Random Racer: random_racer/src/BuggyCar.cpp Source File

00001 
00002 #include "BuggyCar.h"
00003 #include "ResourceManager.h"
00004 #include "random_utils/LogManager.h"
00005 #include "vrsode/PhysicsManager.h"
00006 #include "vrsode/CylinderShape.h"
00007 #include "vrsode/BoxShape.h"
00008 #include "vrsode/SphereShape.h"
00009 
00010 #include <vrs/box.h>
00011 #include <vrs/color.h>
00012 #include <vrs/torus.h>
00013 #include <vrs/vector.h>
00014 #include <vrs/scaling.h>
00015 #include <vrs/opengl/shapematerialgl.h>
00016 #include <vrs/translation.h>
00017 #include <vrs/io/threedsreader.h>
00018 #include <vrs/sg/sceneadjuster.h>
00019 #include <vrs/tf.h>
00020 
00021 using namespace vrsode;
00022 
00023 namespace random_racer
00024 {
00025 
00026 BuggyCar::BuggyCar(VRS::SO<VRS::SceneThing> p_parent) : Car(p_parent)
00027 {
00028     m_wheelMu = 999;
00029     m_wheelSlip1 = 0.1;
00030     m_wheelSlip2 = 0.1;
00031     
00032     m_springLengthFront = 0.1;
00033     // m_springLengthFront = 0.2;
00034     m_springPowerFront = 20;
00035     m_springSpeedFront = 1.4;
00036     m_springLengthRear = 0.2;
00037     m_springPowerRear = 20;
00038     m_springSpeedRear = 1.4;
00039 
00040     m_wheelRad = 0.5;
00041     m_wheelWidth = 1.0;
00042 
00043     m_suspensionSoftness = 0.0;
00044     m_steeringRadius = 0.4;
00045     
00046     m_carMaxSpeed = 30;
00047     m_carPower = 25;
00048     
00049     m_wheelMass = 0.01;
00050     m_bodyMass = 8.0;
00051     m_helperMass = 0.01;
00052     
00053     m_steerOffsetFL = VRS::Vector( 1.0, -0.12, -1.8);
00054     m_steerOffsetFR = VRS::Vector(-1.0, -0.12, -1.8);
00055     
00056     m_chassisOffset = VRS::Vector(   0,     0,    0);
00057     m_wheelOffsetFL = VRS::Vector( 1.0, -0.12, -1.8);
00058     m_wheelOffsetFR = VRS::Vector(-1.0, -0.12, -1.8);
00059     m_wheelOffsetRL = VRS::Vector( 1.25, -0.08,  0.9);
00060     m_wheelOffsetRR = VRS::Vector(-1.25, -0.08,  0.9);
00061     
00062     m_axisOffsetFL = VRS::Vector( 1.25, -0.12, -1.8);
00063     m_axisOffsetFR = VRS::Vector(-1.25, -0.12, -1.8);
00064     m_axisOffsetRL = VRS::Vector( 1.25, -0.08,  0.9);
00065     m_axisOffsetRR = VRS::Vector(-1.25, -0.08,  0.9);
00066     
00067     m_suspensionOffsetFL = VRS::Vector( 0.45, -0.02, -1.8);
00068     m_suspensionOffsetFR = VRS::Vector(-0.45, -0.02, -1.8);
00069     m_suspensionOffsetRL = VRS::Vector( 0.59, -0.12,  0.7);
00070     m_suspensionOffsetRR = VRS::Vector(-0.59, -0.12,  0.7);
00071 
00072     m_suspensionSoftnessOffsetFL = VRS::Vector( 0.6, -0.12, -1.8);
00073     m_suspensionSoftnessOffsetFR = VRS::Vector(-0.6, -0.12, -1.8);
00074     m_suspensionSoftnessOffsetRL = VRS::Vector( 0.6, -0.12, -1.8);
00075     m_suspensionSoftnessOffsetRR = VRS::Vector(-0.6, -0.12, -1.8);
00076 
00077     
00078     VRS::SO<VRS::SceneThing> federLV;
00079     VRS::SO<VRS::SceneThing> federRV;
00080     VRS::SO<VRS::SceneThing> federLH;
00081     VRS::SO<VRS::SceneThing> federRH;
00082     
00083     VRS::SO<VRS::SceneThing> federInnenLV;
00084     VRS::SO<VRS::SceneThing> federInnenRV;
00085     VRS::SO<VRS::SceneThing> federInnenLH;
00086     VRS::SO<VRS::SceneThing> federInnenRH;
00087     
00088     VRS::SO<VRS::SceneThing> achseLV;
00089     VRS::SO<VRS::SceneThing> achseRV;
00090     VRS::SO<VRS::SceneThing> achseLH;
00091     VRS::SO<VRS::SceneThing> achseRH;
00092     
00093     VRS::SO<VRS::SceneThing> radLV;
00094     VRS::SO<VRS::SceneThing> radRV;
00095     VRS::SO<VRS::SceneThing> radLH;
00096     VRS::SO<VRS::SceneThing> radRH;
00097     
00098     VRS::SO<VRS::SceneThing> body;
00099 
00100     m_rootNode = new VRS::SceneThing(p_parent);
00101     
00102     VRS::SO<VRS::SceneThing> carNode = new VRS::SceneThing();
00103 
00104     m_rootNode->append(carNode);
00105 
00106     VRS::SO<VRS::SceneThing> tmp;
00107     VRS::SO<VRS::SceneThing> modelRootThing =
00108             ResourceManager::get()->load3ds("model/model.3ds");
00109 
00110     if(!modelRootThing)
00111         std::cerr << "ERROR: cannot load mesh" << std::endl;
00112         
00113     
00114     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00115     tmp = (VRS::SceneThing*)tmp->object(2);
00116     tmp = (VRS::SceneThing*)tmp->object(2);
00117     federLV = tmp;
00118 
00119     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00120     tmp = (VRS::SceneThing*)tmp->object(3);
00121     tmp = (VRS::SceneThing*)tmp->object(2);
00122     federInnenLV = tmp;
00123 
00124     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00125     tmp = (VRS::SceneThing*)tmp->object(4);
00126     tmp = (VRS::SceneThing*)tmp->object(2);
00127     achseLV = tmp;
00128     
00129     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00130     tmp = (VRS::SceneThing*)tmp->object(6);
00131     tmp = (VRS::SceneThing*)tmp->object(2);
00132     radLH = tmp;
00133     
00134     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00135     tmp = (VRS::SceneThing*)tmp->object(7);
00136     tmp = (VRS::SceneThing*)tmp->object(2);
00137     radRV = tmp;
00138     
00139     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00140     tmp = (VRS::SceneThing*)tmp->object(8);
00141     tmp = (VRS::SceneThing*)tmp->object(2);
00142     radLV = tmp;
00143     
00144     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00145     tmp = (VRS::SceneThing*)tmp->object(5);
00146     tmp = (VRS::SceneThing*)tmp->object(2);
00147     tmp = (VRS::SceneThing*)tmp->object(2);
00148     tmp = (VRS::SceneThing*)tmp->object(2);
00149     radRH = tmp;
00150         
00151     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00152     tmp = (VRS::SceneThing*)tmp->object(9);
00153     tmp = (VRS::SceneThing*)tmp->object(1);
00154     body = tmp;
00155     
00156     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00157     tmp = (VRS::SceneThing*)tmp->object(10);
00158     tmp = (VRS::SceneThing*)tmp->object(2);
00159     achseRV = tmp;
00160     
00161     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00162     tmp = (VRS::SceneThing*)tmp->object(11);
00163     tmp = (VRS::SceneThing*)tmp->object(1);
00164     federInnenRV = tmp;
00165     
00166     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00167     tmp = (VRS::SceneThing*)tmp->object(12);
00168     tmp = (VRS::SceneThing*)tmp->object(1);
00169     federRV = tmp;
00170     
00171     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00172     tmp = (VRS::SceneThing*)tmp->object(13);
00173     tmp = (VRS::SceneThing*)tmp->object(2);
00174     achseRH = tmp;
00175     
00176     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00177     tmp = (VRS::SceneThing*)tmp->object(14);
00178     tmp = (VRS::SceneThing*)tmp->object(2);
00179     federLH = tmp;
00180     
00181     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00182     tmp = (VRS::SceneThing*)tmp->object(15);
00183     tmp = (VRS::SceneThing*)tmp->object(2);
00184     federInnenLH = tmp;
00185     
00186     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00187     tmp = (VRS::SceneThing*)tmp->object(16);
00188     tmp = (VRS::SceneThing*)tmp->object(1);
00189     federInnenRH = tmp;
00190     
00191     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00192     tmp = (VRS::SceneThing*)tmp->object(17);
00193     tmp = (VRS::SceneThing*)tmp->object(1);
00194     federRH = tmp;
00195     
00196     tmp = (VRS::SceneThing*)modelRootThing->object(1);
00197     tmp = (VRS::SceneThing*)tmp->object(18);
00198     tmp = (VRS::SceneThing*)tmp->object(2);
00199     achseLH = tmp;
00200     
00201 
00202     VRS::SO<VRS::SceneThing> st;
00203     
00204     st = new VRS::SceneThing(carNode);
00205     m_chassis = new PhysicsBody(st, new BoxShape(VRS::Bounds(
00206         VRS::Vector(-0.2, -0.2, -0.4), VRS::Vector(0.2, 0.2, 0.4))), true);
00207 
00208     VRS::SO<VRS::SceneThing> chassisSceneThing = new VRS::SceneThing(st);
00209     chassisSceneThing->append(new VRS::Scaling(0.003, 0.003, 0.003));
00210     chassisSceneThing->append(body);
00211 
00212     VRS::SO<VRS::SceneThing> federLVSceneThing = new VRS::SceneThing(st);
00213     federLVSceneThing->append(new VRS::Scaling(0.003, 0.003, 0.003));
00214     federLVSceneThing->append(federLV);
00215     VRS::SO<VRS::SceneThing> federRVSceneThing = new VRS::SceneThing(st);
00216     federRVSceneThing->append(new VRS::Scaling(0.003, 0.003, 0.003));
00217     federRVSceneThing->append(federRV);
00218     VRS::SO<VRS::SceneThing> federLHSceneThing = new VRS::SceneThing(st);
00219     federLHSceneThing->append(new VRS::Scaling(0.003, 0.003, 0.003));
00220     federLHSceneThing->append(federLH);
00221     VRS::SO<VRS::SceneThing> federRHSceneThing = new VRS::SceneThing(st);
00222     federRHSceneThing->append(new VRS::Scaling(0.003, 0.003, 0.003));
00223     federRHSceneThing->append(federRH);
00224 
00225     st = new VRS::SceneThing(carNode);
00226     m_wheelFL = new PhysicsBody(st, new SphereShape(VRS::Bounds(
00227         VRS::Vector(-0.4, -0.4, -0.4), VRS::Vector(0.4, 0.4, 0.4))), true);
00228     // m_wheelFL = new PhysicsBody(st, 
00229     //     new CylinderShape(
00230     //         VRS::Vector(1,0,0), m_wheelWidth, m_wheelRad), true);
00231     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00232     st->append(radLV);
00233 
00234     st = new VRS::SceneThing(carNode);
00235     m_wheelFR = new PhysicsBody(st, new SphereShape(VRS::Bounds(
00236         VRS::Vector(-0.4, -0.4, -0.4), VRS::Vector(0.4, 0.4, 0.4))), true);
00237     // m_wheelFR = new PhysicsBody(st, 
00238     //     new CylinderShape(
00239     //         VRS::Vector(1,0,0), m_wheelWidth, m_wheelRad), true);
00240     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00241     st->append(radRV);
00242 
00243     st = new VRS::SceneThing(carNode);
00244     m_wheelRL = new PhysicsBody(st, new SphereShape(VRS::Bounds(
00245         VRS::Vector(-0.4, -0.4, -0.4), VRS::Vector(0.4, 0.4, 0.4))), true);
00246     // m_wheelRL = new PhysicsBody(st,
00247     //     new CylinderShape(
00248     //         VRS::Vector(1,0,0), m_wheelWidth, m_wheelRad), true);
00249     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00250     st->append(radLH);
00251 
00252     st = new VRS::SceneThing(carNode);
00253     m_wheelRR = new PhysicsBody(st, new SphereShape(VRS::Bounds(
00254         VRS::Vector(-0.4, -0.4, -0.4), VRS::Vector(0.4, 0.4, 0.4))), true);
00255     // m_wheelRR = new PhysicsBody(st, 
00256     //     new CylinderShape(
00257     //         VRS::Vector(1,0,0), m_wheelWidth, m_wheelRad), true);
00258     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00259     st->append(radRH);
00260 
00261     VRS::SO<VRS::SceneThing> suspensionThingFL;
00262     VRS::SO<VRS::SceneThing> suspensionThingFR;
00263 
00264     st = new VRS::SceneThing(carNode);
00265     m_suspensionFL = new PhysicsBody(st, CS_None, true);
00266     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00267     st->append(achseLV);
00268 
00269 
00270     st = new VRS::SceneThing(carNode);
00271     m_suspensionFR = new PhysicsBody(st, CS_None, true);
00272     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00273     st->append(achseRV);
00274 
00275 
00276     st = new VRS::SceneThing(carNode);
00277     m_suspensionRL = new PhysicsBody(st, CS_None, true);
00278     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00279     st->append(achseLH);
00280 
00281 
00282     st = new VRS::SceneThing(carNode);
00283     m_suspensionRR = new PhysicsBody(st, CS_None, true);
00284     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00285     st->append(achseRH);
00286 
00287 
00288     st = new VRS::SceneThing(carNode);
00289     m_springFL = new PhysicsBody(st, CS_None, true);
00290     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00291     st->append(federInnenLV);
00292     
00293     st = new VRS::SceneThing(carNode);
00294     m_springFR = new PhysicsBody(st, CS_None, true);
00295     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00296     st->append(federInnenRV);
00297 
00298 
00299     st = new VRS::SceneThing(carNode);
00300     m_springRL = new PhysicsBody(st, CS_None, true);
00301     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00302     st->append(federInnenLH);
00303     
00304     st = new VRS::SceneThing(carNode);
00305     m_springRR = new PhysicsBody(st, CS_None, true);
00306     st->append(new VRS::Scaling(0.003, 0.003, 0.003));
00307     st->append(federInnenRH);
00308 
00309 
00310     st = new VRS::SceneThing(carNode);
00311     m_steerFL = new PhysicsBody(st, CS_None);
00312     
00313     st = new VRS::SceneThing(carNode);
00314     m_steerFR = new PhysicsBody(st, CS_None);
00315 
00316     m_chassis->setPosition(m_chassisOffset);
00317     m_wheelFL->setPosition(m_wheelOffsetFL);
00318     m_wheelFR->setPosition(m_wheelOffsetFR);
00319     m_wheelRL->setPosition(m_wheelOffsetRL);
00320     m_wheelRR->setPosition(m_wheelOffsetRR);
00321 
00322     // m_wheelFL->surface()->setSlip1(m_wheelSlip1);
00323     // m_wheelFL->surface()->setSlip2(m_wheelSlip2);
00324     // m_wheelFL->surface()->setMu(m_wheelMu);
00325     // m_wheelFR->surface()->setSlip1(m_wheelSlip1);
00326     // m_wheelFR->surface()->setSlip2(m_wheelSlip2);
00327     // m_wheelFR->surface()->setMu(m_wheelMu);
00328     // m_wheelRL->surface()->setSlip1(m_wheelSlip1);
00329     // m_wheelRL->surface()->setSlip2(m_wheelSlip2);
00330     // m_wheelRL->surface()->setMu(m_wheelMu);
00331     // m_wheelRR->surface()->setSlip1(m_wheelSlip1);
00332     // m_wheelRR->surface()->setSlip2(m_wheelSlip2);
00333     // m_wheelRR->surface()->setMu(m_wheelMu);
00334 
00335     m_suspensionFL->setPosition(m_suspensionOffsetFL);
00336     m_suspensionFR->setPosition(m_suspensionOffsetFR);
00337     m_suspensionRL->setPosition(m_suspensionOffsetRL);
00338     m_suspensionRR->setPosition(m_suspensionOffsetRR);
00339 
00340     m_wheelFL->setRotation(VRS::Vector(0,0,1), -90);
00341     m_wheelFR->setRotation(VRS::Vector(0,0,1), 90);
00342     m_wheelRL->setRotation(VRS::Vector(0,0,1), -90);
00343     m_wheelRR->setRotation(VRS::Vector(0,0,1), 90);
00344     
00345     m_axisFL = new PhysicsJointHinge(m_steerFL, m_wheelFL,
00346         m_axisOffsetFL, VRS::Vector(1,0,0));
00347     
00348     m_axisFR = new PhysicsJointHinge(m_steerFR, m_wheelFR,
00349         m_axisOffsetFR, VRS::Vector(1,0,0));
00350     
00351     m_axisRL = new PhysicsJointHinge(m_suspensionRL, m_wheelRL,
00352         m_axisOffsetRL, VRS::Vector(1,0,0));
00353     
00354     m_axisRR = new PhysicsJointHinge(m_suspensionRR, m_wheelRR,
00355         m_axisOffsetRR, VRS::Vector(1,0,0));
00356         
00357     m_springSliderFL = new PhysicsJointSlider(
00358         m_chassis, m_springFL, VRS::Vector(0.2,1,0));
00359     m_springSliderFR = new PhysicsJointSlider(
00360         m_chassis, m_springFR, VRS::Vector(-0.2,1,0));
00361     
00362     m_springSliderRL = new PhysicsJointSlider(
00363         m_chassis, m_springRL, VRS::Vector(0.2,1,0));
00364     m_springSliderRR = new PhysicsJointSlider(
00365         m_chassis, m_springRR, VRS::Vector(-0.2,1,0));
00366     
00367     m_springSliderFL->setHighStop(0.05);
00368     m_springSliderFL->setLowStop(-m_springLengthFront);
00369     m_springSliderFL->setMotorVelocity(m_springSpeedFront);
00370     m_springSliderFL->setMotorMaxForce(m_springPowerFront);
00371     
00372     m_springSliderFR->setHighStop(0.05);
00373     m_springSliderFR->setLowStop(-m_springLengthFront);
00374     m_springSliderFR->setMotorVelocity(m_springSpeedFront);
00375     m_springSliderFR->setMotorMaxForce(m_springPowerFront);
00376     
00377     m_springSliderRL->setHighStop(0.0);
00378     m_springSliderRL->setLowStop(-m_springLengthRear);
00379     m_springSliderRL->setMotorVelocity(m_springSpeedRear);
00380     m_springSliderRL->setMotorMaxForce(m_springPowerRear);
00381 
00382     m_springSliderRR->setHighStop(0.0);
00383     m_springSliderRR->setLowStop(-m_springLengthRear);
00384     m_springSliderRR->setMotorVelocity(m_springSpeedRear);
00385     m_springSliderRR->setMotorMaxForce(m_springPowerRear);
00386     
00387     m_suspensionSoftnessFL = new PhysicsJointHinge(
00388         m_springFL, m_suspensionFL, 
00389         m_suspensionSoftnessOffsetFL, VRS::Vector(0,0,1));
00390     m_suspensionSoftnessFL->setHighStop(m_suspensionSoftness);
00391     m_suspensionSoftnessFL->setLowStop(-m_suspensionSoftness);
00392 
00393     m_suspensionSoftnessFR = new PhysicsJointHinge(
00394         m_springFR, m_suspensionFR, 
00395         m_suspensionSoftnessOffsetFR, VRS::Vector(0,0,1));
00396     m_suspensionSoftnessFR->setHighStop(m_suspensionSoftness);
00397     m_suspensionSoftnessFR->setLowStop(-m_suspensionSoftness);
00398 
00399     m_suspensionSoftnessRL = new PhysicsJointHinge(
00400         m_springRR, m_suspensionRL, 
00401         m_suspensionSoftnessOffsetRL, VRS::Vector(0,0,1));
00402     m_suspensionSoftnessRL->setHighStop(m_suspensionSoftness);
00403     m_suspensionSoftnessRL->setLowStop(-m_suspensionSoftness);
00404 
00405     m_suspensionSoftnessRR = new PhysicsJointHinge(
00406         m_springRL, m_suspensionRR, 
00407         m_suspensionSoftnessOffsetRR, VRS::Vector(0,0,1));
00408     m_suspensionSoftnessRR->setHighStop(m_suspensionSoftness);
00409     m_suspensionSoftnessRR->setLowStop(-m_suspensionSoftness);
00410 
00411     m_steerControlFL = new PhysicsJointHinge(m_steerFL, m_suspensionFR,
00412         m_steerOffsetFL, VRS::Vector(0,1,0));
00413     m_steerControlFR = new PhysicsJointHinge(m_steerFR, m_suspensionFL,
00414         m_steerOffsetFR, VRS::Vector(0,1,0));
00415     
00416     m_steerControlFL->setHighStop(0);
00417     m_steerControlFL->setLowStop( 0);
00418     m_steerControlFR->setHighStop(0);
00419     m_steerControlFR->setLowStop( 0);
00420     
00421     st = new VRS::SceneThing(carNode);
00422     m_hook = new PhysicsBody(st, new SphereShape(
00423         VRS::Bounds(VRS::Vector(0.1,0.1,0.1), VRS::Vector(0.1,0.1,0.1))), true);
00424     m_hook->setPosition(m_chassisOffset + VRS::Vector(0,0,0));
00425     m_hook->surface()->setGhostMode(true);
00426 
00427     m_hook->setRotation(VRS::Vector(0,1,0), 90);
00428     
00429     m_hookJoint = new PhysicsJointSlider(
00430         m_chassis, m_hook, VRS::Vector(0,1,0));
00431 
00432     m_hookJoint->setHighStop(0.0);
00433     m_hookJoint->setLowStop(0.0);
00434 
00435     m_wheelFL->setMass(m_wheelMass);
00436     m_wheelFR->setMass(m_wheelMass);
00437     m_wheelRL->setMass(m_wheelMass);
00438     m_wheelRR->setMass(m_wheelMass);
00439     m_chassis->setMass(m_bodyMass);
00440     m_springFL->setMass(m_helperMass);
00441     m_springFR->setMass(m_helperMass);
00442     m_springRL->setMass(m_helperMass);
00443     m_springRR->setMass(m_helperMass);
00444     
00445     m_suspensionFL->setMass(m_helperMass);
00446     m_suspensionFR->setMass(m_helperMass);
00447     m_suspensionRL->setMass(m_helperMass);
00448     m_suspensionRR->setMass(m_helperMass);
00449     
00450     m_steerFL->setMass(m_helperMass);
00451     m_steerFR->setMass(m_helperMass);
00452     
00453     m_wheelFL->setHighSpeedRotationAxis(VRS::Vector(1,0,0));
00454     m_wheelFR->setHighSpeedRotationAxis(VRS::Vector(1,0,0));
00455     m_wheelRL->setHighSpeedRotationAxis(VRS::Vector(1,0,0));
00456     m_wheelRR->setHighSpeedRotationAxis(VRS::Vector(1,0,0));
00457 
00458     m_wheelFL->setHighSpeedRotationMode(true);
00459     m_wheelFR->setHighSpeedRotationMode(true);
00460     m_wheelRL->setHighSpeedRotationMode(true);
00461     m_wheelRR->setHighSpeedRotationMode(true);
00462     
00463 
00464 }
00465 
00466 BuggyCar::~BuggyCar()
00467 {
00468     // TODO: cleanup
00469 }
00470 
00471 void
00472 BuggyCar::accelerate(double p_amount)
00473 {
00474     enableAllBodies();
00475     
00476     if(p_amount)
00477     {
00478         m_axisRL->setMotorVelocity(m_carMaxSpeed * p_amount);
00479         m_axisRR->setMotorVelocity(m_carMaxSpeed * p_amount);
00480         m_axisRL->setMotorMaxForce(m_carPower);
00481         m_axisRR->setMotorMaxForce(m_carPower);
00482     }
00483     else
00484     {
00485         m_axisRL->setMotorVelocity(m_carMaxSpeed);
00486         m_axisRR->setMotorVelocity(m_carMaxSpeed);
00487         m_axisRL->setMotorMaxForce(0);
00488         m_axisRR->setMotorMaxForce(0);
00489     }
00490 }
00491 
00492 void
00493 BuggyCar::steer(double p_amount)
00494 {
00495     enableAllBodies();
00496     m_steerControlFL->setHighStop(m_steeringRadius * p_amount);
00497     m_steerControlFL->setLowStop(m_steeringRadius * p_amount);
00498     m_steerControlFR->setHighStop(m_steeringRadius * p_amount);
00499     m_steerControlFR->setLowStop(m_steeringRadius * p_amount);
00500 }
00501 
00502 void
00503 BuggyCar::nitro(double p_amount)
00504 {
00505     // enableAllBodies();
00506     // m_chassis->addRelativeForceAtRelativePosition(
00507     //         VRS::Vector(350 * p_amount,-40,0),
00508     //         VRS::Vector(-2,0,0));
00509     std::cerr << "ERROR: nitro not implemented" << std::endl;
00510 }
00511 
00512 void
00513 BuggyCar::handBreak(double p_enable)
00514 {
00515     enableAllBodies();
00516     if(p_enable == 1.0)
00517     {
00518         m_axisFL->setMotorVelocity(0);
00519         m_axisFR->setMotorVelocity(0);
00520         m_axisFL->setMotorMaxForce(15);
00521         m_axisFR->setMotorMaxForce(15);
00522         m_axisRL->setMotorVelocity(0);
00523         m_axisRR->setMotorVelocity(0);
00524         m_axisRL->setMotorMaxForce(200);
00525         m_axisRR->setMotorMaxForce(200);
00526     }
00527     else
00528     {
00529         m_axisFL->setMotorVelocity(100);
00530         m_axisFR->setMotorVelocity(100);
00531         m_axisFL->setMotorMaxForce(0);
00532         m_axisFR->setMotorMaxForce(0);
00533         m_axisRL->setMotorVelocity(100);
00534         m_axisRR->setMotorVelocity(100);
00535         m_axisRL->setMotorMaxForce(0);
00536         m_axisRR->setMotorMaxForce(0);
00537     }
00538 }
00539 
00540 VRS::SO<VRS::SceneThing>
00541 BuggyCar::sceneThing()
00542 {
00543     return m_chassis->sceneThing();
00544 }
00545 
00546 void
00547 BuggyCar::attachCamera(VRS::SO<VRS::Camera> p_camera)
00548 {
00549 
00550 }
00551 
00552 void
00553 BuggyCar::enableAllBodies()
00554 {
00555      m_chassis->setEnabled(true);
00556      
00557      m_wheelFL->setEnabled(true);
00558      m_wheelFR->setEnabled(true);
00559      m_wheelRL->setEnabled(true);
00560      m_wheelRR->setEnabled(true);
00561      
00562      m_suspensionFL->setEnabled(true);
00563      m_suspensionFR->setEnabled(true);
00564      m_suspensionRL->setEnabled(true);
00565      m_suspensionRR->setEnabled(true);
00566      
00567      m_steerFL->setEnabled(true);
00568      m_steerFR->setEnabled(true);
00569 
00570      m_springFL->setEnabled(true);
00571      m_springFR->setEnabled(true);
00572      m_springRL->setEnabled(true);
00573      m_springRR->setEnabled(true);
00574 }
00575 
00576 void
00577 BuggyCar::setPosition(VRS::Vector p_position)
00578 {
00579     // position chassis bodies
00580     m_chassis->setPosition(m_chassisOffset + p_position);
00581     m_chassis->setLinearVelocity(VRS::Vector(0,0,0));
00582     m_chassis->setAngularVelocity(VRS::Vector(0,0,0));
00583     
00584     m_springFL->setPosition(p_position);
00585     m_springFR->setPosition(p_position);
00586     m_springRL->setPosition(p_position);
00587     m_springRR->setPosition(p_position);
00588 
00589 
00590     // position wheel bodies
00591     m_wheelFL->setPosition(m_wheelOffsetFL + p_position);
00592     m_wheelFR->setPosition(m_wheelOffsetFR + p_position);
00593     m_wheelRL->setPosition(m_wheelOffsetRL + p_position);
00594     m_wheelRR->setPosition(m_wheelOffsetRR + p_position);
00595     m_wheelFL->setLinearVelocity(VRS::Vector(0,0,0));
00596     m_wheelFR->setLinearVelocity(VRS::Vector(0,0,0));
00597     m_wheelRL->setLinearVelocity(VRS::Vector(0,0,0));
00598     m_wheelRR->setLinearVelocity(VRS::Vector(0,0,0));
00599     m_wheelFL->setAngularVelocity(VRS::Vector(0,0,0));
00600     m_wheelFR->setAngularVelocity(VRS::Vector(0,0,0));
00601     m_wheelRL->setAngularVelocity(VRS::Vector(0,0,0));
00602     m_wheelRR->setAngularVelocity(VRS::Vector(0,0,0));
00603     
00604     // position steer bodies
00605     m_steerFL->setPosition(m_steerOffsetFL + p_position);
00606     m_steerFR->setPosition(m_steerOffsetFR + p_position);
00607     m_steerFL->setLinearVelocity(VRS::Vector(0,0,0));
00608     m_steerFR->setLinearVelocity(VRS::Vector(0,0,0));
00609     m_steerFL->setAngularVelocity(VRS::Vector(0,0,0));
00610     m_steerFR->setAngularVelocity(VRS::Vector(0,0,0));
00611     
00612     // position suspension bodies
00613     m_suspensionFL->setPosition(m_suspensionOffsetFL + p_position);
00614     m_suspensionFR->setPosition(m_suspensionOffsetFR + p_position);
00615     m_suspensionRL->setPosition(m_suspensionOffsetRL + p_position);
00616     m_suspensionRR->setPosition(m_suspensionOffsetRR + p_position);
00617     m_suspensionFL->setLinearVelocity(VRS::Vector(0,0,0));
00618     m_suspensionFR->setLinearVelocity(VRS::Vector(0,0,0));
00619     m_suspensionRL->setLinearVelocity(VRS::Vector(0,0,0));
00620     m_suspensionRR->setLinearVelocity(VRS::Vector(0,0,0));
00621     m_suspensionFL->setAngularVelocity(VRS::Vector(0,0,0));
00622     m_suspensionFR->setAngularVelocity(VRS::Vector(0,0,0));
00623     m_suspensionRL->setAngularVelocity(VRS::Vector(0,0,0));
00624     m_suspensionRR->setAngularVelocity(VRS::Vector(0,0,0));
00625 }
00626 
00627 void
00628 BuggyCar::setPosition(double p_x, double p_y, double p_z)
00629 {
00630     // setPosition(VRS::Vector(p_x, p_y, p_z));
00631 }
00632 
00633 VRS::Vector
00634 BuggyCar::position()
00635 {
00636 //     return m_chassis->position() - m_chassisOffset;
00637     return m_chassis->translationNode()->getTranslate();
00638 }
00639 
00640 } // namespace vrsode