public void SetBrakeAcceleration(float pAccelaration, float pTorqueLimit)
{
Newton.NewtonVehicleTireSetBrakeAcceleration(m_Vehicle.Handle,
m_Handle,
pAccelaration,
pTorqueLimit);
}
public CTire VehicleAddTire(Matrix3D pLocalMatrix,
Vector3D pPin,
float pMass,
float pWidth,
float pRadius,
float pSuspesionShock,
float pSuspesionSpring,
float pSuspesionLength,
object pUserData,
int pCollisionID)
{
IntPtr aTireHandle = Newton.NewtonVehicleAddTire(m_Handle,
new NewtonMatrix(pLocalMatrix).NWMatrix,
new NewtonVector3(pPin).NWVector3,
pMass,
pWidth,
pRadius,
pSuspesionShock,
pSuspesionSpring,
pSuspesionLength,
(IntPtr)0, //pUserData.GetHashCode(),
pCollisionID);
CTire aTire = new CTire(this, aTireHandle);
aTire.UserData = pUserData;
return(aTire);
}
//public void NewtonUserJointAddGeneralRow(IntPtr pJoint,
// [MarshalAs(UnmanagedType.LPArray, SizeConst = 6)]float[] pJacobian0,
// [MarshalAs(UnmanagedType.LPArray, SizeConst = 6)]float[] pJacobian1);
public void UserBilateralSetRowSpringDamperAcceleration(float pSpringK,
float pSpringD)
{
Newton.NewtonUserJointSetRowSpringDamperAcceleration(m_Handle,
pSpringK,
pSpringD);
}
public void CreateUpVector(Vector3D pPinDir, CBody pBody)
{
m_Handle = Newton.NewtonConstraintCreateUpVector(m_World.Handle,
new NewtonVector3(pPinDir).NWVector3,
pBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public void UserBilateralAddAngularRow(
float pRelativeAngle,
Vector3D pDir)
{
Newton.NewtonUserJointAddAngularRow(m_Handle,
pRelativeAngle,
new NewtonVector3(pDir).NWVector3);
}
public void CreateVehicle(Vector3D pUpDir, CBody pNewtonBody)
{
m_Handle = Newton.NewtonConstraintCreateVehicle(m_World.Handle,
new NewtonVector3(pUpDir).NWVector3,
pNewtonBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public void UserBilateralAddLinearRow(Vector3D pPivot0,
Vector3D pPivot1,
Vector3D pdir)
{
Newton.NewtonUserJointAddLinearRow(m_Handle,
new NewtonVector3(pPivot0).NWVector3,
new NewtonVector3(pPivot1).NWVector3,
new NewtonVector3(pdir).NWVector3);
}
public void Remove()
{
if (m_Handle != (IntPtr)0)
{
CHashTables.TireUserData.Remove(m_Handle);
CHashTables.Tire.Remove(m_Handle);
Newton.NewtonVehicleRemoveTire(m_Vehicle.Handle, m_Handle);
m_Handle = (IntPtr)0;
}
}
private void GetContactPositionaAndNormal()
{
Vector3D position = new Vector3D();
Vector3D normal = new Vector3D();
//_material1.GetContactPositionAndNormal(ref position, ref normal);
Newton.NewtonMaterialGetContactPositionAndNormal(_materialPtr, new NewtonVector3(position).NWVector3, new NewtonVector3(normal).NWVector3);
_contactPositionWorld = position.ToPoint();
_contactNormalWorld = normal;
}
public void CreateUserBilateral(int pMaxDOF,
EventHandler <CUserBilateralEventArgs> pCallback,
CBody pChildBody,
CBody pParentBody)
{
m_UserBilateral = pCallback;
m_NewtonUserBilateral = new Newton.NewtonUserBilateral(InvokeUserBilateral);
m_Handle = Newton.NewtonConstraintCreateUserJoint(m_World.Handle,
pMaxDOF,
m_NewtonUserBilateral,
pChildBody.Handle,
pParentBody.Handle);
CHashTables.Joint.Add(m_Handle, this);
}
public float CalculateMaxBrakeAcceleration()
{
return(Newton.NewtonVehicleTireCalculateMaxBrakeAcceleration(m_Vehicle.Handle, m_Handle));
}
public float UserBilateralGetRowForce(int pRow)
{
return(Newton.NewtonUserJointGetRowForce(m_Handle, pRow));
}
public void VehicleReset()
{
Newton.NewtonVehicleReset(m_Handle);
}
