12 #ifndef __ND_JOINT_WHEEL_H__
13 #define __ND_JOINT_WHEEL_H__
15 #include "ndNewtonStdafx.h"
16 #include "ndJointBilateralConstraint.h"
22 :m_radios(ndFloat32(0.5f))
23 ,m_springK(ndFloat32(1.0f))
24 ,m_damperC(ndFloat32(0.0f))
25 ,m_upperStop(ndFloat32(-0.1f))
26 ,m_lowerStop(ndFloat32(0.2f))
27 ,m_regularizer(ndFloat32(0.1f))
28 ,m_brakeTorque(ndFloat32(0.0f))
29 ,m_handBrakeTorque(ndFloat32(0.0f))
30 ,m_steeringAngle(ndFloat32(0.0f))
40 ndFloat32 m_upperStop;
41 ndFloat32 m_lowerStop;
42 ndFloat32 m_regularizer;
43 ndFloat32 m_brakeTorque;
44 ndFloat32 m_handBrakeTorque;
45 ndFloat32 m_steeringAngle;
56 D_NEWTON_API
void SetBrake(ndFloat32 normalizedTorque);
57 D_NEWTON_API
void SetHandBrake(ndFloat32 normalizedTorque);
58 D_NEWTON_API
void SetSteering(ndFloat32 normalidedSteering);
60 D_NEWTON_API
void UpdateTireSteeringAngleMatrix();
62 D_NEWTON_API
ndMatrix CalculateBaseFrame()
const;
63 D_NEWTON_API
ndMatrix CalculateUpperBumperMatrix()
const;
76 ndFloat32 m_regularizer;
77 ndFloat32 m_normalizedBrake;
78 ndFloat32 m_normalidedSteering;
79 ndFloat32 m_normalizedHandBrake;