My code is:
.....
//Create node of vehicle and entity attached at vehicle.
.....
m_physicsWorld = physicsCtrl->getPhysicsWorld();
btCollisionShape* chassisShape;
//envoltura is a btvector3
chassisShape = new btBoxShape(envoltura);
btCompoundShape* compound = new btCompoundShape();
btTransform localTrans;
localTrans.setIdentity();
localTrans.setOrigin(OrigenChasis);
compound->addChildShape(localTrans,chassisShape);
m_carChassis = physicsCtrl->addRigidBody(this->getEntity(),compound);
m_carChassis->setDamping(0.2,0.2);
m_vehicleRayCaster = new btDefaultVehicleRaycaster(m_physicsWorld);
m_vehicle = new btRaycastVehicle(m_tuning,m_carChassis,m_vehicleRayCaster);
m_physicsWorld->addVehicle(m_vehicle);
m_vehicle->setCoordinateSystem(0,1,2);
bool isFrontWheel;
isFrontWheel = true;
//R0
btVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(ConexionRueda0.x * gWheelWidth),ConexionRueda0.y,ConexionRueda0.z);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,gSuspensionRestLength,gWheelRadius,m_tuning,isFrontWheel);
//R1
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(ConexionRueda1.x*gWheelWidth), ConexionRueda1.y, ConexionRueda1.z);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,gSuspensionRestLength,gWheelRadius,m_tuning,isFrontWheel);
isFrontWheel = false;
//R2
//connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(-3.3*gWheelWidth),connectionHeight,-2*CUBE_HALF_EXTENTS+gWheelRadius);
connectionPointCS0 = btVector3(-CUBE_HALF_EXTENTS+(ConexionRueda2.x*gWheelWidth),ConexionRueda2.y,ConexionRueda2.z);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,gSuspensionRestLength,gWheelRadius,m_tuning,isFrontWheel);
//R3
//connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(-4.3*gWheelWidth), connectionHeight, -2*CUBE_HALF_EXTENTS+gWheelRadius);
connectionPointCS0 = btVector3(CUBE_HALF_EXTENTS-(ConexionRueda3.x*gWheelWidth), ConexionRueda3.y, ConexionRueda3.z);
m_vehicle->addWheel(connectionPointCS0,wheelDirectionCS0,wheelAxleCS,gSuspensionRestLength,gWheelRadius,m_tuning,isFrontWheel);
Statistics: Posted by Mario Ruiz Perez — Wed Nov 06, 2013 2:39 am
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