I need help on a problem in Ogre implementation of bullet Physics.
I want to create a Racing Game with OgreBullet and Ogre3d. But, when I use bullet to my vehicle, I do not understand why my car has 140 km / hour and move slowly in the Ogre3d World.
My Circuit implementation with StaticShape :
Code: Select all
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BaseCircuit::BaseCircuit(Ogre::SceneManager* sceneManager,
OgreBulletDynamics::DynamicsWorld* world,
const std::string& name,
const std::string& file,
const std::vector<Ogre::Vector3>& startEmplacements,
const std::array<Ogre::Vector3, 2>& startLine,
const std::vector<Ogre::Vector3>& points,
size_t nbLaps):
BaseObject(sceneManager, world, "circuit_" + name, MAP),
_startEmplacements(startEmplacements),
_startLine(startLine),
_points(points),
_nbLaps(nbLaps)
{
// Entity
_map = sceneManager->createEntity(file);
_mainNode->attachObject(_map);
// Collision
OgreBulletCollisions::StaticMeshToShapeConverter *floorShape =
new OgreBulletCollisions::StaticMeshToShapeConverter(_map, Ogre::Matrix4::IDENTITY);
_shape = (OgreBulletCollisions::CollisionShape *) floorShape->createTrimesh();
delete floorShape;
// Physic Body
_body = new OgreBulletDynamics::RigidBody(_name + "_body", _world);
_body->setStaticShape(_mainNode,
_shape,
Ogre::Real(1.0f), // restitution
Ogre::Real(0.0f), // friction
Ogre::Vector3(14500, -1220, 4000), // pos
Ogre::Quaternion(Ogre::Degree(-270), // rotation
Ogre::Vector3::UNIT_X));
_body->setActivationState(true);
}
BaseCircuit::~BaseCircuit() {
delete _body;
}
...
My car implementation:
Code: Select all
OgreKart::OgreKart(Ogre::SceneManager *sceneManager, OgreBulletDynamics::DynamicsWorld *world, const std::string &name)
: BaseKart(sceneManager, world, "kart_" + name),
_chassisShift(0, 1.0, 0),
_steeringIncrement(0.05f),
_steeringClamp(0.4f),
_maxEngineForce(3000),
_maxBreakingForce(100),
_wheelFriction(1000.0f),
_suspensionStiffness(40.0f),
_suspensionDamping(2.30f),
_suspensionCompression(2.40f),
_rollInfluence(0.2f),
_suspensionRestLength(0.100f),
_maxSuspensionTravelCm(20.0f),
_frictionSlip(10.5f),
_vehicleSteering(0),
_breakingForce(0),
_engineForce(0),
_mass(800.0f),
_wheelRadius(35.0f),
_wheelWidth(20.0f) {
// Entity
_chassis = _sceneManager->createEntity(_name + "_chassis", "chassis.mesh");
_chassis->setCastShadows(true);
_cameraNode->translate(Ogre::Vector3(10, 0, (const Ogre::Real) -12.0));
Ogre::Matrix3 mat;
mat.FromEulerAnglesXYZ(Ogre::Degree(-21), Ogre::Degree(0), Ogre::Degree(0));
const Ogre::Vector3 vector = _cameraNode->getPosition() * mat;
_cameraNode->setPosition(vector);
_mainNode->attachObject(_chassis);
_mainNode->setPosition(_chassisShift);
_mainNode->setScale(50, 50, 50);
_chassis->setQueryFlags(1 << 2);
// Collision
Ogre::Vector3 position = _mainNode->_getDerivedPosition();
Ogre::Vector3 size = Ogre::Vector3::ZERO;
Ogre::AxisAlignedBox boundingB = _chassis->getBoundingBox();
size = boundingB.getSize() * Ogre::Vector3(50, 50, 50);
size /= 2.0f; // only the half needed
size *= 0.80f; // Bullet margin is a bit bigger so we need a smaller size
_shape = new OgreBulletCollisions::BoxCollisionShape(size); // and the Bullet rigid body
_wheelBody = new OgreBulletDynamics::WheeledRigidBody(_name + "_wheeledBoyd", _world);
_wheelBody->setShape(_mainNode,
_shape,
0.3f, // dynamic body restitution
0.1f, // dynamic body friction
_mass, // dynamic bodymass
position, // starting position of the box
Ogre::Quaternion::IDENTITY);// orientation of the box
_wheelBody->setDamping(0.1, 0.1);
_wheelBody->disableDeactivation();
_wheelBody->getBulletRigidBody()->setCenterOfMassTransform(btTransform(btQuaternion(0, 0, 0), btVector3(0, -9.f, 0.f)));
_vt = new OgreBulletDynamics::VehicleTuning(_suspensionStiffness,
_suspensionCompression,
_suspensionDamping,
_maxSuspensionTravelCm,
6000.f,
_frictionSlip);
_rvehicle = new OgreBulletDynamics::RaycastVehicle(_wheelBody, _vt);
const Ogre::Vector3 wheelDirectionCS0(0, -1, 0);
const Ogre::Vector3 wheelAxleCS(-1, 0, 0);
const float connectionHeight = -35.0f;
int rightIndex = 0;
int upIndex = 1;
int forwardIndex = 2;
_rvehicle->setCoordinateSystem(rightIndex, upIndex, forwardIndex);
_wheelNode[0] = 0;
_wheelNode[1] = 0;
_wheelNode[2] = 0;
_wheelNode[3] = 0;
size_t i = 0;
for (i = 0; i < 4; i++) {
_wheelEntity[i] = _sceneManager->createEntity(_name + "wheel" + Ogre::StringConverter::toString(i),
"wheel.mesh");
_wheelEntity[i]->setQueryFlags(1 << 2);
_wheelEntity[i]->setCastShadows(true);
_wheelNode[i] = _sceneManager->getRootSceneNode()->createChildSceneNode();
_wheelNode[i]->attachObject(_wheelEntity[i]);
_wheelNode[i]->setScale(50, 50, 50);
}
bool isFrontWheel = true;
#define CUBE_HALF_EXTENTS 50
Ogre::Vector3 connectionPointCS0(
(const Ogre::Real) (CUBE_HALF_EXTENTS - (0.3 * _wheelWidth)),
connectionHeight,
2 * CUBE_HALF_EXTENTS - _wheelRadius);
_rvehicle->addWheel(
_wheelNode[0],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
_suspensionRestLength,
_wheelRadius,
isFrontWheel, _wheelFriction, _rollInfluence);
connectionPointCS0 = Ogre::Vector3(
(const Ogre::Real) (-CUBE_HALF_EXTENTS + (0.3 * _wheelWidth)),
connectionHeight,
2 * CUBE_HALF_EXTENTS - _wheelRadius);
_rvehicle->addWheel(
_wheelNode[1],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
_suspensionRestLength,
_wheelRadius,
isFrontWheel, _wheelFriction, _rollInfluence);
connectionPointCS0 = Ogre::Vector3(
(const Ogre::Real) (-CUBE_HALF_EXTENTS + (0.3 * _wheelWidth)),
connectionHeight,
-2 * CUBE_HALF_EXTENTS + _wheelRadius);
isFrontWheel = false;
_rvehicle->addWheel(
_wheelNode[2],
connectionPointCS0,
wheelDirectionCS0,
wheelAxleCS,
_suspensionRestLength,
_wheelRadius,
isFrontWheel, _wheelFriction, _rollInfluence);
connectionPointCS0 = Ogre::Vector3(
(const Ogre::Real) (CUBE_HALF_EXTENTS - (0.3 * _wheelWidth)),
connectionHeight,
-2 * CUBE_HALF_EXTENTS + _wheelRadius);
_rvehicle->addWheel(_wheelNode[3], connectionPointCS0, wheelDirectionCS0, wheelAxleCS,
_suspensionRestLength, _wheelRadius, isFrontWheel, _wheelFriction, _rollInfluence);
_rvehicle->setWheelsAttached();
turnAngle = 0;
}
OgreKart::~OgreKart() {
delete _chassis;
}
void OgreKart::update(Ogre::Real elapsedTime, OIS::Keyboard *input) {
_exCamera->update(elapsedTime, _cameraNode->_getDerivedPosition(), _mainNode->_getDerivedPosition());
_rvehicle->applyEngineForce(0, 2);
_rvehicle->applyEngineForce(0, 3);
if (input->isKeyDown(OIS::KC_Q)) {
_vehicleSteering += _steeringIncrement;
if (_vehicleSteering > _steeringClamp)
_vehicleSteering = _steeringClamp;
} else if (input->isKeyDown(OIS::KC_D)) {
_vehicleSteering -= _steeringIncrement;
if (_vehicleSteering < -_steeringClamp)
_vehicleSteering = -_steeringClamp;
}
if (input->isKeyDown(OIS::KC_Z)) {
_engineForce = _maxEngineForce;
_breakingForce = 0;
} else if (input->isKeyDown(OIS::KC_S)) {
_breakingForce += _maxBreakingForce;
_engineForce = 0;
}
_rvehicle->applyEngineForce(_engineForce, 0);
_rvehicle->getBulletVehicle()->setBrake(_breakingForce, 2);
_rvehicle->applyEngineForce(_engineForce, 1);
_rvehicle->getBulletVehicle()->setBrake(_breakingForce, 3);
_rvehicle->setSteeringValue(_vehicleSteering, 0);
_rvehicle->setSteeringValue(_vehicleSteering, 1);
}
...
Many thanks in advance for your assistance.