private void ConstructWheels()
{
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front
left wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
// Set this flag on both wheels if you want to use axle
speed instead of torque
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LEFT_FRONT_WHEEL_POSITION);
LeftWheel = new WheelEntity(w);
LeftWheel.State.Name = State.Name + ":" + "Left wheel";
LeftWheel.State.Assets.Mesh = WheelMesh;
LeftWheel.Parent = this;
//LeftWheel.WheelShape.WheelState.Material = new
MaterialProperties("wheel", 0.5f, 0f, 1f);
// wheels must have zero friction material.The wheel
model will do friction differently
// front right wheel
w = new WheelShapeProperties("front right wheel",
FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RIGHT_FRONT_WHEEL_POSITION);
RightWheel = new WheelEntity(w);
RightWheel.State.Name = State.Name + ":" + "Right wheel";
RightWheel.State.Assets.Mesh = WheelMesh;
RightWheel.MeshRotation = new Vector3(0, 180, 0); //
flip the wheel mesh
RightWheel.Parent = this;
//RightWheel.WheelShape.WheelState.Material =
LeftWheel.WheelShape.WheelState.Material;
}
/// <summary>
/// Builds the simulated robotic entity using local fields for position size, orientation
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
if (_chassisShape != null)
{
foreach (BoxShape shape in _chassisShape)
{
base.State.PhysicsPrimitives.Add(shape);
}
}
base.CreateAndInsertPhysicsEntity(physicsEngine);
// increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 64;
// if we were created from xml the wheel entities would already be instantiated
if (_leftFrontWheel != null &&
_rightFrontWheel != null &&
_leftRearWheel != null &&
_rightRearWheel != null)
{
return;
}
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front left wheel", FrontWheelMass, FrontWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LeftFrontWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_leftFrontWheel = new WheelEntity(w);
_leftFrontWheel.State.Name = State.Name + ":" + "Left front wheel";
_leftFrontWheel.State.Assets.Mesh = _frontWheelMesh;
_leftFrontWheel.Parent = this;
// front right wheel
w = new WheelShapeProperties("front right wheel", FrontWheelMass, FrontWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RightFrontWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_rightFrontWheel = new WheelEntity(w);
_rightFrontWheel.State.Name = State.Name + ":" + "Right front wheel";
_rightFrontWheel.State.Assets.Mesh = _frontWheelMesh;
_rightFrontWheel.Parent = this;
// rear left wheel
w = new WheelShapeProperties("rear left wheel", RearWheelMass, RearWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LeftRearWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_leftRearWheel = new WheelEntity(w);
_leftRearWheel.State.Name = State.Name + ":" + "Left rear wheel";
_leftRearWheel.State.Assets.Mesh = _rearWheelMesh;
_leftRearWheel.Parent = this;
// front right wheel
w = new WheelShapeProperties("rear right wheel", RearWheelMass, RearWheelRadius);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RightRearWheelPosition);
w.SuspensionTravel = _suspensionTravel;
w.Suspension = new SpringProperties(10, 5, 0.5f);
_rightRearWheel = new WheelEntity(w);
_rightRearWheel.State.Name = State.Name + ":" + "Right rear wheel";
_rightRearWheel.State.Assets.Mesh = _rearWheelMesh;
_rightRearWheel.Parent = this;
}
/// <summary>
/// Builds the simulated robotic entity using local fields for positionm size, orientation
/// </summary>
/// <param name="device"></param>
/// <param name="physicsEngine"></param>
public void ProgrammaticallyBuildModel(xnagrfx.GraphicsDevice device, PhysicsEngine physicsEngine)
{
if (_casterWheelShape == null)
{
// add caster wheel as a basic sphere shape
CasterWheelShape = new SphereShape(
new SphereShapeProperties("rear wheel", 0.001f,
new Pose(CASTER_WHEEL_POSITION), CASTER_WHEEL_RADIUS));
CasterWheelShape.State.Name = "Caster wheel";
// a fixed caster wheel has high friction when moving laterely, but low friction when it moves along the
// body axis its aligned with. We use anisotropic friction to model this
CasterWheelShape.State.Material = new MaterialProperties("small friction with anisotropy", 0.5f, 0.5f, 1);
CasterWheelShape.State.Material.Advanced = new MaterialAdvancedProperties();
CasterWheelShape.State.Material.Advanced.AnisotropicDynamicFriction = 0.3f;
CasterWheelShape.State.Material.Advanced.AnisotropicStaticFriction = 0.4f;
CasterWheelShape.State.Material.Advanced.AnisotropyDirection = new Vector3(0, 0, 1);
}
base.State.PhysicsPrimitives.Add(_casterWheelShape);
if (_chassisShape != null)
base.State.PhysicsPrimitives.Add(_chassisShape);
base.CreateAndInsertPhysicsEntity(physicsEngine);
// increase physics fidelity
base.PhysicsEntity.SolverIterationCount = 64;
// if we were created from xml the wheel entities would already be instantiated
if (_leftWheel != null && _rightWheel != null)
return;
// front left wheel
WheelShapeProperties w = new WheelShapeProperties("front left wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
// Set this flag on both wheels if you want to use axle speed instead of torque
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(LEFT_FRONT_WHEEL_POSITION);
_leftWheel = new WheelEntity(w);
_leftWheel.State.Name = State.Name + ":" + "Left wheel";
_leftWheel.State.Assets.Mesh = _wheelMesh;
_leftWheel.Parent = this;
//_leftWheel.WheelShape.WheelState.Material = new MaterialProperties("wheel", 0.5f, 0f, 1f);
// wheels must have zero friction material.The wheel model will do friction differently
// front right wheel
w = new WheelShapeProperties("front right wheel", FRONT_WHEEL_MASS, FRONT_WHEEL_RADIUS);
w.Flags |= WheelShapeBehavior.OverrideAxleSpeed;
w.InnerRadius = 0.7f * w.Radius;
w.LocalPose = new Pose(RIGHT_FRONT_WHEEL_POSITION);
_rightWheel = new WheelEntity(w);
_rightWheel.State.Name = State.Name + ":" + "Right wheel";
_rightWheel.State.Assets.Mesh = _wheelMesh;
_rightWheel.Parent = this;
//_rightWheel.WheelShape.WheelState.Material = _leftWheel.WheelShape.WheelState.Material;
}
