Method registerVehicle

src/Physics/Physics.cpp:248–286

}

void Physics::registerVehicle(std::shared_ptr<Car> &car) {
    cars.emplace_back(car);

    btVector3 wheelDirectionCS0(0, -1, 0);
    btVector3 wheelAxleCS(-1, 0, 0);
    float wheelRadius = car->getWheelRadius();
    float wheelWidth = car->getWheelWidth();
    btScalar sRestLength = car->getSuspensionRestLength();

    dynamicsWorld->getBroadphase()->getOverlappingPairCache()->cleanProxyFromPairs(car->getVehicleRigidBody()->getBroadphaseHandle(), dynamicsWorld->getDispatcher());

    dynamicsWorld->addRigidBody(car->getVehicleRigidBody(), COL_CAR, COL_TRACK| COL_RAY);
    car->m_vehicleRayCaster = new btDefaultVehicleRaycaster(dynamicsWorld);
    car->m_vehicle = new btRaycastVehicle(car->m_tuning, car->getVehicleRigidBody(), car->getRaycaster());
    car->getVehicleRigidBody()->setActivationState(DISABLE_DEACTIVATION);
    dynamicsWorld->addVehicle(car->m_vehicle);
    car->getRaycast()->setCoordinateSystem(0, 1, 2);

    // Wire up the wheels
    // Fronties
    btVector3 connectionPointCS0(Utils::glmToBullet(car->left_front_wheel_model.position));
    car->getRaycast()->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, sRestLength, wheelRadius, car->m_tuning, true);
    connectionPointCS0 = btVector3(Utils::glmToBullet(car->right_front_wheel_model.position));
    car->getRaycast()->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, sRestLength, wheelRadius, car->m_tuning, true);
    // Rearies
    connectionPointCS0 = btVector3(Utils::glmToBullet(car->left_rear_wheel_model.position));
    car->getRaycast()->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, sRestLength, wheelRadius, car->m_tuning, false);
    connectionPointCS0 = btVector3(Utils::glmToBullet(car->right_rear_wheel_model.position));
    car->getRaycast()->addWheel(connectionPointCS0, wheelDirectionCS0, wheelAxleCS, sRestLength, wheelRadius, car->m_tuning, false);

    for (int i = 0; i < car->getRaycast()->getNumWheels(); i++) {
        btWheelInfo &wheel = car->getRaycast()->getWheelInfo(i);
        wheel.m_suspensionStiffness = car->getSuspensionStiffness();
        wheel.m_wheelsDampingRelaxation = car->getSuspensionDamping();
        wheel.m_wheelsDampingCompression = car->getSuspensionCompression();
        wheel.m_frictionSlip = car->getWheelFriction();
        wheel.m_rollInfluence = car->getRollInfluence();
    }
}

Physics::Physics() {
    initSimulation();