Controlling vehicle

[Matic]

Hello,

how can I control vehicle in Newton 2.33. I have noticed that functions like NewtonVehicleSetTireSteerAngle are not present in new versions of NGE. How can I steer the car and accelerate?

Thanks!

[PJani]

Look at CustomMultiBodyJoint.

[Matic]

Little more help please? Cant find anything in Wiki.

[Matic]

I have created Vehicle from tutorial on this site: http://newtondynamics.com/wiki/index.ph ... controller (it is missing but I have used source code from this tutorial).

Code: Select all

void TireTransformCallback (iNewtonUserJoint *car);
struct iNewtonUserJoint* CreateRayCastCast (iNewtonBody* body, SceneManager* sceneManager, float tirePosit[4][3]);
void AddTire (iNewtonUserJoint* joint, const char* fileName, struct dVector position, SceneManager* sceneManager);

This functions work and I have a moving vehicle. If I understand correctly I have to add tourque to wheels and turn them in direction I want the car to drive? How can I do that? Thanks!

[Matic]

Anyone?

[Matic]

How can I add torque to tire entites (look code below)? Can I iterate over NewtonBodies and select tireBody somehow?

Code: Select all

void TireTransformCallback (iNewtonUserJoint *car)
{
   int count;
   
    iNewton* world;
   
   world = GetWorld();
   
   // the tire geometry is not aligned with the collision shape,
   // we can use a local rotation matrix to algn the tires correctly.
   struct dMatrix tireYawMatrix =dYawMatrix(3.1416f * 0.5f);
   
   // iterate over all tire and calculate the location of the Visual Matrix
   count = [world DGRaycastVehicleGetTiresCount:car];
   
   for (int i = 0; i < count; i ++) {
      Entity* tireEnt;
      struct dMatrix tireMatrix;
       
      // get THe tie entity.
      tireEnt = (Entity*) [world DGRaycastVehicleGetTiresUserData:car :i];
       
      // Get the tire matrix form the joint and calculate the final visual matrix
        [world DGRaycastVehicleGetTireMatrix:car :i :&tireMatrix.m_front.m_x];
      tireMatrix = MultiplyMatrix(&tireYawMatrix , &tireMatrix);
       
      // we need to convert the matrix into a quaternion rotation because our entity used quaternion to express rotations
      struct dQuaternion rotation = QuaternionFromMatrix(tireMatrix);//Vprasljiva pretvorba!!!!!!
        struct dQuaternion m_curRotation = tireEnt.m_curRotation;
      // make sure the rotation spinning tire around the shortest path.
      if (dQuatDotProduct(&rotation, &m_curRotation) < 0.0f) {
         dQuatScale(&rotation, -1.0f);

      }
       
      // move current rotation and position to previews rotation and position, and save the New rotation and position
      tireEnt.m_prevRotation = tireEnt.m_curRotation;
      tireEnt.m_curRotation = rotation;
      tireEnt.m_prevPosition = tireEnt.m_curPosition;
      tireEnt.m_curPosition = tireMatrix.m_posit;
   }
}