public WheelSet(World world, Car car, Vector2 position, float orientation) { Matrix rotation = Matrix.CreateRotationZ(orientation); LeftFront = new RevoluteWheel(world, car, position + Vector2.Transform(Car.WHEEL_POS_LF, rotation), orientation); RightFront = new RevoluteWheel(world, car, position + Vector2.Transform(Car.WHEEL_POS_RF, rotation), orientation); LeftRear = new FixedWheel(world, car, position + Vector2.Transform(Car.WHEEL_POS_LR, rotation), Car.WHEEL_POS_LR, orientation); RightRear = new FixedWheel(world, car, position + Vector2.Transform(Car.WHEEL_POS_RR, rotation), Car.WHEEL_POS_RR, orientation); Controller = new TensorDampingController(); Controller.SetAxisAligned(0, 100); Controller.AddBody(LeftFront.Body); Controller.AddBody(RightFront.Body); Controller.AddBody(LeftRear.Body); Controller.AddBody(RightRear.Body); world.AddController(Controller); }