Torque3D/Engine/source/T3D/vehicles/wheeledVehicle.cpp

//-----------------------------------------------------------------------------
// Copyright (c) 2012 GarageGames, LLC
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
//-----------------------------------------------------------------------------

#include "platform/platform.h"
#include "T3D/vehicles/wheeledVehicle.h"

#include "math/mMath.h"
#include "math/mathIO.h"
#include "console/simBase.h"
#include "console/console.h"
#include "console/consoleTypes.h"
#include "console/engineAPI.h"
#include "collision/clippedPolyList.h"
#include "collision/planeExtractor.h"
#include "core/stream/bitStream.h"
#include "core/dnet.h"
#include "T3D/gameBase/gameConnection.h"
#include "ts/tsShapeInstance.h"
#include "T3D/fx/particleEmitter.h"
#include "sfx/sfxSystem.h"
#include "sfx/sfxTrack.h"
#include "sfx/sfxSource.h"
#include "sfx/sfxTypes.h"
#include "scene/sceneManager.h"
#include "core/resourceManager.h"
#include "materials/materialDefinition.h"
#include "materials/baseMatInstance.h"
#include "lighting/lightQuery.h"


// Collision masks are used to determine what type of objects the
// wheeled vehicle will collide with.
static U32 sClientCollisionMask =
      TerrainObjectType     | PlayerObjectType  | 
      StaticShapeObjectType | VehicleObjectType | 
      VehicleBlockerObjectType;

// Misc. sound constants
static F32 sMinSquealVolume = 0.05f;
static F32 sIdleEngineVolume = 0.2f;


//----------------------------------------------------------------------------
// Vehicle Tire Data Block
//----------------------------------------------------------------------------

IMPLEMENT_CO_DATABLOCK_V1(WheeledVehicleTire);

ConsoleDocClass( WheeledVehicleTire,
   "@brief Defines the properties of a WheeledVehicle tire.\n\n"
   "Tires act as springs and generate lateral and longitudinal forces to move "
   "the vehicle. These distortion/spring forces are what convert wheel angular "
   "velocity into forces that act on the rigid body.\n"
   "@ingroup Vehicles\n"
);

WheeledVehicleTire::WheeledVehicleTire()
{
   staticFriction = 1;
   kineticFriction = 0.5f;
   restitution = 1;
   radius = 0.6f;
   lateralForce = 10;
   lateralDamping = 1;
   lateralRelaxation = 1;
   longitudinalForce = 10;
   longitudinalDamping = 1;
   longitudinalRelaxation = 1;
   mass = 1.f;
   mShapeAsset.registerRefreshNotify(this);
}

bool WheeledVehicleTire::preload(bool server, String &errorStr)
{
   // Load up the tire shape.  ShapeBase has an option to force a
   // CRC check, this is left out here, but could be easily added.
   if (!getShape())
   {
      errorStr = String::ToString("WheeledVehicleTire: Couldn't load shape \"%s\"", _getShapeAssetId());
      return false;
   }
   else
   {
      // Determinw wheel radius from the shape's bounding box.
      // The tire should be built with it's hub axis along the
      // object's Y axis.
      radius = getShape()->mBounds.len_z() / 2;
   }

   return true;
}

void WheeledVehicleTire::initPersistFields()
{
   docsURL;
   INITPERSISTFIELD_SHAPEASSET_REFACTOR(Shape, WheeledVehicleTire, "The shape to use for the wheel.");

   addFieldV( "mass", TypeRangedF32, Offset(mass, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "The mass of the wheel.\nCurrently unused." );
   addFieldV( "radius", TypeRangedF32, Offset(radius, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "@brief The radius of the wheel.\n\n"
      "The radius is determined from the bounding box of the shape provided "
      "in the shapefile field, and does not need to be specified in script. "
      "The tire should be built with its hub axis along the object's Y-axis." );
   addFieldV( "staticFriction", TypeRangedF32, Offset(staticFriction, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "Tire friction when the wheel is not slipping (has traction)." );
   addFieldV( "kineticFriction", TypeRangedF32, Offset(kineticFriction, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "Tire friction when the wheel is slipping (no traction)." );
   addFieldV( "restitution", TypeRangedF32, Offset(restitution, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "Tire restitution.\nCurrently unused." );
   addFieldV( "lateralForce", TypeRangedF32, Offset(lateralForce, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "@brief Tire force perpendicular to the direction of movement.\n\n"
      "Lateral force can in simple terms be considered left/right steering "
      "force. WheeledVehicles are acted upon by forces generated by their tires "
      "and the lateralForce measures the magnitude of the force exerted on the "
      "vehicle when the tires are deformed along the x-axis. With real wheeled "
      "vehicles, tires are constantly being deformed and it is the interplay of "
      "deformation forces which determines how a vehicle moves. In Torque's "
      "simulation of vehicle physics, tire deformation obviously can't be handled "
      "with absolute realism, but the interplay of a vehicle's velocity, its "
      "engine's torque and braking forces, and its wheels' friction, lateral "
      "deformation, lateralDamping, lateralRelaxation, longitudinal deformation, "
      "longitudinalDamping, and longitudinalRelaxation forces, along with its "
      "wheels' angular velocity are combined to create a robust real-time "
      "physical simulation.\n\n"
      "For this field, the larger the value supplied for the lateralForce, the "
      "larger the effect steering maneuvers can have. In Torque tire forces are "
      "applied at a vehicle's wheel hubs." );
   addFieldV( "lateralDamping", TypeRangedF32, Offset(lateralDamping, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "Damping force applied against lateral forces generated by the tire.\n\n"
      "@see lateralForce" );
   addFieldV( "lateralRelaxation", TypeRangedF32, Offset(lateralRelaxation, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "@brief Relaxing force applied against lateral forces generated by the tire.\n\n"
      "The lateralRelaxation force measures how strongly the tire effectively "
      "un-deforms.\n\n@see lateralForce" );
   addFieldV( "longitudinalForce", TypeRangedF32, Offset(longitudinalForce, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "@brief Tire force in the direction of movement.\n\n"
      "Longitudinal force can in simple terms be considered forward/backward "
      "movement force. WheeledVehicles are acted upon by forces generated by "
      "their tires and the longitudinalForce measures the magnitude of the "
      "force exerted on the vehicle when the tires are deformed along the y-axis.\n\n"
      "For this field, the larger the value, the larger the effect "
      "acceleration/deceleration inputs have.\n\n"
      "@see lateralForce" );
   addFieldV( "longitudinalDamping", TypeRangedF32, Offset(longitudinalDamping, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "Damping force applied against longitudinal forces generated by the tire.\n\n"
      "@see longitudinalForce" );
   addFieldV( "longitudinalRelaxation", TypeRangedF32, Offset(longitudinalRelaxation, WheeledVehicleTire), &CommonValidators::PositiveFloat,
      "@brief Relaxing force applied against longitudinal forces generated by the tire.\n\n"
      "The longitudinalRelaxation force measures how strongly the tire effectively "
      "un-deforms.\n\n"
      "@see longitudinalForce" );

   Parent::initPersistFields();
}

void WheeledVehicleTire::packData(BitStream* stream)
{
   Parent::packData(stream);

   PACKDATA_ASSET_REFACTOR(Shape);

   stream->write(mass);
   stream->write(staticFriction);
   stream->write(kineticFriction);
   stream->write(restitution);
   stream->write(radius);
   stream->write(lateralForce);
   stream->write(lateralDamping);
   stream->write(lateralRelaxation);
   stream->write(longitudinalForce);
   stream->write(longitudinalDamping);
   stream->write(longitudinalRelaxation);
}

void WheeledVehicleTire::unpackData(BitStream* stream)
{
   Parent::unpackData(stream);

   UNPACKDATA_ASSET_REFACTOR(Shape);

   stream->read(&mass);
   stream->read(&staticFriction);
   stream->read(&kineticFriction);
   stream->read(&restitution);
   stream->read(&radius);
   stream->read(&lateralForce);
   stream->read(&lateralDamping);
   stream->read(&lateralRelaxation);
   stream->read(&longitudinalForce);
   stream->read(&longitudinalDamping);
   stream->read(&longitudinalRelaxation);
}


//----------------------------------------------------------------------------
// Vehicle Spring Data Block
//----------------------------------------------------------------------------

IMPLEMENT_CO_DATABLOCK_V1(WheeledVehicleSpring);

ConsoleDocClass( WheeledVehicleSpring,
   "@brief Defines the properties of a WheeledVehicle spring.\n\n"
   "@ingroup Vehicles\n"
);

WheeledVehicleSpring::WheeledVehicleSpring()
{
   length = 1;
   force = 10;
   damping = 1;
   antiSway = 1;
}

void WheeledVehicleSpring::initPersistFields()
{
   docsURL;
   addFieldV( "length", TypeRangedF32, Offset(length, WheeledVehicleSpring), &CommonValidators::PositiveFloat,
      "@brief Maximum spring length. ie. how far the wheel can extend from the "
      "root hub position.\n\n"
      "This should be set to the vertical (Z) distance the hub travels in the "
      "associated spring animation." );
   addFieldV( "force", TypeRangedF32, Offset(force, WheeledVehicleSpring), &CommonValidators::PositiveFloat,
      "@brief Maximum spring force (when compressed to minimum length, 0).\n\n"
      "Increasing this will make the vehicle suspension ride higher (for a given "
      "vehicle mass), and also make the vehicle more bouncy when landing jumps." );
   addFieldV( "damping", TypeRangedF32, Offset(damping, WheeledVehicleSpring), &CommonValidators::PositiveFloat,
      "@brief Force applied to slow changes to the extension of this spring.\n\n"
      "Increasing this makes the suspension stiffer which can help stabilise "
      "bouncy vehicles." );
   addFieldV( "antiSwayForce", TypeRangedF32, Offset(antiSway, WheeledVehicleSpring), &CommonValidators::PositiveFloat,
      "@brief Force applied to equalize extension of the spring on the opposite "
      "wheel.\n\n"
      "This force helps to keep the suspension balanced when opposite wheels "
      "are at different heights." );

   Parent::initPersistFields();
}

void WheeledVehicleSpring::packData(BitStream* stream)
{
   Parent::packData(stream);

   stream->write(length);
   stream->write(force);
   stream->write(damping);
   stream->write(antiSway);
}

void WheeledVehicleSpring::unpackData(BitStream* stream)
{
   Parent::unpackData(stream);

   stream->read(&length);
   stream->read(&force);
   stream->read(&damping);
   stream->read(&antiSway);
}


//----------------------------------------------------------------------------
// Wheeled Vehicle Data Block
//----------------------------------------------------------------------------

//----------------------------------------------------------------------------

IMPLEMENT_CO_DATABLOCK_V1(WheeledVehicleData);

ConsoleDocClass( WheeledVehicleData,
   "@brief Defines the properties of a WheeledVehicle.\n\n"
   "@ingroup Vehicles\n"
);

typedef WheeledVehicleData::Sounds WheeledVehicleSoundsEnum;
DefineEnumType(WheeledVehicleSoundsEnum);

ImplementEnumType(WheeledVehicleSoundsEnum, "enum types.\n"
   "@ingroup WheeledVehicleData\n\n")
   { WheeledVehicleSoundsEnum::JetSound,          "JetSound", "..." },
   { WheeledVehicleSoundsEnum::EngineSound,       "EngineSound", "..." },
   { WheeledVehicleSoundsEnum::SquealSound,       "SquealSound", "..." },
   { WheeledVehicleSoundsEnum::WheelImpactSound,  "WheelImpactSound", "..." },
EndImplementEnumType;

WheeledVehicleData::WheeledVehicleData()
{
   tireEmitter = 0;
   maxWheelSpeed = 40;
   engineTorque = 1;
   engineBrake = 1;
   brakeTorque = 1;
   brakeLightSequence = -1;
   steeringSequence = -1;
   wheelCount = 0;
   dMemset(&wheel, 0, sizeof(wheel));
   for (S32 i = 0; i < MaxSounds; i++)
      INIT_SOUNDASSET_ARRAY(WheeledVehicleSounds, i);
   mDownForce = 0;
}


//----------------------------------------------------------------------------
/** Load the vehicle shape
   Loads and extracts information from the vehicle shape.

   Wheel Sequences
      spring#        Wheel spring motion: time 0 = wheel fully extended,
                     the hub must be displaced, but not directly animated
                     as it will be rotated in code.
   Other Sequences
      steering       Wheel steering: time 0 = full right, 0.5 = center
      brakeLight     Brake light, time 0 = off, 1 = braking

   Wheel Nodes
      hub#           Wheel hub

   The steering and animation sequences are optional.
*/
bool WheeledVehicleData::preload(bool server, String &errorStr)
{
   if (!Parent::preload(server, errorStr))
      return false;

   // A temporary shape instance is created so that we can
   // animate the shape and extract wheel information.
   TSShapeInstance* si = new TSShapeInstance(getShape(), false);

   // Resolve objects transmitted from server
   if (!server) {
      for (S32 i = 0; i < MaxSounds; i++)
      {
         if (!isWheeledVehicleSoundsValid(i))
         {
            //return false; -TODO: trigger asset download
         }
      }

      if (tireEmitter)
         Sim::findObject(SimObjectId((uintptr_t)tireEmitter),tireEmitter);
   }

   // Extract wheel information from the shape
   TSThread* thread = si->addThread();
   Wheel* wp = wheel;
   char buff[10];
   for (S32 i = 0; i < MaxWheels; i++) {

      // The wheel must have a hub node to operate at all.
      dSprintf(buff,sizeof(buff),"hub%d",i);
      wp->springNode = getShape()->findNode(buff);
      if (wp->springNode != -1) {

         // Check for spring animation.. If there is none we just grab
         // the current position of the hub. Otherwise we'll animate
         // and get the position at time 0.
         dSprintf(buff,sizeof(buff),"spring%d",i);
         wp->springSequence = getShape()->findSequence(buff);
         if (wp->springSequence == -1)
            si->mNodeTransforms[wp->springNode].getColumn(3, &wp->pos);
         else {
            si->setSequence(thread,wp->springSequence,0);
            si->animate();
            si->mNodeTransforms[wp->springNode].getColumn(3, &wp->pos);

            // Determin the length of the animation so we can scale it
            // according the actual wheel position.
            Point3F downPos;
            si->setSequence(thread,wp->springSequence,1);
            si->animate();
            si->mNodeTransforms[wp->springNode].getColumn(3, &downPos);
            wp->springLength = wp->pos.z - downPos.z;
            if (!wp->springLength)
               wp->springSequence = -1;
         }

         // Match wheels that are mirrored along the Y axis.
         mirrorWheel(wp);
         wp++;
      }
   }
   wheelCount = wp - wheel;

   // Check for steering. Should think about normalizing the
   // steering animation the way the suspension is, but I don't
   // think it's as critical.
   steeringSequence = getShape()->findSequence("steering");

   // Brakes
   brakeLightSequence = getShape()->findSequence("brakelight");

   // Extract collision planes from shape collision detail level
   if (collisionDetails[0] != -1) {
      MatrixF imat(1);
      SphereF sphere;
      sphere.center = getShape()->center;
      sphere.radius = getShape()->mRadius;
      PlaneExtractorPolyList polyList;
      polyList.mPlaneList = &rigidBody.mPlaneList;
      polyList.setTransform(&imat, Point3F(1,1,1));
      si->buildPolyList(&polyList,collisionDetails[0]);
   }

   delete si;
   return true;
}


//----------------------------------------------------------------------------
/** Find a matching lateral wheel
   Looks for a matching wheeling mirrored along the Y axis, within some
   tolerance (current 0.5m), if one is found, the two wheels are lined up.
*/
bool WheeledVehicleData::mirrorWheel(Wheel* we)
{
   we->opposite = -1;
   for (Wheel* wp = wheel; wp != we; wp++)
      if (mFabs(wp->pos.y - we->pos.y) < 0.5) 
      {
         we->pos.x = -wp->pos.x;
         we->pos.y = wp->pos.y;
         we->pos.z = wp->pos.z;
         we->opposite = wp - wheel;
         wp->opposite = we - wheel;
         return true;
      }
   return false;
}


//----------------------------------------------------------------------------

void WheeledVehicleData::initPersistFields()
{
   docsURL;
   Parent::initPersistFields();

   addGroup("Particle Effects");
   addField("tireEmitter", TYPEID< ParticleEmitterData >(), Offset(tireEmitter, WheeledVehicleData),
      "ParticleEmitterData datablock used to generate particles from each wheel "
      "when the vehicle is moving and the wheel is in contact with the ground.");
   endGroup("Particle Effects");

   addGroup("Sounds");
   INITPERSISTFIELD_SOUNDASSET_ENUMED(WheeledVehicleSounds, WheeledVehicleSoundsEnum, MaxSounds, WheeledVehicleData, "Sounds related to wheeled vehicle.");
   endGroup("Sounds");

   addGroup("Steering");
   addFieldV("maxWheelSpeed", TypeRangedF32, Offset(maxWheelSpeed, WheeledVehicleData), &CommonValidators::PositiveFloat,
      "@brief Maximum linear velocity of each wheel.\n\n"
      "This caps the maximum speed of the vehicle." );
   addFieldV("engineTorque", TypeRangedF32, Offset(engineTorque, WheeledVehicleData), &CommonValidators::PositiveFloat,
      "@brief Torque available from the engine at 100% throttle.\n\n"
      "This controls vehicle acceleration. ie. how fast it will reach maximum speed." );
   addFieldV("engineBrake", TypeRangedF32, Offset(engineBrake, WheeledVehicleData), &CommonValidators::PositiveFloat,
      "@brief Braking torque applied by the engine when the throttle and brake "
      "are both 0.\n\n"
      "This controls how quickly the vehicle will coast to a stop." );
   addFieldV("brakeTorque", TypeRangedF32, Offset(brakeTorque, WheeledVehicleData), &CommonValidators::PositiveFloat,
      "@brief Torque applied when braking.\n\n"
      "This controls how fast the vehicle will stop when the brakes are applied." );
   addField("downforce", TypeF32, Offset(mDownForce, WheeledVehicleData),
      "downward force based on velocity.");
   endGroup("Steering");
}


//----------------------------------------------------------------------------

void WheeledVehicleData::packData(BitStream* stream)
{
   Parent::packData(stream);

   if (stream->writeFlag(tireEmitter))
      stream->writeRangedU32(mPacked ? SimObjectId((uintptr_t)tireEmitter):
         tireEmitter->getId(),DataBlockObjectIdFirst,DataBlockObjectIdLast);

   for (S32 i = 0; i < MaxSounds; i++)
   {
      PACKDATA_SOUNDASSET_ARRAY(WheeledVehicleSounds, i);
   }

   stream->write(maxWheelSpeed);
   stream->write(engineTorque);
   stream->write(engineBrake);
   stream->write(brakeTorque);
   stream->write(mDownForce);
}

void WheeledVehicleData::unpackData(BitStream* stream)
{
   Parent::unpackData(stream);

   tireEmitter = stream->readFlag()?
      (ParticleEmitterData*)(uintptr_t)stream->readRangedU32(DataBlockObjectIdFirst,
         DataBlockObjectIdLast): 0;

   for (S32 i = 0; i < MaxSounds; i++)
   {
      UNPACKDATA_SOUNDASSET_ARRAY(WheeledVehicleSounds, i);
   }

   stream->read(&maxWheelSpeed);
   stream->read(&engineTorque);
   stream->read(&engineBrake);
   stream->read(&brakeTorque);
   stream->read(&mDownForce);
}


//----------------------------------------------------------------------------
// Wheeled Vehicle Class
//----------------------------------------------------------------------------

//----------------------------------------------------------------------------

IMPLEMENT_CO_NETOBJECT_V1(WheeledVehicle);

ConsoleDocClass( WheeledVehicle,
   "@brief A wheeled vehicle.\n"
   "@ingroup Vehicles\n"
);

WheeledVehicle::WheeledVehicle()
{
   mDataBlock = 0;
   mBraking = false;
   mJetSound = NULL;
   mEngineSound = NULL;
   mSquealSound = NULL;
   mTailLightThread = 0;
   mSteeringThread = 0;

   for (S32 i = 0; i < WheeledVehicleData::MaxWheels; i++) {
      mWheel[i].springThread = 0;
      mWheel[i].Dy = mWheel[i].Dx = 0;
      mWheel[i].tire = 0;
      mWheel[i].spring = 0;
      mWheel[i].shapeInstance = 0;
      mWheel[i].steering = 0;
      mWheel[i].powered = true;
      mWheel[i].slipping = false;
   }
}

WheeledVehicle::~WheeledVehicle()
{
}

void WheeledVehicle::initPersistFields()
{
   docsURL;
   Parent::initPersistFields();
}


//----------------------------------------------------------------------------

bool WheeledVehicle::onAdd()
{
   if(!Parent::onAdd())
      return false;

   addToScene();
   return true;
}

void WheeledVehicle::onRemove()
{
   // Delete the wheel resources
   if (mDataBlock != NULL)  {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) {
         if (!wheel->emitter.isNull())
            wheel->emitter->deleteWhenEmpty();
         delete wheel->shapeInstance;
      }
   }

   // Stop the sounds
   SFX_DELETE( mJetSound );
   SFX_DELETE( mEngineSound );
   SFX_DELETE( mSquealSound );

   //
   removeFromScene();
   Parent::onRemove();
}


//----------------------------------------------------------------------------

bool WheeledVehicle::onNewDataBlock(GameBaseData* dptr, bool reload)
{
   // Delete any existing wheel resources if we're switching
   // datablocks.
   if (mDataBlock) 
   {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         if (!wheel->emitter.isNull()) 
         {
            wheel->emitter->deleteWhenEmpty();
            wheel->emitter = 0;
         }
         delete wheel->shapeInstance;
         wheel->shapeInstance = 0;
      }
   }

   // Load up the new datablock
   mDataBlock = dynamic_cast<WheeledVehicleData*>(dptr);
   if (!mDataBlock || !Parent::onNewDataBlock(dptr,reload))
      return false;

   // Set inertial tensor, default for the vehicle is sphere
   if (mDataBlock->massBox.x > 0 && mDataBlock->massBox.y > 0 && mDataBlock->massBox.z > 0)
      mRigid.setObjectInertia(mDataBlock->massBox);
   else
      mRigid.setObjectInertia(mObjBox.maxExtents - mObjBox.minExtents);

   // Initialize the wheels...
   for (S32 i = 0; i < mDataBlock->wheelCount; i++) 
   {
      Wheel* wheel = &mWheel[i];
      wheel->data = &mDataBlock->wheel[i];
      wheel->tire = 0;
      wheel->spring = 0;

      wheel->surface.contact = false;
      wheel->surface.object  = NULL;
      wheel->avel = 0;
      wheel->apos = 0;
      wheel->extension = 1;
      wheel->slip = 0;

      wheel->springThread = 0;
      wheel->emitter = 0;

      // Steering on the front tires by default
      if (wheel->data->pos.y > 0)
         wheel->steering = 1;

      // Build wheel animation threads
      if (wheel->data->springSequence != -1) {
         wheel->springThread = mShapeInstance->addThread();
         mShapeInstance->setSequence(wheel->springThread,wheel->data->springSequence,0);
      }

      // Each wheel get's it's own particle emitter
      if( mDataBlock->tireEmitter && isGhost() )
      {
         wheel->emitter = new ParticleEmitter;
         wheel->emitter->onNewDataBlock( mDataBlock->tireEmitter, false );
         wheel->emitter->registerObject();
      }
   }

   // Steering sequence
   if (mDataBlock->steeringSequence != -1) {
      mSteeringThread = mShapeInstance->addThread();
      mShapeInstance->setSequence(mSteeringThread,mDataBlock->steeringSequence,0);
   }
   else
      mSteeringThread = 0;

   // Brake light sequence
   if (mDataBlock->brakeLightSequence != -1) {
      mTailLightThread = mShapeInstance->addThread();
      mShapeInstance->setSequence(mTailLightThread,mDataBlock->brakeLightSequence,0);
   }
   else
      mTailLightThread = 0;

   if (isGhost()) 
   {
      // Create the sounds ahead of time.  This reduces runtime
      // costs and makes the system easier to understand.

      SFX_DELETE( mEngineSound );
      SFX_DELETE( mSquealSound );
      SFX_DELETE( mJetSound );

      if ( mDataBlock->getWheeledVehicleSounds(WheeledVehicleData::EngineSound) )
         mEngineSound = SFX->createSource( mDataBlock->getWheeledVehicleSoundsProfile(WheeledVehicleData::EngineSound), &getTransform() );

      if ( mDataBlock->getWheeledVehicleSounds(WheeledVehicleData::SquealSound) )
         mSquealSound = SFX->createSource( mDataBlock->getWheeledVehicleSoundsProfile(WheeledVehicleData::SquealSound), &getTransform() );

      if ( mDataBlock->getWheeledVehicleSounds(WheeledVehicleData::JetSound) )
         mJetSound = SFX->createSource( mDataBlock->getWheeledVehicleSoundsProfile(WheeledVehicleData::JetSound), &getTransform() );
   }

   scriptOnNewDataBlock(reload);
   return true;
}


//----------------------------------------------------------------------------

S32 WheeledVehicle::getWheelCount()
{
   // Return # of hubs defined on the car body
   return mDataBlock? mDataBlock->wheelCount: 0;
}

void WheeledVehicle::setWheelSteering(S32 wheel,F32 steering)
{
   AssertFatal(wheel >= 0 && wheel < WheeledVehicleData::MaxWheels,"Wheel index out of bounds");
   mWheel[wheel].steering = mClampF(steering,-1,1);
   setMaskBits(WheelMask);
}

void WheeledVehicle::setWheelPowered(S32 wheel,bool powered)
{
   AssertFatal(wheel >= 0 && wheel < WheeledVehicleData::MaxWheels,"Wheel index out of bounds");
   mWheel[wheel].powered = powered;
   setMaskBits(WheelMask);
}

void WheeledVehicle::setWheelTire(S32 wheel,WheeledVehicleTire* tire)
{
   AssertFatal(wheel >= 0 && wheel < WheeledVehicleData::MaxWheels,"Wheel index out of bounds");
   mWheel[wheel].tire = tire;
   setMaskBits(WheelMask);
}

void WheeledVehicle::setWheelSpring(S32 wheel,WheeledVehicleSpring* spring)
{
   AssertFatal(wheel >= 0 && wheel < WheeledVehicleData::MaxWheels,"Wheel index out of bounds");
   mWheel[wheel].spring = spring;
   setMaskBits(WheelMask);
}

void WheeledVehicle::getWheelInstAndTransform( U32 index, TSShapeInstance** inst, MatrixF* xfrm ) const
{
   AssertFatal( index < WheeledVehicleData::MaxWheels,
      "WheeledVehicle::getWheelInstAndTransform() - Bad wheel index!" );

   const Wheel* wheel = &mWheel[index];
   *inst = wheel->shapeInstance;
   
   if ( !xfrm || !wheel->shapeInstance )
      return;

   MatrixF world = getRenderTransform();
   world.scale( mObjScale );

   // Steering & spring extension
   MatrixF hub(EulerF(0,0,mSteering.x * wheel->steering));
   Point3F pos = wheel->data->pos;
   pos.z -= wheel->spring->length * wheel->extension;
   hub.setColumn(3,pos);
   world.mul(hub);

   // Wheel rotation
   MatrixF rot(EulerF(wheel->apos * M_2PI,0,0));
   world.mul(rot);

   // Rotation the tire to face the right direction
   // (could pre-calculate this)
   MatrixF wrot(EulerF(0,0,(wheel->data->pos.x > 0)? M_PI/2: -M_PI/2));
   world.mul(wrot);

   *xfrm = world;
}

//----------------------------------------------------------------------------

void WheeledVehicle::processTick(const Move* move)
{
   Parent::processTick(move);
}

void WheeledVehicle::updateMove(const Move* move)
{
   Parent::updateMove(move);

   // Brake on trigger
   mBraking = move->trigger[2];

   // Set the tail brake light thread direction based on the brake state.
   if (mTailLightThread)
      mShapeInstance->setTimeScale(mTailLightThread, mBraking? 1.0f : -1.0f);

   // Update the steering animation: sequence time 0 is full right,
   // and time 0.5 is straight ahead.
   if (mSteeringThread) {
      F32 t = (mSteering.x * mFabs(mSteering.x)) / mDataBlock->maxSteeringAngle;
      mShapeInstance->setPos(mSteeringThread, 0.5 - t * 0.5);
   }
}


//----------------------------------------------------------------------------

void WheeledVehicle::advanceTime(F32 dt)
{
   PROFILE_SCOPE( WheeledVehicle_AdvanceTime );

   Parent::advanceTime(dt);

   // Stick the wheels to the ground.  This is purely so they look
   // good while the vehicle is being interpolated.
   extendWheels(isClientObject());

   // Update wheel angular position and slip, this is a client visual
   // feature only, it has no affect on the physics.
   F32 slipTotal = 0;
   F32 torqueTotal = 0;

   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   for (Wheel* wheel = mWheel; wheel < wend; wheel++)
      if (wheel->tire && wheel->spring) {
         // Update angular position
         wheel->apos += (wheel->avel * dt) / M_2PI;
         wheel->apos -= mFloor(wheel->apos);
         if (wheel->apos < 0)
            wheel->apos = 1 - wheel->apos;

         // Keep track of largest slip
         slipTotal += wheel->slip;
         torqueTotal += wheel->torqueScale;
      }

   // Update the sounds based on wheel slip and torque output
   updateSquealSound(slipTotal / mDataBlock->wheelCount);
   updateEngineSound(sIdleEngineVolume + (1 - sIdleEngineVolume) *
      (1 - (torqueTotal / mDataBlock->wheelCount)));
   updateJetSound();

   updateWheelThreads();
   updateWheelParticles(dt);

   // Update the steering animation: sequence time 0 is full right,
   // and time 0.5 is straight ahead.
   if (mSteeringThread) {
      F32 t = (mSteering.x * mFabs(mSteering.x)) / mDataBlock->maxSteeringAngle;
      mShapeInstance->setPos(mSteeringThread,0.5 - t * 0.5);
   }

   // Animate the tail light. The direction of the thread is
   // set based on vehicle braking.
   if (mTailLightThread)
      mShapeInstance->advanceTime(dt,mTailLightThread);
}


//----------------------------------------------------------------------------
/** Update the rigid body forces on the vehicle
   This method calculates the forces acting on the body, including gravity,
   suspension & tire forces.
*/
void WheeledVehicle::updateForces(F32 dt)
{
   PROFILE_SCOPE( WheeledVehicle_UpdateForces );

   extendWheels();

   if (mDisableMove) return;
   F32 aMomentum = mMass / mDataBlock->wheelCount;

   // Get the current matrix and extact vectors
   MatrixF currMatrix;
   mRigid.getTransform(&currMatrix);

   Point3F bx,by,bz;
   currMatrix.getColumn(0,&bx);
   currMatrix.getColumn(1,&by);
   currMatrix.getColumn(2,&bz);

   // Steering angles from current steering wheel position
   F32 quadraticSteering = -(mSteering.x * mFabs(mSteering.x));
   F32 cosSteering,sinSteering;
   mSinCos(quadraticSteering, sinSteering, cosSteering);

   // Calculate Engine and brake torque values used later by in
   // wheel calculations.
   F32 engineTorque,brakeVel;
   if (mBraking) 
   {
      brakeVel = (mDataBlock->brakeTorque / aMomentum) * dt;
      engineTorque = 0;
   }
   else 
   {
      if (mThrottle) 
      {
         engineTorque = mDataBlock->engineTorque * mThrottle;
         brakeVel = 0;
         // Double the engineTorque to help out the jets
         if (mThrottle > 0 && mJetting)
            engineTorque *= 2;
      }
      else 
      {
         // Engine brake.
         brakeVel = (mDataBlock->engineBrake / aMomentum) * dt;
         engineTorque = 0;
      }
   }

   // Integrate forces, we'll do this ourselves here instead of
   // relying on the rigid class which does it during movement.
   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   mRigid.clearForces();

   //calculate here so we can stiffen the springs a bit based on
   //the final amount of downforce
   //get the speed
   F32 downForce = mRigid.linVelocity.lenSquared() <= 1 ? 1 : mRigid.linVelocity.lenSquared();
   //grab the datablock var
   downForce *= mDataBlock->mDownForce;
   //make it a smaller number so we can multiply gravity by it
   downForce = mSqrt(downForce);
   downForce *= TickSec;
   //ensure that it is not smaller then one, cause mulltiplying gravity by fractions is baaaad
   downForce = downForce < 1 ? 1 : downForce;

   // Calculate vertical load for friction.  Divide up the spring
   // forces across all the wheels that are in contact with
   // the ground.
   U32 contactCount = 0;
   F32 verticalLoad = 0;
   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
   {
      if (wheel->tire && wheel->spring && wheel->surface.contact) 
      {
         verticalLoad += wheel->spring->force * (1 - wheel->extension);
         contactCount++;
      }
   }
   if (contactCount)
      verticalLoad /= contactCount;

   // Sum up spring and wheel torque forces
   for (Wheel* wheel = mWheel; wheel < wend; wheel++)  
   {
      if (!wheel->tire || !wheel->spring)
         continue;

      F32 Fy = 0;
      if (wheel->surface.contact) 
      {

         // First, let's compute the wheel's position, and worldspace velocity
         Point3F pos, r, localVel;
         currMatrix.mulP(wheel->data->pos, &pos);
         mRigid.getOriginVector(pos,&r);
         mRigid.getVelocity(r, &localVel);

         // Spring force & damping
         F32 spring  = wheel->spring->force * (1 - wheel->extension);

         spring += (spring * downForce);

         if (wheel->extension == 0) //spring fully compressed
         {
            // Apply impulses to the rigid body to keep it from
            // penetrating the surface.
            F32 n = -mDot(localVel,Point3F(0,0,1));
            if (n >= 0)
            {
               // Collision impulse, straight forward force stuff.
               F32 d = mRigid.getZeroImpulse(r,Point3F(0,0,1));
               F32 j = n * (1 + mRigid.restitution) * d;
               mRigid.force += Point3F(0,0,1) * j;
            }
         }

         F32 damping = wheel->spring->damping * -(mDot(bz, localVel) / wheel->spring->length);
         if (damping < 0)
            damping = 0;

         // Anti-sway force based on difference in suspension extension
         F32 antiSway = 0;
         if (wheel->data->opposite != -1)
         {
            Wheel* oppositeWheel = &mWheel[wheel->data->opposite];
            if (oppositeWheel->surface.contact)
               antiSway = ((oppositeWheel->extension - wheel->extension) *
                  wheel->spring->antiSway);
            if (antiSway < 0)
               antiSway = 0;
         }

         // Spring forces act straight up and are applied at the
         // spring's root position.
         Point3F t, forceVector = bz * (spring + damping + antiSway);
         mCross(r, forceVector, &t);
         mRigid.torque += t;
         mRigid.force += forceVector;

         // Tire direction vectors perpendicular to surface normal
         Point3F wheelXVec = bx * cosSteering;
         wheelXVec += by * sinSteering * wheel->steering;
         Point3F tireX, tireY;
         mCross(wheel->surface.normal, wheelXVec, &tireY);
         tireY.normalize();
         mCross(tireY, wheel->surface.normal, &tireX);
         tireX.normalize();

         // Velocity of tire at the surface contact
         Point3F wheelContact, wheelVelocity;
         mRigid.getOriginVector(wheel->surface.pos,&wheelContact);
         mRigid.getVelocity(wheelContact, &wheelVelocity);

         F32 xVelocity = mDot(tireX, wheelVelocity);
         F32 yVelocity = mDot(tireY, wheelVelocity);

         // Tires act as springs and generate lateral and longitudinal
         // forces to move the vehicle. These distortion/spring forces
         // are what convert wheel angular velocity into forces that
         // act on the rigid body.

         // Longitudinal tire deformation force
         F32 ddy = (wheel->avel * wheel->tire->radius - yVelocity) -
            wheel->tire->longitudinalRelaxation *
            mFabs(wheel->avel) * wheel->Dy;
         wheel->Dy += ddy * dt;
         Fy = (wheel->tire->longitudinalForce * wheel->Dy +
            wheel->tire->longitudinalDamping * ddy);

         // Lateral tire deformation force
         F32 ddx = xVelocity - wheel->tire->lateralRelaxation *
            mFabs(wheel->avel) * wheel->Dx;
         wheel->Dx += ddx * dt;
         F32 Fx = -(wheel->tire->lateralForce * wheel->Dx +
            wheel->tire->lateralDamping * ddx);

         // Vertical load on the tire
         verticalLoad = spring + damping + antiSway;
         if (verticalLoad < 0)
            verticalLoad = 0;

         // Adjust tire forces based on friction
         F32 surfaceFriction = 1;
         F32 mu = surfaceFriction * (wheel->slipping ? wheel->tire->kineticFriction : wheel->tire->staticFriction);
         F32 Fn = verticalLoad * mu; Fn *= Fn;
         F32 Fw = Fx * Fx + Fy * Fy;
         if (Fw > Fn) 
         {
            F32 K = mSqrt(Fn / Fw);
            Fy *= K;
            Fx *= K;
            wheel->Dy *= K;
            wheel->Dx *= K;
            wheel->slip = 1 - K;
            wheel->slipping = true;
         }
         else 
         {
            wheel->slipping = false;
            wheel->slip = 0;
         }

         // Tire forces act through the tire direction vectors parallel
         // to the surface and are applied at the wheel hub.
         forceVector = (tireX * Fx) + (tireY * Fy);
         pos -= bz * (wheel->spring->length * wheel->extension);
         mRigid.getOriginVector(pos,&r);
         mCross(r, forceVector, &t);
         mRigid.torque += t;
         mRigid.force += forceVector;
      }
      else 
      {
         // Wheel not in contact with the ground
         wheel->torqueScale  = 0;
         wheel->slip = 0;

         // Relax the tire deformation
         wheel->Dy += (-wheel->tire->longitudinalRelaxation *
                       mFabs(wheel->avel) * wheel->Dy) * dt;
         wheel->Dx += (-wheel->tire->lateralRelaxation *
                       mFabs(wheel->avel) * wheel->Dx) * dt;
      }

      // Adjust the wheel's angular velocity based on engine torque
      // and tire deformation forces.
      if (wheel->powered) 
      {
         F32 maxAvel = mDataBlock->maxWheelSpeed / wheel->tire->radius;
         wheel->torqueScale = (mFabs(wheel->avel) > maxAvel) ? 0 :
            1 - (mFabs(wheel->avel) / maxAvel);
      }
      else
         wheel->torqueScale = 0;
      wheel->avel += (((wheel->torqueScale * engineTorque) - Fy *
         wheel->tire->radius) / aMomentum) * dt;

      // Adjust the wheel's angular velocity based on brake torque.
      // This is done after avel update to make sure we come to a
      // complete stop.
      if (brakeVel > mFabs(wheel->avel))
         wheel->avel = 0;
      else
         if (wheel->avel > 0)
            wheel->avel -= brakeVel;
         else
            wheel->avel += brakeVel;
   }

   // Jet Force
   if (mJetting)
      mRigid.force += by * mDataBlock->jetForce;

   // Add in force from physical zones...
   mRigid.force += mAppliedForce;

   // Container drag & buoyancy
   mRigid.force  += Point3F(0, 0, mRigid.mass * mNetGravity * downForce);
   mRigid.force  -= mRigid.linVelocity * mDrag;
   mRigid.torque -= mRigid.angMomentum * mDrag;

   // If we've added anything other than gravity, then we're no
   // longer at rest. Could test this a little more efficiently...
   if (mRigid.atRest && (mRigid.force.len() || mRigid.torque.len()))
      mRigid.atRest = false;

   // Integrate and update velocity
   mRigid.linMomentum += mRigid.force * dt;
   mRigid.angMomentum += mRigid.torque * dt;
   mRigid.updateVelocity();

   // Since we've already done all the work, just need to clear this out.
   mRigid.clearForces();

   // If we're still atRest, make sure we're not accumulating anything
   if (mRigid.atRest)
      mRigid.setAtRest();
}


//----------------------------------------------------------------------------
/** Extend the wheels
   The wheels are extended until they contact a surface. The extension
   is instantaneous.  The wheels are extended before force calculations and
   also on during client side interpolation (so that the wheels are glued
   to the ground).
*/
void WheeledVehicle::extendWheels(bool clientHack)
{
   PROFILE_SCOPE( WheeledVehicle_ExtendWheels );

   disableCollision();

   MatrixF currMatrix;
   
   if(clientHack)
      currMatrix = getRenderTransform();
   else
      mRigid.getTransform(&currMatrix);
   

   // Does a single ray cast down for now... this will have to be
   // changed to something a little more complicated to avoid getting
   // stuck in cracks.
   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
   {
      if (wheel->tire && wheel->spring) 
      {
         wheel->extension = 1;

         // The ray is cast from the spring mount point to the tip of
         // the tire.  If there is a collision the spring extension is
         // adjust to remove the tire radius.
         Point3F sp,vec;
         currMatrix.mulP(wheel->data->pos,&sp);
         currMatrix.mulV(VectorF(0,0,-wheel->spring->length),&vec);
         F32 ts = wheel->tire->radius / wheel->spring->length;
         Point3F ep = sp + (vec * (1 + ts));
         ts = ts / (1+ts);

         RayInfo rInfo;
         if (mContainer->castRay(sp, ep, sClientCollisionMask & ~PlayerObjectType, &rInfo)) 
         {
            wheel->surface.contact  = true;
            wheel->extension = (rInfo.t < ts)? 0: (rInfo.t - ts) / (1 - ts);
            wheel->surface.normal   = rInfo.normal;
            wheel->surface.pos      = rInfo.point;
            wheel->surface.material = rInfo.material;
            wheel->surface.object   = rInfo.object;
            wheel->slipping = false;
         }
         else 
         {
            wheel->surface.contact = false;
            wheel->slipping = true;
         }
      }
   }
   enableCollision();
}


//----------------------------------------------------------------------------
/** Update wheel steering and suspension threads.
   These animations are purely cosmetic and this method is only invoked
   on the client.
*/
void WheeledVehicle::updateWheelThreads()
{
   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
   {
      if (wheel->tire && wheel->spring && wheel->springThread) 
      {
         // Scale the spring animation time to match the current
         // position of the wheel.  We'll also check to make sure
         // the animation is long enough, if it isn't, just stick
         // it at the end.
         F32 pos = wheel->extension * wheel->spring->length;
         if (pos > wheel->data->springLength)
            pos = 1;
         else
            pos /= wheel->data->springLength;
         mShapeInstance->setPos(wheel->springThread,pos);
      }
   }
}

//----------------------------------------------------------------------------
/** Update wheel particles effects
   These animations are purely cosmetic and this method is only invoked
   on the client.  Particles are emitted as long as the moving.
*/
void WheeledVehicle::updateWheelParticles(F32 dt)
{
   // OMG l33t hax
   extendWheels(true);
   
   Point3F vel = Parent::getVelocity();
   F32 speed = vel.len();

   // Don't bother if we're not moving.
   if (speed > 1.0f)  
   {
      Point3F axis = vel;
      axis.normalize();

      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         // Is this wheel in contact with the ground?
         if (wheel->tire && wheel->spring && !wheel->emitter.isNull() &&
               wheel->surface.contact && wheel->surface.object )
         {
            Material* material = ( wheel->surface.material ? dynamic_cast< Material* >( wheel->surface.material->getMaterial() ) : 0 );

            if( material)//&& material->mShowDust )
            {
               LinearColorF colorList[ ParticleData::PDC_NUM_KEYS ];

               for( U32 x = 0; x < getMin( Material::NUM_EFFECT_COLOR_STAGES, ParticleData::PDC_NUM_KEYS ); ++ x )
                  colorList[ x ] = material->mEffectColor[ x ];
               for( U32 x = Material::NUM_EFFECT_COLOR_STAGES; x < ParticleData::PDC_NUM_KEYS; ++ x )
                  colorList[ x ].set( 1.0, 1.0, 1.0, 0.0 );

               wheel->emitter->setColors( colorList );

               // Emit the dust, the density (time) is scaled by the
               // the vehicles velocity.
               wheel->emitter->emitParticles( wheel->surface.pos, true,
                  axis, vel, (U32)(3/*dt * (speed / mDataBlock->maxWheelSpeed) * 1000 * wheel->slip*/));
            }
         }
      }
   }
}


//----------------------------------------------------------------------------
/** Update engine sound
   This method is only invoked by clients.
*/
void WheeledVehicle::updateEngineSound(F32 level)
{
   if ( !mEngineSound )
      return;

   if ( !mEngineSound->isPlaying() )
      mEngineSound->play();

   mEngineSound->setTransform( getTransform() );
   mEngineSound->setVelocity( getVelocity() );
   //mEngineSound->setVolume( level );

   // Adjust pitch
   F32 pitch = ((level-sIdleEngineVolume) * 1.3f);
   if (pitch < 0.4f)  
      pitch = 0.4f;

   mEngineSound->setPitch( pitch );
}


//----------------------------------------------------------------------------
/** Update wheel skid sound
   This method is only invoked by clients.
*/
void WheeledVehicle::updateSquealSound(F32 level)
{
   if ( !mSquealSound )
      return;

   if ( level < sMinSquealVolume ) 
   {
      mSquealSound->stop();
      return;
   }

   if ( !mSquealSound->isPlaying() )
      mSquealSound->play();

   mSquealSound->setTransform( getTransform() );
   mSquealSound->setVolume( level );
}


//----------------------------------------------------------------------------
/** Update jet sound
   This method is only invoked by clients.
*/
void WheeledVehicle::updateJetSound()
{
   if ( !mJetSound )
      return;

   if ( !mJetting ) 
   {
      mJetSound->stop();
      return;
   }

   if ( !mJetSound->isPlaying() )
      mJetSound->play();

   mJetSound->setTransform( getTransform() );
}


//----------------------------------------------------------------------------

U32 WheeledVehicle::getCollisionMask()
{
   return sClientCollisionMask;
}


//----------------------------------------------------------------------------
/** Build a collision polylist
   The polylist is filled with polygons representing the collision volume
   and the wheels.
*/
bool WheeledVehicle::buildPolyList(PolyListContext context, AbstractPolyList* polyList, const Box3F& box, const SphereF& sphere)
{
   PROFILE_SCOPE( WheeledVehicle_BuildPolyList );

   // Parent will take care of body collision.
   Parent::buildPolyList(context, polyList,box,sphere);

   // Add wheels as boxes.
   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   for (Wheel* wheel = mWheel; wheel < wend; wheel++) {
      if (wheel->tire && wheel->spring) {
         Box3F wbox;
         F32 radius = wheel->tire->radius;
         wbox.minExtents.x = -(wbox.maxExtents.x = radius / 2);
         wbox.minExtents.y = -(wbox.maxExtents.y = radius);
         wbox.minExtents.z = -(wbox.maxExtents.z = radius);
         MatrixF mat = mObjToWorld;

         Point3F sp,vec;
         mObjToWorld.mulP(wheel->data->pos,&sp);
         mObjToWorld.mulV(VectorF(0,0,-wheel->spring->length),&vec);
         Point3F ep = sp + (vec * wheel->extension);
         mat.setColumn(3,ep);
         polyList->setTransform(&mat,Point3F(1,1,1));
         polyList->addBox(wbox);
      }
   }
   return !polyList->isEmpty();
}

void WheeledVehicle::prepBatchRender(SceneRenderState* state, S32 mountedImageIndex )
{
   Parent::prepBatchRender( state, mountedImageIndex );

   if ( mountedImageIndex != -1 )
      return;

   // Set up our render state *here*, 
   // before the push world matrix, so 
   // that wheel rendering will be correct.
   TSRenderState rdata;
   rdata.setSceneState( state );

   // We might have some forward lit materials
   // so pass down a query to gather lights.
   LightQuery query;
   query.init( getWorldSphere() );
   rdata.setLightQuery( &query );

   // Shape transform
   GFX->pushWorldMatrix();

   MatrixF mat = getRenderTransform();
   mat.scale( mObjScale );
   GFX->setWorldMatrix( mat );

   Wheel* wend = &mWheel[mDataBlock->wheelCount];
   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
   {
      if (wheel->shapeInstance) 
      {
         GFX->pushWorldMatrix();

         // Steering & spring extension
         MatrixF hub(EulerF(0,0,mSteering.x * wheel->steering));
         Point3F pos = wheel->data->pos;
         pos.z -= wheel->spring->length * wheel->extension;
         hub.setColumn(3,pos);

         GFX->multWorld(hub);

         // Wheel rotation
         MatrixF rot(EulerF(wheel->apos * M_2PI,0,0));
         GFX->multWorld(rot);

         // Rotation the tire to face the right direction
         // (could pre-calculate this)
         MatrixF wrot(EulerF(0,0,(wheel->data->pos.x > 0)? M_PI/2: -M_PI/2));
         GFX->multWorld(wrot);

         // Render!
         wheel->shapeInstance->animate();
         wheel->shapeInstance->render( rdata );

         if (mCloakLevel != 0.0f)
            wheel->shapeInstance->setAlphaAlways(1.0f - mCloakLevel);
         else
            wheel->shapeInstance->setAlphaAlways(1.0f);

         GFX->popWorldMatrix();
      }
   }

   GFX->popWorldMatrix();

}

//----------------------------------------------------------------------------

void WheeledVehicle::writePacketData(GameConnection *connection, BitStream *stream)
{
   Parent::writePacketData(connection, stream);
   stream->writeFlag(mBraking);
   
}

void WheeledVehicle::readPacketData(GameConnection *connection, BitStream *stream)
{
   Parent::readPacketData(connection, stream);
   mBraking = stream->readFlag();
   
   Wheel* wend = &mWheel[mDataBlock->wheelCount];

   for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
   {
      if (wheel->tire && wheel->spring) {
         // Update angular position
         wheel->apos += (wheel->avel) / M_2PI;
         wheel->apos -= mFloor(wheel->apos);
         if (wheel->apos < 0)
            wheel->apos = 1 - wheel->apos;
      }
   }

   // Rigid state is transmitted by the parent...
   setPosition(mRigid.linPosition,mRigid.angPosition);
   mDelta.pos = mRigid.linPosition;
   mDelta.rot[1] = mRigid.angPosition;

   // Stick the wheels to the ground.  This is purely so they look
   // good while the vehicle is being interpolated.
   extendWheels(isClientObject());
   updateWheelThreads();
}


//----------------------------------------------------------------------------

U32 WheeledVehicle::packUpdate(NetConnection *con, U32 mask, BitStream *stream)
{
   U32 retMask = Parent::packUpdate(con, mask, stream);

   // Update wheel datablock information
   if (stream->writeFlag(mask & WheelMask)) 
   {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         if (stream->writeFlag(wheel->tire && wheel->spring)) 
         {
            stream->writeRangedU32(wheel->tire->getId(),
               DataBlockObjectIdFirst,DataBlockObjectIdLast);
            stream->writeRangedU32(wheel->spring->getId(),
               DataBlockObjectIdFirst,DataBlockObjectIdLast);
            stream->writeFlag(wheel->powered);

            // Steering must be sent with full precision as it's
            // used directly in state force calculations.
            stream->write(wheel->steering);
         }
      }
   }

   // The rest of the data is part of the control object packet update.
   // If we're controlled by this client, we don't need to send it.
   if (stream->writeFlag(getControllingClient() == con && !(mask & InitialUpdateMask)))
      return retMask;

   stream->writeFlag(mBraking);

   if (stream->writeFlag(mask & PositionMask)) 
   {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         stream->write(wheel->avel);
         stream->write(wheel->Dy);
         stream->write(wheel->Dx);
      }
   }
   return retMask;
}

void WheeledVehicle::unpackUpdate(NetConnection *con, BitStream *stream)
{
   Parent::unpackUpdate(con,stream);

   // Update wheel datablock information
   if (stream->readFlag()) 
   {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         if (stream->readFlag()) 
         {
            SimObjectId tid = stream->readRangedU32(DataBlockObjectIdFirst,DataBlockObjectIdLast);
            SimObjectId sid = stream->readRangedU32(DataBlockObjectIdFirst,DataBlockObjectIdLast);
            if (!Sim::findObject(tid,wheel->tire) || !Sim::findObject(sid,wheel->spring)) 
            {
               con->setLastError("Invalid packet WheeledVehicle::unpackUpdate()");
               return;
            }
            wheel->powered = stream->readFlag();
            stream->read(&wheel->steering);

            // Create an instance of the tire for rendering
            delete wheel->shapeInstance;
            wheel->shapeInstance = (wheel->tire->getShape() == NULL) ? 0:
               new TSShapeInstance(wheel->tire->getShape());
         }
      }
   }

   // After this is data that we only need if we're not the
   // controlling client.
   if (stream->readFlag())
      return;

   mBraking = stream->readFlag();

   if (stream->readFlag()) 
   {
      Wheel* wend = &mWheel[mDataBlock->wheelCount];
      for (Wheel* wheel = mWheel; wheel < wend; wheel++) 
      {
         stream->read(&wheel->avel);
         stream->read(&wheel->Dy);
         stream->read(&wheel->Dx);
      }
   }
}


//----------------------------------------------------------------------------
// Console Methods
//----------------------------------------------------------------------------

//----------------------------------------------------------------------------

DefineEngineMethod( WheeledVehicle, setWheelSteering, bool, ( S32 wheel, F32 steering ),,
   "@brief Set how much the wheel is affected by steering.\n\n"
   "The steering factor controls how much the wheel is rotated by the vehicle "
   "steering. For example, most cars would have their front wheels set to 1.0, "
   "and their rear wheels set to 0 since only the front wheels should turn.\n\n"
   "Negative values will turn the wheel in the opposite direction to the steering "
   "angle.\n"
   "@param wheel index of the wheel to set (hub node #)\n"
   "@param steering steering factor from -1 (full inverse) to 1 (full)\n"
   "@return true if successful, false if failed\n\n" )
{
   if ( wheel >= 0 && wheel < object->getWheelCount() ) {
      object->setWheelSteering( wheel, steering );
      return true;
   }
   else
      Con::warnf("setWheelSteering: wheel index %d out of bounds, vehicle has %d hubs",
         wheel, object->getWheelCount());
   return false;
}

DefineEngineMethod( WheeledVehicle, setWheelPowered, bool, ( S32 wheel, bool powered ),,
   "@brief Set whether the wheel is powered (has torque applied from the engine).\n\n"
   "A rear wheel drive car for example would set the front wheels to false, "
   "and the rear wheels to true.\n"
   "@param wheel index of the wheel to set (hub node #)\n"
   "@param powered flag indicating whether to power the wheel or not\n"
   "@return true if successful, false if failed\n\n" )
{
   if ( wheel >= 0 && wheel < object->getWheelCount() ) {
      object->setWheelPowered( wheel, powered );
      return true;
   }
   else
      Con::warnf("setWheelPowered: wheel index %d out of bounds, vehicle has %d hubs",
         wheel, object->getWheelCount());
   return false;
}

DefineEngineMethod( WheeledVehicle, setWheelTire, bool, ( S32 wheel, const char* tire ),,
   "@brief Set the WheeledVehicleTire datablock for this wheel.\n"
   "@param wheel index of the wheel to set (hub node #)\n"
   "@param tire WheeledVehicleTire datablock\n"
   "@return true if successful, false if failed\n\n"
   "@tsexample\n"
   "%obj.setWheelTire( 0, FrontTire );\n"
   "@endtsexample\n" )
{
   WheeledVehicleTire* tireObj = NULL;
   if (wheel < 0 || wheel > object->getWheelCount())
   {
      Con::warnf("setWheelTire: invalid wheel index %d, vehicle has %d hubs", wheel, object->getWheelCount());
      return false;
   }
   else if (!Sim::findObject(tire, tireObj))
   {
      Con::warnf("setWheelSpring: invalid spring %s", tire);
      return false;
   }
   object->setWheelTire(wheel, tireObj);
   return true;
}

DefineEngineMethod( WheeledVehicle, setWheelSpring, bool, ( S32 wheel, const char* spring ),,
   "@brief Set the WheeledVehicleSpring datablock for this wheel.\n"
   "@param wheel index of the wheel to set (hub node #)\n"
   "@param spring WheeledVehicleSpring datablock\n"
   "@return true if successful, false if failed\n\n"
   "@tsexample\n"
   "%obj.setWheelSpring( 0, FrontSpring );\n"
   "@endtsexample\n" )
{
   WheeledVehicleSpring* springObj = NULL;
   if (wheel < 0 || wheel > object->getWheelCount())
   {
      Con::warnf("setWheelSpring: invalid wheel index %d, vehicle has %d hubs", wheel, object->getWheelCount());
      return false;
   }
   else if (!Sim::findObject(spring, springObj))
   {
      Con::warnf("setWheelSpring: invalid spring %s", spring);
      return false;
   }
   object->setWheelSpring(wheel, springObj);
   return true;
}

DefineEngineMethod( WheeledVehicle, getWheelCount, S32, (),,
   "@brief Get the number of wheels on this vehicle.\n"
   "@return the number of wheels (equal to the number of hub nodes defined in the model)\n\n" )
{
   return object->getWheelCount();
}