[nxOgre 101] How do I create a simple wheel?

Hi guys,
I just started to fiddle around with nxOgre. I like it very much for its simplicity. However, I am getting confused byt he lack of unified documentation. There's that sexy-looking short guide, but well, it just covers the basics.
I need to create a motorized wheel that could be attached to an actor or a body. I don't need any suspension. How would I do that?

Thanks in advance,
Serge.

Roughly.

mActor = mScene->createActor("name", new CubeShape(1), Vector3(0,0,0), "mass:10");

mActor->addShape(new WheelShape(0.5, Vector3(1,0,0));

Is the easiest, if you want a full blown car, then you should use a wheelSet. The forums has plenty of examples on how to do that.

That simple? Wow. Thanks a bunch!
One last question: how could I apply velocity and torque to it?

Intellisense people?


Wheel* mWheel static_cast<Wheel*>(mActor->addShape(new WheelShape(0.5, Vector3(1,0,0)));

mWheel->addMotorTorque(torqueValue);

Thanks again.
Is there a way to get Wheel* from a Body* or Actor*? eg.
Body* rBody = mScene->createBody("rBody; cube.1m.mesh", new CubeShape(1), Vector3(0, 5, 0), "mass: 50");
rBody->addShape(new WheelShape(1, "offset: 2 0 2"));
rBody->addShape(new WheelShape(1, "offset: -2 0 2"));
rBody->addShape(new WheelShape(1, "offset: 2 0 -2"));
rBody->addShape(new WheelShape(1, "offset: -2 0 -2"));
Then later, in another class, I need to get these Wheel*s back. How could I do that if I have my Scene* and rBody? Or do I have to pass an array of wheel pointers from class to class? I don't want to use a fourWheelSet, since the number of wheels is variable from run to run.

BTW, Intellisense has failed me on this one.

Look up. I just posted how to do it.

Oh thanks, I got it.
Ugh, one more question, sorry:
How do I nicely add a display entity to a NxShape*? That's what I'm doing right now in my frame listener:
NxU32 nbShapes = mScene->getActor("botBody")->getNxActor()->getNbShapes();
NxShape*const* shapes = mScene->getActor("botBody")->getNxActor()->getShapes();
int iter = 0;
while (nbShapes--) {
if (shapes[nbShapes]->isWheel()) {
theWheel = reinterpret_cast<NxWheelShape*>(shapes[nbShapes]);
theWheel_pos = Vector3(theWheel->getGlobalPosition().x, theWheel->getGlobalPosition().y, theWheel->getGlobalPosition().z);
wheel_nodes[iter]->setPosition(theWheel_pos);
iter++;
}
}
Unfortunately, only three of four of the meshes update their position, and I can't figure out how to convert from an NxMat33 to an Ogre quaternion. Also, is there a better way to do this? This looks a little bit over-complicated....

Can't you do it the normal way of doing wheels? Luis worked long and hard getting that working and displaying properly.

Can't you do it the normal way of doing wheels? Luis worked long and hard getting that working and displaying properly.
No, sorry. I really need to do it that way.
*sigh* I'll guess I'll just read trough the NxOgre Wheel code, to see how Luis made it work, and then adapt it to my needs.