float wheelFriction = 1000; //BT_LARGE_FLOAT;
#endregion Fields
#region Methods
public override void Evaluate(int SpreadMax)
{
for (int i = 0; i < SpreadMax; i++)
{
if (this.CanCreate(i))
{
RaycastVehicle vehicle;
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
CompoundShape compound = new CompoundShape();
//List<AbstractRigidShapeDefinition> children = new List<AbstractRigidShapeDefinition>();
CollisionShape chassisShape = shapedef.GetShape(sc);
Matrix localTrans = Matrix.Translation(Vector3.UnitY);
compound.AddChildShape(localTrans, chassisShape);
float mass = shapedef.Mass;
bool isDynamic = (mass != 0.0f);
Vector3 localInertia = Vector3.Zero;
if (isDynamic)
chassisShape.CalculateLocalInertia(mass, out localInertia);
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(mass, ms, compound, localInertia);
RigidBody carChassis = new RigidBody(rbInfo);
BodyCustomData bd = new BodyCustomData();
carChassis.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
this.FWorld[0].Register(carChassis);
RaycastVehicle.VehicleTuning tuning = new RaycastVehicle.VehicleTuning();
VehicleRaycaster vehicleRayCaster = new DefaultVehicleRaycaster(this.FWorld[0].World);
vehicle = new RaycastVehicle(tuning, carChassis, vehicleRayCaster);
carChassis.ActivationState = ActivationState.DisableDeactivation;
this.FWorld[0].World.AddAction(vehicle);
float connectionHeight = 1.2f;
bool isFrontWheel = true;
// choose coordinate system
vehicle.SetCoordinateSystem(rightIndex, upIndex, forwardIndex);
Vector3 connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
WheelInfo a = vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, 2 * CUBE_HALF_EXTENTS - wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
isFrontWheel = false;
connectionPointCS0 = new Vector3(-CUBE_HALF_EXTENTS + (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
connectionPointCS0 = new Vector3(CUBE_HALF_EXTENTS - (0.3f * wheelWidth), connectionHeight, -2 * CUBE_HALF_EXTENTS + wheelRadius);
vehicle.AddWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, suspensionRestLength, wheelRadius, tuning, isFrontWheel);
for (i = 0; i < vehicle.NumWheels; i++)
{
WheelInfo wheel = vehicle.GetWheelInfo(i);
wheel.SuspensionStiffness = suspensionStiffness;
wheel.WheelsDampingRelaxation = suspensionDamping;
wheel.WheelsDampingCompression = suspensionCompression;
wheel.FrictionSlip = wheelFriction;
wheel.RollInfluence = rollInfluence;
}
FOutVehicle.SliceCount = 1;
FOutVehicle[0] = vehicle;
}
}
}
protected RigidBody CreateBody(int i,out int id)
{
if (this.CanCreate(i))
{
AbstractRigidShapeDefinition shapedef = this.FShapes[i];
ShapeCustomData sc = new ShapeCustomData();
sc.ShapeDef = shapedef;
Vector3D pos = this.FPosition[i];
Vector4D rot = this.FRotation[i];
DefaultMotionState ms = BulletUtils.CreateMotionState(pos.x, pos.y, pos.z, rot.x, rot.y, rot.z, rot.w);
CollisionShape shape = shapedef.GetShape(sc);
Vector3 localinertia = Vector3.Zero;
if (!this.FKinematic[i] && !this.FStatic[i])
{
if (shapedef.Mass > 0.0f)
{
shape.CalculateLocalInertia(shapedef.Mass, out localinertia);
}
}
RigidBodyConstructionInfo rbInfo = new RigidBodyConstructionInfo(shapedef.Mass,
ms, shape, localinertia);
rbInfo.Friction = this.FFriction[i];
rbInfo.Restitution = this.FRestitution[i];
RigidBody body = new RigidBody(rbInfo);
if (!this.FActive[i]) { body.ActivationState |= ActivationState.DisableSimulation; }
if (!this.FAllowSleep[i]) { body.ActivationState = ActivationState.DisableDeactivation; }
body.LinearVelocity = this.FLinearVelocity[i].ToBulletVector();
body.AngularVelocity = this.FAngularVelocity[i].ToBulletVector();
body.CollisionFlags = CollisionFlags.None;
if (!this.FContactResponse[i]) { body.CollisionFlags |= CollisionFlags.NoContactResponse; }
if (this.FKinematic[i]) { body.CollisionFlags |= CollisionFlags.KinematicObject; }
if (this.FStatic[i]) { body.CollisionFlags |= CollisionFlags.StaticObject; }
BodyCustomData bd = new BodyCustomData();
body.UserObject = bd;
bd.Id = this.FWorld[0].GetNewBodyId();
bd.Custom = this.FCustom[i];
if (this.FCustomObj.PluginIO.IsConnected)
{
bd.CustomObject = (ICloneable)this.FCustomObj[i].Clone();
}
else
{
bd.CustomObject = null;
}
this.FWorld[0].Register(body);
id = bd.Id;
return body;
}
else
{
id = -1;
return null;
}
}
