void CreatePhysicsVehicle()
{
if( !PhysicsWorld.Instance.IsVehicleSupported )
{
Log.Warning( "Car: CreatePhysicsVehicle: Vehicles are not supported by \"{0}\".", PhysicsWorld.Instance.DriverName );
return;
}
//save and restore velocities
Vec3 lastLinearVelocity = Vec3.Zero;
Vec3 lastAngularVelocity = Vec3.Zero;
if( physicsVehicle != null )
{
lastLinearVelocity = physicsVehicle.BaseBody.LinearVelocity;
lastAngularVelocity = physicsVehicle.BaseBody.AngularVelocity;
}
DestroyPhysicsVehicle();
CarType.TireTypeItem tireTypeItem = Type.FindTireTypeItem( TireType );
if( tireTypeItem == null )
Log.Fatal( "Car: CreatePhysicsVehicle: Tire type with name \"{0}\" is not defined.", TireType );
if( PhysicsModel == null )
Log.Fatal( "Car: CreatePhysicsVehicle: PhysicsModel == null." );
if( PhysicsModel.Bodies.Length == 0 )
Log.Fatal( "Car: CreatePhysicsVehicle: PhysicsModel.Bodies.Length == 0." );
Body baseBody = PhysicsModel.Bodies[ 0 ];
if( baseBody.Shapes.Length < 5 )
Log.Fatal( "Car: CreatePhysicsVehicle: baseBody.Shapes.Length < 5." );
float totalMass = Type.MassChassis + Type.WheelFrontLeft.Mass + Type.WheelFrontRight.Mass +
Type.WheelRearLeft.Mass + Type.WheelRearRight.Mass;
if( Math.Abs( baseBody.Mass - totalMass ) > .1f )
Log.Fatal( "Car: CreatePhysicsVehicle: Specified mass of physics model and masses defined in the car type are not equal. Need set equal masses for physics model and car type settings (MassChassis, wheels Mass properties)." );
//recreate physics model
PhysicsModel.PopFromWorld();
PhysicsModel.PushToWorld();
//Create vehicle
physicsVehicle = PhysicsWorld.Instance.MainScene.CreateVehicle( baseBody );
//Chassis mass
physicsVehicle.InitData.MassChassis = Type.MassChassis;
//Differential
physicsVehicle.InitData.DifferentialType = Type.DifferentialType;
physicsVehicle.InitData.DifferentialFrontRearSplit = Type.DifferentialFrontRearSplit;
physicsVehicle.InitData.DifferentialFrontLeftRightSplit = Type.DifferentialFrontLeftRightSplit;
physicsVehicle.InitData.DifferentialRearLeftRightSplit = Type.DifferentialRearLeftRightSplit;
physicsVehicle.InitData.DifferentialCenterBias = Type.DifferentialCenterBias;
physicsVehicle.InitData.DifferentialFrontBias = Type.DifferentialFrontBias;
physicsVehicle.InitData.DifferentialRearBias = Type.DifferentialRearBias;
//Engine
physicsVehicle.InitData.EnginePeakTorque = Type.EnginePeakTorque;
physicsVehicle.InitData.EngineMaxRPM = Type.EngineMaxRPM;
physicsVehicle.InitData.EngineDampingRateFullThrottle = Type.EngineDampingRateFullThrottle;
physicsVehicle.InitData.EngineDampingRateZeroThrottleClutchEngaged = Type.EngineDampingRateZeroThrottleClutchEngaged;
physicsVehicle.InitData.EngineDampingRateZeroThrottleClutchDisengaged = Type.EngineDampingRateZeroThrottleClutchDisengaged;
foreach( CarType.EngineTorqueCurveItem item in Type.EngineTorqueCurve )
{
physicsVehicle.InitData.EngineTorqueCurve.Add( new PhysicsVehicle.InitDataClass.EngineTorqueCurveItem(
item.NormalizedTorque, item.NormalizedRev ) );
}
//Gears
foreach( CarType.GearItem gearItem in Type.Gears )
physicsVehicle.InitData.Gears.Add( new PhysicsVehicle.InitDataClass.GearItem( gearItem.Number, gearItem.Ratio ) );
physicsVehicle.InitData.GearsSwitchTime = Type.GearsSwitchTime;
//Clutch
physicsVehicle.InitData.ClutchStrength = Type.ClutchStrength;
//Ackermann steer accuracy
physicsVehicle.InitData.AckermannSteerAccuracy = Type.AckermannSteerAccuracy;
//Wheels
UpdateWheelSettings( physicsVehicle.InitData.WheelFrontLeft, Type.WheelFrontLeft, tireTypeItem.WheelFrontLeft );
UpdateWheelSettings( physicsVehicle.InitData.WheelFrontRight, Type.WheelFrontRight, tireTypeItem.WheelFrontRight );
UpdateWheelSettings( physicsVehicle.InitData.WheelRearLeft, Type.WheelRearLeft, tireTypeItem.WheelRearLeft );
UpdateWheelSettings( physicsVehicle.InitData.WheelRearRight, Type.WheelRearRight, tireTypeItem.WheelRearRight );
//Tire settings
foreach( CarType.TireTypeItem.FrictionMultiplierItem frictionItem in tireTypeItem.FrictionMultipliers )
{
physicsVehicle.InitData.TireFrictionMultipliers.Add( new PhysicsVehicle.InitDataClass.TireFrictionMultiplierItem(
frictionItem.SurfaceMaterialName, frictionItem.Value ) );
}
//create vehicle on physics engine
physicsVehicle.PushedToWorld = true;
//update dynamic settings
physicsVehicle.AutoGear = autoGear;
physicsVehicle.BaseBody.LinearVelocity = lastLinearVelocity;
physicsVehicle.BaseBody.AngularVelocity = lastAngularVelocity;
//suspend before first call OnTick()
physicsVehicle.EnableUpdate = false;
}
void DestroyPhysicsVehicle()
{
if( physicsVehicle != null )
{
physicsVehicle.Dispose();
physicsVehicle = null;
}
}
void UpdateWheelSettings( PhysicsVehicle.InitDataClass.WheelItem destination, CarType.WheelItem source,
CarType.TireTypeItem.TireWheelItem tireSource )
{
destination.Mass = source.Mass;
destination.WheelDampingRate = source.WheelDampingRate;
destination.WheelMaxBrakeTorque = source.WheelMaxBrakeTorque;
destination.WheelMaxHandBrakeTorque = source.WheelMaxHandBrakeTorque;
destination.WheelMaxSteer = source.WheelMaxSteer;
destination.WheelToeAngle = source.WheelToeAngle;
destination.SuspensionSpringStrength = source.SuspensionSpringStrength;
destination.SuspensionSpringDamperRate = source.SuspensionSpringDamperRate;
destination.SuspensionMaxCompression = source.SuspensionMaxCompression;
destination.SuspensionMaxDroop = source.SuspensionMaxDroop;
destination.SuspensionSprungMassCoefficient = source.SuspensionSprungMassCoefficient;
destination.SuspensionForceApplicationPointOffset = source.SuspensionForceApplicationPointOffset;
destination.TireForceApplicationPointOffset = source.TireForceApplicationPointOffset;
destination.TireLatStiffX = tireSource.TireLatStiffX;
destination.TireLatStiffY = tireSource.TireLatStiffY;
destination.TireLongitudinalStiffnessPerUnitGravity = tireSource.TireLongitudinalStiffnessPerUnitGravity;
destination.TireCamberStiffness = tireSource.TireCamberStiffness;
destination.FrictionVsSlipGraphZeroLongitudinalSlip = tireSource.FrictionVsSlipGraphZeroLongitudinalSlip;
destination.FrictionVsSlipGraphLongitudinalSlipWithMaximumFriction = tireSource.FrictionVsSlipGraphLongitudinalSlipWithMaximumFriction;
destination.FrictionVsSlipGraphMaximumFriction = tireSource.FrictionVsSlipGraphMaximumFriction;
destination.FrictionVsSlipGraphEndPointOfGraph = tireSource.FrictionVsSlipGraphEndPointOfGraph;
destination.FrictionVsSlipGraphValueOfFrictionForSlipsGreaterThanEndPointOfGraph = tireSource.FrictionVsSlipGraphValueOfFrictionForSlipsGreaterThanEndPointOfGraph;
}