public static RaceCar AddRaceCar(Scene scene, TransformNode parentTrans)
{
TransformNode transNode = new TransformNode();
transNode.Translation = new Vector3(0, 10, 10);
Material carMat = new Material();
carMat.Diffuse = Color.Pink.ToVector4();
carMat.Specular = Color.White.ToVector4();
carMat.SpecularPower = 10;
GeometryNode carNode = new GeometryNode("Race Car");
carNode.Model = new Box(3, 1.0f, 2);
carNode.Material = carMat;
carNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
NewtonPhysics physicsEngine = (NewtonPhysics)scene.PhysicsEngine;
RaceCar car = new RaceCar(carNode, physicsEngine);
for (int i = 0; i < 4; i++)
{
car.Tires[i] = CreateTire((TireID)Enum.ToObject(typeof(TireID), i),
car.TireTransformNode[i], carNode, scene.PhysicsEngine.Gravity);
}
car.Collidable = true;
car.Interactable = true;
carNode.Physics = car;
carNode.Physics.NeverDeactivate = true;
carNode.AddToPhysicsEngine = true;
parentTrans.AddChild(transNode);
transNode.AddChild(carNode);
Newton.NewtonSetBodyLeaveWorldEvent(physicsEngine.NewtonWorld,
car.LeaveWorldCallback);
return(car);
}
public static RaceCar AddRaceCar(Scene scene, TransformNode Marke, Vector3 CarPos, GeometryNode CModel, int IdPlayer)
{
TransformNode transNode = new TransformNode();
transNode.Name = "Tcar:" + IdPlayer;
transNode.Translation = CarPos;
CModel.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
NewtonPhysics physicsEngine = (NewtonPhysics)scene.PhysicsEngine;
RaceCar car = new RaceCar(CModel, physicsEngine);
for (int i = 0; i < 4; i++)
{
car.Tires[i] = CreateTire((TireID)Enum.ToObject(typeof(TireID), i),
car.TireTransformNode[i], CModel, scene.PhysicsEngine.Gravity);
}
car.Collidable = true;
car.Interactable = true;
car.StartPos = CarPos;
//Physic material Name
car.MaterialName = "Car" + IdPlayer;
CModel.Physics = car;
CModel.Physics.NeverDeactivate = true;
CModel.AddToPhysicsEngine = true;
//Add To node
transNode.AddChild(CModel);
Marke.AddChild(transNode);
Newton.NewtonSetBodyLeaveWorldEvent(physicsEngine.NewtonWorld,
car.LeaveWorldCallback);
return(car);
}
public RaceCar(Object container, NewtonPhysics engine) : base(container)
{
this.engine = engine;
//Crea los cuatro nodos de transformacion para las 4 Ruedas
tireTransNode = new TransformNode[4];
for (int i = 0; i < 4; i++)
{
tireTransNode[i] = new TransformNode();
}
// set the mass of the race car - Propiedad heredada
mass = VEHICLE_MASS;
// lower the center of the mass for a race car
centerOfMass = -Vector3.UnitY * 1.5f;
// sets up the callback function when body moves in the simulation
transformCallback = delegate(IntPtr body, float[] matrix)
{
Matrix mat = MatrixHelper.FloatsToMatrix(matrix);
// set the transformation of the vehicle body
PhysicsWorldTransform = mat;
Matrix invMat = Matrix.Invert(mat);
float[] tireMatrix = new float[16];
NewtonTire tire = null;
float sign = 0;
float angle = 0;
float brakePosition = 0;
// set the global matrix for each tire
for (IntPtr tyreId = Newton.NewtonVehicleGetFirstTireID(joint);
tyreId != IntPtr.Zero; tyreId = Newton.NewtonVehicleGetNextTireID(joint, tyreId))
{
int tireID = (int)GetTireID(tyreId);
tire = tires[tireID];
Newton.NewtonVehicleGetTireMatrix(joint, tyreId, tireMatrix);
// calculate the local matrix
Matrix tireMat = MatrixHelper.GetRotationMatrix(
MatrixHelper.FloatsToMatrix(tireMatrix) * invMat) * tire.TireOffsetMatrix;
tire.TireMatrix = tireMat;
tireTransNode[tireID].WorldTransformation = Matrix.CreateRotationX(MathHelper.PiOver2)
* tireMat;
// calcualte the parametric brake position
brakePosition = tireMat.Translation.Y - tire.TireRefHeight;
tire.BrakeMatrix = Matrix.CreateTranslation(0, tire.BrakeRefPosition.Y + brakePosition, 0);
// set suspensionMatrix
sign = (tire.BrakeRefPosition.Z > 0) ? 1 : -1;
angle = (float)Math.Atan2(sign * brakePosition, Math.Abs(tire.BrakeRefPosition.Z));
Matrix rotationMatrix = new Matrix(
1, 0, 0, 0,
0, (float)Math.Cos(angle), (float)Math.Sin(angle), 0,
0, -(float)Math.Sin(angle), (float)Math.Cos(angle), 0,
0, 0, 0, 1);
tire.AxelMatrix = rotationMatrix * tire.AxelMatrix;
tire.SuspensionTopMatrix = rotationMatrix * tire.SuspensionTopMatrix;
tire.SuspensionBottomMatrix = rotationMatrix * tire.SuspensionBottomMatrix;
}
};
forceCallback = delegate(IntPtr body)
{
float Ixx = 0, Iyy = 0, Izz = 0, tmpMass = 0;
Newton.NewtonBodyGetMassMatrix(body, ref tmpMass, ref Ixx, ref Iyy, ref Izz);
tmpMass *= (1.0f + (float)Math.Abs(GetSpeed()) / 20.0f);
float[] force = Vector3Helper.ToFloats(engine.GravityDirection * engine.Gravity * tmpMass);
Newton.NewtonBodySetForce(body, force);
};
tireUpdate = delegate(IntPtr vehicleJoint)
{
NewtonTire tire = null;
for (IntPtr tyreId = Newton.NewtonVehicleGetFirstTireID(vehicleJoint);
tyreId != IntPtr.Zero; tyreId = Newton.NewtonVehicleGetNextTireID(vehicleJoint, tyreId))
{
tire = tires[(int)GetTireID(tyreId)];
// If the tire is a front tire
if ((tire == tires[(int)TireID.FrontLeft]) || (tire == tires[(int)TireID.FrontRight]))
{
float currSteerAngle = Newton.NewtonVehicleGetTireSteerAngle(vehicleJoint, tyreId);
Newton.NewtonVehicleSetTireSteerAngle(vehicleJoint, tyreId,
currSteerAngle + (tire.Steer - currSteerAngle) * 0.035f);
}
else // if the tire is a rear tire
{
Newton.NewtonVehicleSetTireTorque(vehicleJoint, tyreId, tire.Torque);
if (tire.Brakes > 0)
{
// ask Newton for the precise acceleration needed to stop the tire
float brakeAcceleration =
Newton.NewtonVehicleTireCalculateMaxBrakeAcceleration(vehicleJoint, tyreId);
// tell Newton you want this tire stoped but only if the torque need it is less than
// the brakes pad can withstand (assume max brake pad torque is 500 newton * meter)
Newton.NewtonVehicleTireSetBrakeAcceleration(vehicleJoint, tyreId,
brakeAcceleration, 10000.0f);
// set some side slip as function of the linear speed
float speed = Newton.NewtonVehicleGetTireLongitudinalSpeed(vehicleJoint, tyreId);
Newton.NewtonVehicleSetTireMaxSideSleepSpeed(vehicleJoint, tyreId, speed * 0.1f);
}
}
}
};
bodyLeaveCallback = delegate(IntPtr body)
{
Respawn(body);
};
}
public static RaceCar AddRaceCarOld(Scene scene, TransformNode parentTrans, Vector3 CarPos, Vector4 CarColor, CarType_Enum CType)
{
TransformNode transNode = new TransformNode();
//transNode.Scale = new Vector3(2.8f, 2.8f, 2.8f);
transNode.Translation = CarPos;
Material carMat = new Material();
carMat.Diffuse = CarColor;
carMat.Specular = Color.White.ToVector4();
carMat.SpecularPower = 10;
GeometryNode carNode = new GeometryNode("Race Car");
//Intento cargar un modelo
ModelLoader loader = new ModelLoader();
//Cargo el modelo Dependiendo del tipo
switch (CType)
{
case CarType_Enum.Basic:
carNode.Model = new Box(3, 1.0f, 2);
carNode.Material = carMat;
break;
case CarType_Enum.Ferrary:
carNode.Model = (Model)loader.Load("Models", "ferrari");
((Model)carNode.Model).UseInternalMaterials = true;
break;
case CarType_Enum.Tank:
carNode.Model = (Model)loader.Load("Models", "Osirian_Battle_Tank");
((Model)carNode.Model).UseInternalMaterials = true;
break;
default:
carNode.Model = new Box(3, 1.0f, 2);
carNode.Material = carMat;
break;
}
carNode.Model.ShadowAttribute = ShadowAttribute.ReceiveCast;
NewtonPhysics physicsEngine = (NewtonPhysics)scene.PhysicsEngine;
RaceCar car = new RaceCar(carNode, physicsEngine);
for (int i = 0; i < 4; i++)
{
car.Tires[i] = CreateTire((TireID)Enum.ToObject(typeof(TireID), i),
car.TireTransformNode[i], carNode, scene.PhysicsEngine.Gravity);
}
car.Collidable = true;
car.Interactable = true;
car.StartPos = CarPos;
carNode.Physics = car;
carNode.Physics.NeverDeactivate = true;
carNode.AddToPhysicsEngine = true;
parentTrans.AddChild(transNode);
transNode.AddChild(carNode);
Newton.NewtonSetBodyLeaveWorldEvent(physicsEngine.NewtonWorld,
car.LeaveWorldCallback);
return(car);
}