Wheels now turning and spinning properly.

src/Components/Wheel.h

@@ -37,3 +37,10 @@ private:
 
 }
 #endif // Components_Wheel_h__
+
+/*
+m_currentSuspensionLength
+m_suspension
+m_steeringOrientationChassisSpace
+m_spinAngle
+*/

src/GameWorld.cpp

@@ -24,14 +24,14 @@ void GameWorld::Initialize()
 		auto ground = CreateEntity();
 		auto transform = AddComponent<Components::Transform>(ground, "Transform");
 		transform->Position = glm::vec3(0, -5, 0);
-		transform->Scale = glm::vec3(1000.0f, 10.0f, 1000.0f);
+		transform->Scale = glm::vec3(400.0f, 10.0f, 400.0f);
 		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
 		auto model = AddComponent<Components::Model>(ground, "Model");
 		model->ModelFile = "Models/Placeholders/PhysicsTest/Cube.obj";
 		auto box = AddComponent<Components::Box>(ground, "Box");
-		box->Width = 500;
+		box->Width = 200;
 		box->Height = 5;
-		box->Depth = 500;
+		box->Depth = 200;
 
 		auto physics = AddComponent<Components::Physics>(ground, "Physics");
 		physics->Mass = 10;
@@ -66,13 +66,14 @@ void GameWorld::Initialize()
 			auto ent = CreateEntity(car);
 			auto transform = AddComponent<Components::Transform>(ent, "Transform");
 			transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
-			transform->Position = glm::vec3(1.1f, -0.5f, -1.3f);
+			transform->Position = glm::vec3(1.1f, -1.5f, -1.3f);
 			auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
 			Wheel->Hardpoint = glm::vec3(1.1f, 0.f, -1.3f);// HACK: make into component
 			Wheel->AxleID = 0;
 			Wheel->Mass = 10;
 			Wheel->Radius = 0.5f;
 			Wheel->Steering = true;
+			Wheel->SuspensionStrength = 20.f;
 			auto model = AddComponent<Components::Model>(ent, "Model");
 			model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
 			CommitEntity(ent);
@@ -82,13 +83,14 @@ void GameWorld::Initialize()
 			auto ent = CreateEntity(car);
 			auto transform = AddComponent<Components::Transform>(ent, "Transform");
 			transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
-			transform->Position = glm::vec3(-1.1f, -0.5f, -1.3f);
+			transform->Position = glm::vec3(-1.1f, -1.5f, -1.3f);
 			auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
 			Wheel->Hardpoint = glm::vec3(-1.1f, 0.f, -1.3f);
 			Wheel->AxleID = 0;
 			Wheel->Mass = 10;
 			Wheel->Radius = 0.5f;
 			Wheel->Steering = true;
+			Wheel->SuspensionStrength = 20.f;
 			auto model = AddComponent<Components::Model>(ent, "Model");
 			model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
 			CommitEntity(ent);
@@ -98,7 +100,7 @@ void GameWorld::Initialize()
 			auto ent = CreateEntity(car);
 			auto transform = AddComponent<Components::Transform>(ent, "Transform");
 			transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
-			transform->Position = glm::vec3(1.1f, -0.5f, 1.3f);
+			transform->Position = glm::vec3(1.1f, -1.5f, 1.3f);
 			auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
 			Wheel->Hardpoint = glm::vec3(1.1f, 0.f, 1.3f);
 			Wheel->AxleID = 1;
@@ -106,6 +108,7 @@ void GameWorld::Initialize()
 			Wheel->Radius = 0.5f;
 			Wheel->Steering = false;
 			Wheel->ConnectedToHandbrake = true;
+			Wheel->SuspensionStrength = 20.f;
 			auto model = AddComponent<Components::Model>(ent, "Model");
 			model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
 			CommitEntity(ent);
@@ -115,7 +118,7 @@ void GameWorld::Initialize()
 			auto ent = CreateEntity(car);
 			auto transform = AddComponent<Components::Transform>(ent, "Transform");
 			transform->Scale = glm::vec3(1)/glm::vec3(3, 1, 5);
-			transform->Position = glm::vec3(-1.1f, -0.5f, 1.3f);
+			transform->Position = glm::vec3(-1.1f, -1.5f, 1.3f);
 			auto Wheel = AddComponent<Components::Wheel>(ent, "Wheel");
 			Wheel->Hardpoint = glm::vec3(-1.1f, 0.f, 1.3f);
 			Wheel->AxleID = 1;
@@ -123,6 +126,7 @@ void GameWorld::Initialize()
 			Wheel->Radius = 0.5f;
 			Wheel->Steering = false;
 			Wheel->ConnectedToHandbrake = true;
+			Wheel->SuspensionStrength = 20.f;
 			auto model = AddComponent<Components::Model>(ent, "Model");
 			model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
 			CommitEntity(ent);
@@ -133,22 +137,23 @@ void GameWorld::Initialize()
 
 
 
-	for(int i = 0; i < 50; i++)
+	for(int i = 0; i < 10; i++)
 	{
-		auto ball = CreateEntity();
+		auto cube = CreateEntity();
-		auto transform = AddComponent<Components::Transform>(ball, "Transform");
+		auto transform = AddComponent<Components::Transform>(cube, "Transform");
-		transform->Position = glm::vec3(243, 10 + i*10, 0);
+		transform->Position = glm::vec3(20, 10 + i*2, 0);
-		transform->Scale = glm::vec3(10);
+		transform->Scale = glm::vec3(1);
 		transform->Orientation = glm::quat(glm::vec3(0.0f, 0.0f, 0.0f));
-		auto model = AddComponent<Components::Model>(ball, "Model");
+		auto model = AddComponent<Components::Model>(cube, "Model");
 		model->ModelFile = "Models/Placeholders/PhysicsTest/Cube2.obj";
-		auto physics = AddComponent<Components::Physics>(ball, "Physics");
+		
+		auto physics = AddComponent<Components::Physics>(cube, "Physics");
 		physics->Mass = 100;
-		auto box = AddComponent<Components::Box>(ball, "Box");
+		auto box = AddComponent<Components::Box>(cube, "Box");
-		box->Width = 5.f;
+		box->Width = 0.5f;
-		box->Height = 5.f;
+		box->Height = 0.5f;
-		box->Depth = 5.f;
+		box->Depth = 0.5f;
-		CommitEntity(ball);
+		CommitEntity(cube);
 	}
 
 	{

src/Systems/PhysicsSystem.cpp

@@ -76,10 +76,13 @@ void Systems::PhysicsSystem::Update(double dt)
 			continue;
 
 		
+		if(m_RigidBodies[entity]->isActive())
+		{
+			hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
+			hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
+			m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
+		}
 		
-		hkVector4 position(transformComponent->Position.x, transformComponent->Position.y, transformComponent->Position.z);
-		hkQuaternion rotation(transformComponent->Orientation.x, transformComponent->Orientation.y, transformComponent->Orientation.z, transformComponent->Orientation.w);
-		m_RigidBodies[entity]->setPositionAndRotation(position, rotation);
 	}
 
 	
@@ -109,26 +112,31 @@ void Systems::PhysicsSystem::UpdateEntity(double dt, EntityID entity, EntityID p
 		EntityID car = m_World->GetEntityParent(entity);
 		if(m_Vehicles.find(car) != m_Vehicles.end())
 		{
-			hkVector4 position;
+			m_Vehicles[car]->getChassis()->activate();
-			hkQuaternion orientation;
-			m_Vehicles[car]->calcCurrentPositionAndRotation(m_RigidBodies[car], m_Vehicles[car]->m_suspension, wheelComponent->ID, position, orientation);
-			hkVector4 chassisPosition =	m_RigidBodies[car]->getPosition();
-			hkQuaternion chassisOrientation = m_RigidBodies[car]->getRotation();
-			glm::vec3 relativePos = glm::vec3(chassisPosition(0), chassisPosition(1), chassisPosition(2)) - glm::vec3(position(0), position(1), position(2));
-			glm::quat relativeOrientation = glm::quat(orientation(3), orientation(0), orientation(1), orientation(2));
 
-			transformComponent->Position = relativePos;
+			hkVector4 hardPoint = m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_hardpointChassisSpace;
-			//transformComponent->Orientation = relativeOrientation;
+			hkVector4 suspensionDirection =  m_Vehicles[car]->m_suspension->m_wheelParams[wheelComponent->ID].m_directionChassisSpace;
+			hkReal suspensionLength = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_currentSuspensionLength;
+			glm::vec3 position = glm::vec3(hardPoint(0) + (suspensionDirection(0) * suspensionLength), hardPoint(1) + (suspensionDirection(1) * suspensionLength), hardPoint(2) + (suspensionDirection(2) * suspensionLength));
+			transformComponent->Position = position;
+			
+			hkQuaternion steeringOrientation = m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_steeringOrientationChassisSpace;
+			hkReal spinAngle = -m_Vehicles[car]->m_wheelsInfo[wheelComponent->ID].m_spinAngle;
+			glm::quat orientation = glm::quat(steeringOrientation(3), steeringOrientation(0), steeringOrientation(1), steeringOrientation(2)) * glm::angleAxis<float>(spinAngle, glm::vec3(1, 0, 0));
+			transformComponent->Orientation = orientation;
 		}
 	}
 	else
 	{
 		if(m_Vehicles.find(entity) != m_Vehicles.end())
 		{
-			hkVector4 position = m_RigidBodies[entity]->getPosition();
+			if(m_RigidBodies[entity]->isActive())
-			transformComponent->Position = glm::vec3(position(0), position(1), position(2));
+			{
-			hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
+				hkVector4 position = m_RigidBodies[entity]->getPosition();
-			transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
+				transformComponent->Position = glm::vec3(position(0), position(1), position(2));
+				hkQuaternion orientation = m_RigidBodies[entity]->getRotation();
+				transformComponent->Orientation = glm::quat(orientation(3),orientation(0), orientation(1), orientation(2));
+			}
 		}
 	}