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@@ -53,13 +53,23 @@ void VehicleConstraintTest::Initialize()
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vehicle.mMaxPitchRollAngle = sMaxRollAngle;
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// Suspension direction
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- Vec3 front_dir = Vec3(Tan(sFrontSuspensionKinPinAngle), -1, Tan(sFrontSuspensionCasterAngle)).Normalized();
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- Vec3 rear_dir = Vec3(Tan(sRearSuspensionKingPinAngle), -1, Tan(sRearSuspensionCasterAngle)).Normalized();
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-
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- // Wheels
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+ Vec3 front_suspension_dir = Vec3(Tan(sFrontSuspensionSidewaysAngle), -1, Tan(sFrontSuspensionForwardAngle)).Normalized();
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+ Vec3 front_steering_axis = Vec3(-Tan(sFrontKingPinAngle), 1, -Tan(sFrontCasterAngle)).Normalized();
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+ Vec3 front_wheel_up = Vec3(Sin(sFrontCamber), Cos(sFrontCamber), 0);
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+ Vec3 front_wheel_forward = Vec3(-Sin(sFrontToe), 0, Cos(sFrontToe));
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+ Vec3 rear_suspension_dir = Vec3(Tan(sRearSuspensionSidewaysAngle), -1, Tan(sRearSuspensionForwardAngle)).Normalized();
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+ Vec3 rear_steering_axis = Vec3(-Tan(sRearKingPinAngle), 1, -Tan(sRearCasterAngle)).Normalized();
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+ Vec3 rear_wheel_up = Vec3(Sin(sRearCamber), Cos(sRearCamber), 0);
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+ Vec3 rear_wheel_forward = Vec3(-Sin(sRearToe), 0, Cos(sRearToe));
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+ Vec3 flip_x(-1, 1, 1);
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+
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+ // Wheels, left front
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WheelSettingsWV *w1 = new WheelSettingsWV;
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w1->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
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- w1->mDirection = front_dir;
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+ w1->mSuspensionDirection = front_suspension_dir;
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+ w1->mSteeringAxis = front_steering_axis;
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+ w1->mWheelUp = front_wheel_up;
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+ w1->mWheelForward = front_wheel_forward;
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w1->mSuspensionMinLength = sFrontSuspensionMinLength;
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w1->mSuspensionMaxLength = sFrontSuspensionMaxLength;
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w1->mSuspensionFrequency = sFrontSuspensionFrequency;
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@@ -67,9 +77,13 @@ void VehicleConstraintTest::Initialize()
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w1->mMaxSteerAngle = sMaxSteeringAngle;
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w1->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
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+ // Right front
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WheelSettingsWV *w2 = new WheelSettingsWV;
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w2->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, half_vehicle_length - 2.0f * wheel_radius);
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- w2->mDirection = Vec3(-1, 1, 1) * front_dir;
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+ w2->mSuspensionDirection = flip_x * front_suspension_dir;
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+ w2->mSteeringAxis = flip_x * front_steering_axis;
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+ w2->mWheelUp = flip_x * front_wheel_up;
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+ w2->mWheelForward = flip_x * front_wheel_forward;
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w2->mSuspensionMinLength = sFrontSuspensionMinLength;
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w2->mSuspensionMaxLength = sFrontSuspensionMaxLength;
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w2->mSuspensionFrequency = sFrontSuspensionFrequency;
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@@ -77,18 +91,26 @@ void VehicleConstraintTest::Initialize()
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w2->mMaxSteerAngle = sMaxSteeringAngle;
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w2->mMaxHandBrakeTorque = 0.0f; // Front wheel doesn't have hand brake
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+ // Left rear
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WheelSettingsWV *w3 = new WheelSettingsWV;
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w3->mPosition = Vec3(half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
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- w3->mDirection = rear_dir;
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+ w3->mSuspensionDirection = rear_suspension_dir;
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+ w3->mSteeringAxis = rear_steering_axis;
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+ w3->mWheelUp = rear_wheel_up;
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+ w3->mWheelForward = rear_wheel_forward;
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w3->mSuspensionMinLength = sRearSuspensionMinLength;
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w3->mSuspensionMaxLength = sRearSuspensionMaxLength;
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w3->mSuspensionFrequency = sRearSuspensionFrequency;
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w3->mSuspensionDamping = sRearSuspensionDamping;
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w3->mMaxSteerAngle = 0.0f;
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+ // Right rear
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WheelSettingsWV *w4 = new WheelSettingsWV;
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w4->mPosition = Vec3(-half_vehicle_width, -0.9f * half_vehicle_height, -half_vehicle_length + 2.0f * wheel_radius);
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- w4->mDirection = Vec3(-1, 1, 1) * rear_dir;
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+ w4->mSuspensionDirection = flip_x * rear_suspension_dir;
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+ w4->mSteeringAxis = flip_x * rear_steering_axis;
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+ w4->mWheelUp = flip_x * rear_wheel_up;
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+ w4->mWheelForward = flip_x * rear_wheel_forward;
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w4->mSuspensionMinLength = sRearSuspensionMinLength;
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w4->mSuspensionMaxLength = sRearSuspensionMaxLength;
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w4->mSuspensionFrequency = sRearSuspensionFrequency;
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@@ -234,23 +256,31 @@ void VehicleConstraintTest::CreateSettingsMenu(DebugUI *inUI, UIElement *inSubMe
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{
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VehicleTest::CreateSettingsMenu(inUI, inSubMenu);
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- inUI->CreateSlider(inSubMenu, "Initial Roll Angle", RadiansToDegrees(sInitialRollAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sInitialRollAngle = DegreesToRadians(inValue); });
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- inUI->CreateSlider(inSubMenu, "Max Roll Angle", RadiansToDegrees(sMaxRollAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sMaxRollAngle = DegreesToRadians(inValue); });
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- inUI->CreateSlider(inSubMenu, "Max Steering Angle", RadiansToDegrees(sMaxSteeringAngle), 0.0f, 90.0f, 0.1f, [](float inValue) { sMaxSteeringAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Initial Roll Angle", RadiansToDegrees(sInitialRollAngle), 0.0f, 90.0f, 1.0f, [](float inValue) { sInitialRollAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Max Roll Angle", RadiansToDegrees(sMaxRollAngle), 0.0f, 90.0f, 1.0f, [](float inValue) { sMaxRollAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Max Steering Angle", RadiansToDegrees(sMaxSteeringAngle), 0.0f, 90.0f, 1.0f, [](float inValue) { sMaxSteeringAngle = DegreesToRadians(inValue); });
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inUI->CreateComboBox(inSubMenu, "Collision Mode", { "Ray", "Cast Sphere", "Cast Cylinder" }, sCollisionMode, [](int inItem) { sCollisionMode = inItem; });
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inUI->CreateCheckBox(inSubMenu, "4 Wheel Drive", sFourWheelDrive, [](UICheckBox::EState inState) { sFourWheelDrive = inState == UICheckBox::STATE_CHECKED; });
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inUI->CreateCheckBox(inSubMenu, "Anti Rollbars", sAntiRollbar, [](UICheckBox::EState inState) { sAntiRollbar = inState == UICheckBox::STATE_CHECKED; });
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inUI->CreateCheckBox(inSubMenu, "Limited Slip Differentials", sLimitedSlipDifferentials, [](UICheckBox::EState inState) { sLimitedSlipDifferentials = inState == UICheckBox::STATE_CHECKED; });
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inUI->CreateSlider(inSubMenu, "Max Engine Torque", float(sMaxEngineTorque), 100.0f, 2000.0f, 10.0f, [](float inValue) { sMaxEngineTorque = inValue; });
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inUI->CreateSlider(inSubMenu, "Clutch Strength", float(sClutchStrength), 1.0f, 40.0f, 1.0f, [](float inValue) { sClutchStrength = inValue; });
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- inUI->CreateSlider(inSubMenu, "Front Suspension Caster Angle", RadiansToDegrees(sFrontSuspensionCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionCasterAngle = DegreesToRadians(inValue); });
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- inUI->CreateSlider(inSubMenu, "Front Suspension King Pin Angle", RadiansToDegrees(sFrontSuspensionKinPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionKinPinAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front Caster Angle", RadiansToDegrees(sFrontCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontCasterAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front King Pin Angle", RadiansToDegrees(sFrontKingPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontKingPinAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front Camber", RadiansToDegrees(sFrontCamber), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontCamber = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front Toe", RadiansToDegrees(sFrontToe), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontToe = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front Suspension Forward Angle", RadiansToDegrees(sFrontSuspensionForwardAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionForwardAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Front Suspension Sideways Angle", RadiansToDegrees(sFrontSuspensionSidewaysAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sFrontSuspensionSidewaysAngle = DegreesToRadians(inValue); });
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inUI->CreateSlider(inSubMenu, "Front Suspension Min Length", sFrontSuspensionMinLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sFrontSuspensionMinLength = inValue; });
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inUI->CreateSlider(inSubMenu, "Front Suspension Max Length", sFrontSuspensionMaxLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sFrontSuspensionMaxLength = inValue; });
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inUI->CreateSlider(inSubMenu, "Front Suspension Frequency", sFrontSuspensionFrequency, 0.1f, 5.0f, 0.01f, [](float inValue) { sFrontSuspensionFrequency = inValue; });
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inUI->CreateSlider(inSubMenu, "Front Suspension Damping", sFrontSuspensionDamping, 0.0f, 2.0f, 0.01f, [](float inValue) { sFrontSuspensionDamping = inValue; });
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- inUI->CreateSlider(inSubMenu, "Rear Suspension Caster Angle", RadiansToDegrees(sRearSuspensionCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionCasterAngle = DegreesToRadians(inValue); });
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- inUI->CreateSlider(inSubMenu, "Rear Suspension King Pin Angle", RadiansToDegrees(sRearSuspensionKingPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionKingPinAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear Caster Angle", RadiansToDegrees(sRearCasterAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearCasterAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear King Pin Angle", RadiansToDegrees(sRearKingPinAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearKingPinAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear Camber", RadiansToDegrees(sRearCamber), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearCamber = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear Toe", RadiansToDegrees(sRearToe), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearToe = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear Suspension Forward Angle", RadiansToDegrees(sRearSuspensionForwardAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionForwardAngle = DegreesToRadians(inValue); });
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+ inUI->CreateSlider(inSubMenu, "Rear Suspension Sideways Angle", RadiansToDegrees(sRearSuspensionSidewaysAngle), -89.0f, 89.0f, 1.0f, [](float inValue) { sRearSuspensionSidewaysAngle = DegreesToRadians(inValue); });
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inUI->CreateSlider(inSubMenu, "Rear Suspension Min Length", sRearSuspensionMinLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sRearSuspensionMinLength = inValue; });
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inUI->CreateSlider(inSubMenu, "Rear Suspension Max Length", sRearSuspensionMaxLength, 0.0f, 3.0f, 0.01f, [](float inValue) { sRearSuspensionMaxLength = inValue; });
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inUI->CreateSlider(inSubMenu, "Rear Suspension Frequency", sRearSuspensionFrequency, 0.1f, 5.0f, 0.01f, [](float inValue) { sRearSuspensionFrequency = inValue; });
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Jorrit Rouwe