/// <summary>
/// Adds a wheel to the BRaycastVehicle from the given information.
/// </summary>
/// <param name="connectionPoint"></param>
/// <param name="axle"></param>
/// <param name="suspensionRestLength"></param>
/// <param name="radius"></param>
/// <returns></returns>
public int AddWheel(WheelType wheelType, BulletSharp.Math.Vector3 connectionPoint, BulletSharp.Math.Vector3 axle, float suspensionRestLength, float radius)
{
float slidingFriction = DefaultSlidingFriction;
switch (wheelType)
{
case WheelType.MECANUM:
slidingFriction = 0.1f;
axle = (Quaternion.AngleAxis((connectionPoint.X > 0 && connectionPoint.Z > 0) || (connectionPoint.X < 0 && connectionPoint.Z < 0) ? -45 : 45,
Vector3.up) * axle.ToUnity()).ToBullet();
break;
case WheelType.OMNI:
slidingFriction = 0.1f;
break;
}
RobotWheelInfo wheel = RaycastRobot.AddWheel(connectionPoint,
-BulletSharp.Math.Vector3.UnitY, axle, suspensionRestLength,
radius, defaultVehicleTuning, false);
wheel.RollInfluence = RollInfluence;
wheel.SlidingFriction = slidingFriction;
return(RaycastRobot.NumWheels - 1);
}
/// <summary>
/// Adds a wheel to the BRaycastVehicle from the given information.
/// </summary>
/// <param name="connectionPoint"></param>
/// <param name="axle"></param>
/// <param name="suspensionRestLength"></param>
/// <param name="radius"></param>
/// <returns></returns>
public int AddWheel(WheelType wheelType, BulletSharp.Math.Vector3 connectionPoint, BulletSharp.Math.Vector3 axle, float suspensionRestLength, float radius)
{
switch (wheelType)
{
case WheelType.MECANUM:
RaycastRobot.SlidingFriction = 0.1f;
axle = (Quaternion.AngleAxis((connectionPoint.X > 0 && connectionPoint.Z > 0) || (connectionPoint.X < 0 && connectionPoint.Z < 0) ? -45 : 45,
Vector3.up) * axle.ToUnity()).ToBullet();
break;
case WheelType.OMNI:
RaycastRobot.SlidingFriction = 0.1f;
break;
}
WheelInfo w = RaycastRobot.AddWheel(connectionPoint,
-BulletSharp.Math.Vector3.UnitY, axle, suspensionRestLength,
radius, vehicleTuning, false);
w.RollInfluence = 0.25f;
w.Brake = (RollingFriction / radius) * RaycastRobot.OverrideMass * BRaycastWheel.MassTorqueScalar;
return(RaycastRobot.NumWheels - 1);
}
