ndJointWheel missing UpdateParameters

[Lax]

Hi Julio,

I'm using your newest ND4 version and found out, that you're missing "UpdateParameters" for the ndJointWheel, hence i hit the assert.

Code: Select all

D_MSV_NEWTON_CLASS_ALIGN_32
class ndJointWheel : public ndJointBilateralConstraint
{
   public:
   D_CLASS_REFLECTION(ndJointWheel, ndJointBilateralConstraint)

   D_NEWTON_API ndJointWheel();
   D_NEWTON_API ndJointWheel(const ndMatrix& pinAndPivotFrame, ndBodyKinematic* const child, ndBodyKinematic* const parent, const ndWheelDescriptor& desc);
   D_NEWTON_API virtual ~ndJointWheel();

   D_NEWTON_API ndFloat32 GetPosit() const;
   D_NEWTON_API ndFloat32 SetSpeed() const;
   D_NEWTON_API ndFloat32 GetBreak() const;
   D_NEWTON_API ndFloat32 GetSteering() const;
   D_NEWTON_API ndFloat32 GetHandBreak() const;

   D_NEWTON_API void SetBreak(ndFloat32 normalizedTorque);
   D_NEWTON_API void SetHandBreak(ndFloat32 normalizedTorque);
   D_NEWTON_API void SetSteering(ndFloat32 normalidedSteering);
   
   D_NEWTON_API void UpdateTireSteeringAngleMatrix();

   D_NEWTON_API ndMatrix CalculateBaseFrame() const;
   D_NEWTON_API ndMatrix CalculateUpperBumperMatrix() const;

   D_NEWTON_API const ndWheelDescriptor& GetInfo() const;
   D_NEWTON_API void SetInfo(const ndWheelDescriptor& info);

   void DebugJoint(ndConstraintDebugCallback& debugCallback) const override;

   protected:
   D_NEWTON_API void JacobianDerivative(ndConstraintDescritor& desc) override;

   ndMatrix m_baseFrame;
   ndWheelDescriptor m_info;
   ndFloat32 m_posit;
   ndFloat32 m_speed;
   ndFloat32 m_regularizer;
   ndFloat32 m_normalizedBrake;
   ndFloat32 m_normalizedSteering;
   ndFloat32 m_normalizedSteering0;
   ndFloat32 m_normalizedHandBrake;
   bool m_IsApplyingBreaks;

   friend class ndMultiBodyVehicle;
} D_GCC_NEWTON_CLASS_ALIGN_32;

Best Regards
Lax

[Julio Jerez]

ah yes, that might be correct.

I added that method recently because of the AI stuff.
I covered the major joints, but I might be overlooked some.
the wheel joint is a good one.

I will added. Thanks

[Lax]

Ah the ndJointUpVector also misses the UpdateParameters function. Maybe there are other joints left...

[Julio Jerez]

ok I added the method to the upvector and the wheel.
the wheel it doesn't really does anything, since the wheel is going to be refactored when I get to the vehicle demo.
for now is juts use the default parameters.

if you play the joints demo, you will see to more demos, one for each joint type.
It sounds like you are doing some interesting stuff using those joints

[Lax]

Hi,

ah yes . I'm testing all kinds of joints, I had in OgreNewt3 and now have ported to OgreNewt4, so even more exotic ones like FlexyPipeSpinner, FlexPipeHandle, Motor, Actuator, Wormgear, Pulley, Pathfollow...

But it will take time, until i can say something about the performance etc. Because i just use debug mode for now.

Best Regards
Lax