; i++)
{
wheelsData.SetWheelData(i, wheels[i]);
wheelsData.SetTireData(i, tires[i]);
wheelsData.SetSuspensionData(i, susps[i]);
wheelsData.SetSuspensionTravelDirection(i, suspTravelDirections[i]);
wheelsData.SetWheelCentreOffset(i, wheelCentreCMOffsets[i]);
wheelsData.SetSuspensionForceApplicationPointOffset(i, suspForceAppCMOffsets[i]);
wheelsData.SetTireForceApplicationPointOffset(i, tireForceAppCMOffsets[i]);
}
//Now set up the differential, engine, gears, clutch, and ackermann steering.
//Diff
VehicleDifferential4WData diff = new VehicleDifferential4WData();
diff.Type = VehicleDifferentialType.LimitedSlip4WheelDrive;
driveData.SetDifferentialData(diff);
//Engine
VehicleEngineData engine = new VehicleEngineData()
{
PeakTorque = 500.0f,
MaxOmega = 600.0f //approx 6000 rpm
};
driveData.SetEngineData(engine);
//Gears
VehicleGearsData gears = new VehicleGearsData()
{
SwitchTime = 0.5f
};
driveData.SetGearsData(gears);
//Clutch
VehicleClutchData clutch = new VehicleClutchData()
{
Strength = 10.0f
};
driveData.SetClutchData(clutch);
//Ackermann steer accuracy
VehicleAckermannGeometryData ackermann = new VehicleAckermannGeometryData()
{
Accuracy = 1.0f,
AxleSeparation = wheelCentreOffsets[(int)VehicleWheelOrdering.FrontLeftWheel].Z - wheelCentreOffsets[(int)VehicleWheelOrdering.RearLeftWheel].Z,
FrontWidth = wheelCentreOffsets[(int)VehicleWheelOrdering.FrontRightWheel].X - wheelCentreOffsets[(int)VehicleWheelOrdering.FrontLeftWheel].X,
RearWidth = wheelCentreOffsets[(int)VehicleWheelOrdering.RearRightWheel].X - wheelCentreOffsets[(int)VehicleWheelOrdering.RearLeftWheel].X
};
driveData.SetAckermannGeometryData(ackermann);
}
public override void addConvexMesh(string name, ConvexMesh mesh)
{
throw new NotImplementedException();
}
/// <summary> /// Add a convex mesh that will be managed by this reposotory. This will /// be released when this object is disposed. /// </summary> /// <param name="mesh">The mesh to add.</param> public abstract void addConvexMesh(String name, ConvexMesh mesh);