Skip to main content

Wheel

Wheel​

Description

Representes a complete wheel with physics and one or multiple sub visuals

Functions

addToPhysics​

Description

Definition

addToPhysics()

Arguments

anybrakeForce

Code

function Wheel:addToPhysics(brakeForce)
    self.physics:addToPhysics(brakeForce)
end

delete​

Description

Definition

delete()

Code

function Wheel:delete()
    for _, visualWheel in ipairs( self.visualWheels) do
        visualWheel:delete()
    end

    for _, wheelChock in ipairs( self.wheelChocks) do
        wheelChock:delete()
    end

    self.effects:delete()
    self.debug:delete()

    if self.xmlObject ~ = nil then
        self.xmlObject:delete()
        self.xmlObject = nil
    end
end

finalize​

Description

Definition

finalize()

Code

function Wheel:finalize()
    local minX, maxX = math.huge, - math.huge
    for _, visualWheel in ipairs( self.visualWheels) do
        local width, offset = visualWheel:getWidthAndOffset()
        minX = math.min(minX, offset - width * 0.5 )
        maxX = math.max(maxX, offset + width * 0.5 )
    end

    if minX ~ = math.huge then
        local shapeWidth = maxX - minX
        local shapeOffset = minX + shapeWidth * 0.5
        self.physics:setWheelShapeWidth(shapeWidth, shapeOffset)
    end

    self.physics:finalize()
    self.destruction:finalize()
    self.effects:finalize()

    if self.xmlObject ~ = nil then
        self.xmlObject:delete()
        self.xmlObject = nil
    end
end

getFirstTireNode​

Description

Definition

getFirstTireNode()

Code

function Wheel:getFirstTireNode()
    for _, visualWheel in ipairs( self.visualWheels) do
        local tireNode = visualWheel:getTireNode()
        if tireNode ~ = nil then
            return tireNode
        end
    end

    return nil
end

getMass​

Description

Definition

getMass()

Code

function Wheel:getMass()
    return self.physics.mass + self.additionalMass
end

loadFromXML​

Description

Definition

loadFromXML()

Code

function Wheel:loadFromXML()
    self.repr = self.xmlObject:getValue( ".physics#repr" , nil , self.vehicle.components, self.vehicle.i3dMappings)
    if self.repr = = nil then
        self.xmlObject:xmlWarning( ".physics#repr" , "Failed to load wheel! Missing repr node." )
        return false
    end

    -- wheel is not part of a active component
    if not self.vehicle:getIsNodeActive( self.repr) then
        return false
    end

    self.isLeft = self.xmlObject:getValue( "#isLeft" , true )
    self.rimOffset = self.xmlObject:getValue( "#rimOffset" , 0 )

    self.node = self.vehicle:getParentComponent( self.repr)
    if self.node ~ = 0 then
        self.driveNode = self.xmlObject:getValue( ".physics#driveNode" , nil , self.vehicle.components, self.vehicle.i3dMappings)

        if self.driveNode = = self.repr then
            self.xmlObject:xmlWarning( "" , "repr and driveNode may not be equal.Using default driveNode instead!" )
            self.driveNode = nil
        end

        self.linkNode = self.xmlObject:getValue( ".physics#linkNode" , nil , self.vehicle.components, self.vehicle.i3dMappings)

        if self.driveNode = = nil then
            -- create a new repr and use repr as drivenode
            local newRepr = createTransformGroup( "wheelReprNode" )
            local reprIndex = getChildIndex( self.repr)
            link(getParent( self.repr), newRepr, reprIndex)
            setTranslation(newRepr, getTranslation( self.repr))
            setRotation(newRepr, getRotation( self.repr))
            setScale(newRepr, getScale( self.repr))
            self.driveNode = self.repr

            link(newRepr, self.driveNode)
            setTranslation( self.driveNode, 0 , 0 , 0 )
            setRotation( self.driveNode, 0 , 0 , 0 )
            setScale( self.driveNode, 1 , 1 , 1 )
            self.repr = newRepr
        end

        if self.driveNode ~ = nil then
            local driveNodeDirectionNode = createTransformGroup( "driveNodeDirectionNode" )
            link( self.repr, driveNodeDirectionNode)
            setWorldTranslation(driveNodeDirectionNode, getWorldTranslation( self.driveNode))
            setWorldRotation(driveNodeDirectionNode, getWorldRotation( self.driveNode))
            self.driveNodeDirectionNode = driveNodeDirectionNode

            local defaultX, defaultY, defaultZ = getRotation( self.driveNode)
            if math.abs(defaultX) > 0.0001 or math.abs(defaultY) > 0.0001 or math.abs(defaultZ) > 0.0001 then
                self.xmlObject:xmlWarning( "" , "Rotation of driveNode '%s' is not 0/0/0 in the i3d file(%.1f/%.1f/%.1f)." , getName( self.driveNode), math.deg(defaultX), math.deg(defaultY), math.deg(defaultZ))
            end
        end

        if self.linkNode = = nil then
            self.linkNode = self.driveNode
        end

        self.transRatio = self.xmlObject:getValue( ".physics#transRatio" , 0.0 )
    else
            self.xmlObject:xmlWarning( "" , "Invalid repr for wheel.Needs to be a child of a collision!" )
                return false
            end

            if not self.physics:loadFromXML( self.xmlObject) then
                return false
            end

            if not self.steering:loadFromXML( self.xmlObject) then
                return false
            end

            if not self.destruction:loadFromXML( self.xmlObject) then
                return false
            end

            if not self.effects:loadFromXML( self.xmlObject) then
                return false
            end

            -- set the initial values here in case it was changed by sub functions during loading
            self.startPositionX, self.startPositionY, self.startPositionZ = getTranslation( self.repr)
            self.driveNodeStartPosX, self.driveNodeStartPosY, self.driveNodeStartPosZ = getTranslation( self.driveNode)

            self.xmlObject:checkDeprecatedXMLElements( ".tire#widthOffset" , ".tire#offset" )

            self.xmlObject:checkDeprecatedXMLElements( "#color" , "#material" )
            self.xmlObject:checkDeprecatedXMLElements( "#additionalColor" , "#additionalMaterial" )

            self.material = self.xmlObject:getValue( "#material" )
            self.additionalMaterial = self.xmlObject:getValue( "#additionalMaterial" )

            self.wheelChocks = { }
            local i = 0
            while true do
                local key = string.format( ".wheelChock(%d)" , i)
                local xmlFile, _ = self.xmlObject:getXMLFileAndPropertyKey(key)
                if xmlFile = = nil then
                    break
                end

                local wheelChock = WheelChock.new( self )
                if wheelChock:loadFromXML( self.xmlObject, key) then
                    table.insert( self.wheelChocks, wheelChock)
                end

                i = i + 1
            end

            self.visualWheels = { }
            local visualWheel = WheelVisual.new( self.vehicle, self , self.linkNode, self.isLeft, self.rimOffset, self.baseDirectory)
            if visualWheel:loadFromXML( self.xmlObject) then
                self.additionalMass = self.additionalMass + visualWheel:getAdditionalMass()
                table.insert( self.visualWheels, visualWheel)
            else
                    visualWheel:delete()
                end

                local defaultFilename = self.xmlObject:getValue( "#filename" )

                -- externalWheelName is only set if the external file has been opened yet, so here we can be sure
                    self.name = self.name or self.xmlObject.externalWheelName

                    i = 0
                    while true do
                        local key = string.format( ".additionalWheel(%d)" , i)
                        self.xmlObject:setXMLLoadKey( "" )
                        local xmlFile, _ = self.xmlObject:getXMLFileAndPropertyKey(key)
                        if xmlFile = = nil then
                            break
                        end

                        -- if not filename is specified in the additional wheel, but the tag is given, we use the same wheel as additional wheel
                            self.xmlObject:setXMLLoadKey(key, defaultFilename)
                            local isLeft = self.xmlObject:getValue( "#isLeft" , self.isLeft)

                            visualWheel = WheelVisual.new( self.vehicle, self , self.linkNode, isLeft, 0 , self.baseDirectory)
                            if visualWheel:loadFromXML( self.xmlObject) then
                                self.additionalMass = self.additionalMass + visualWheel:getAdditionalMass()

                                local lastVisualWheel = self.visualWheels[# self.visualWheels]
                                if lastVisualWheel ~ = nil then
                                    visualWheel:setConnectedWheel(lastVisualWheel, self.rimOffset + self.xmlObject:getValue( "#offset" , 0 ))
                                end

                                self.physics:loadAdditionalWheel( self.xmlObject)

                                table.insert( self.visualWheels, visualWheel)
                            else
                                    visualWheel:delete()
                                end

                                i = i + 1
                            end

                            return true
                        end

new​

Description

Definition

new()

Arguments

anyvehicle
anyxmlFile
anybaseKey
anywheelKey
anywheelIndex
anyconfigIndex
anyindexToParentIndex
anybaseDirectory
anycustomMt

Code

function Wheel.new(vehicle, xmlFile, baseKey, wheelKey, wheelIndex, configIndex, indexToParentIndex, baseDirectory, customMt)
    local self = setmetatable( { } , customMt or Wheel _mt)

    self.vehicle = vehicle
    self.xmlFile = xmlFile

    self.xmlObject = WheelXMLObject.new(xmlFile, baseKey, configIndex, wheelKey, indexToParentIndex)

    self.baseDirectory = baseDirectory
    self.name = nil

    self.wheelIndex = wheelIndex
    self.updateIndex = ((wheelIndex - 1 ) % 4 ) + 1

    self.brakePedal = 0
    self.syncContactState = false

    self.lastSteeringAngle = 0
    self.lastXDrive = 0
    self.lastSuspensionLength = 0

    self.additionalMass = 0

    self.physics = WheelPhysics.new( self )
    self.steering = WheelSteering.new( self )
    self.destruction = WheelDestruction.new( self )
    self.effects = WheelEffects.new( self )
    self.debug = WheelDebug.new( self )

    return self
end

onPostDetach​

Description

Definition

onPostDetach()

Code

function Wheel:onPostDetach()
    for _, wheelChock in ipairs( self.wheelChocks) do
        wheelChock:update( false )
    end
end

onPreAttach​

Description

Definition

onPreAttach()

Code

function Wheel:onPreAttach()
    for _, wheelChock in ipairs( self.wheelChocks) do
        wheelChock:update( true )
    end
end

onUpdateEnd​

Description

Definition

onUpdateEnd()

Arguments

anydt

Code

function Wheel:onUpdateEnd(dt)
    self.effects:onUpdateEnd(dt)
end

postLoad​

Description

Definition

postLoad()

Code

function Wheel:postLoad()
    for _, visualWheel in ipairs( self.visualWheels) do
        visualWheel:postLoad()
    end

    self.physics:postLoad()
end

postUpdate​

Description

Definition

postUpdate()

Arguments

anydt

Code

function Wheel:postUpdate(dt)
    self.physics:postUpdate(dt)
end

readStream​

Description

Definition

readStream()

Arguments

anystreamId
anyupdateInterpolation

Code

function Wheel:readStream(streamId, updateInterpolation)
    self.physics:readStream(streamId, updateInterpolation)
end

registerXMLPaths​

Description

Definition

registerXMLPaths(XMLSchema schema, string key)

Arguments

XMLSchemaschema
stringkey

Code

function Wheel.registerXMLPaths(schema, key)
    schema:register(XMLValueType.NODE_INDEX, key .. ".physics#repr" , "Repr node" )
    schema:register(XMLValueType.NODE_INDEX, key .. ".physics#driveNode" , "Drive node" )
    schema:register(XMLValueType.NODE_INDEX, key .. ".physics#linkNode" , "Link node" )
    schema:register(XMLValueType.FLOAT, key .. ".physics#transRatio" , "Suspension translation ratio between repr and drive node(1:repr only, 0:drive node only)" , 0 )

    schema:register(XMLValueType.INT, key .. "#material" , "Wheel material id" )
    schema:register(XMLValueType.INT, key .. "#additionalMaterial" , "Additional wheel material id" )

    schema:register(XMLValueType.BOOL, key .. "#isLeft" , "Is left" , true )
    schema:register(XMLValueType.FLOAT, key .. "#rimOffset" , "Offset that is only applied to the outer rim and the wheel itself, inner rim stays the same." , 0 )

    schema:register(XMLValueType.STRING, key .. "#filename" , "Filename" )
    schema:registerAutoCompletionDataSource(key .. "#filename" , "data/shared/wheels/wheels.xml" , "wheels.wheel#filename" )
    schema:register(XMLValueType.STRING, key .. "#dimensions" , "List of dimensions for automatic branded wheel configuration generation" )
        schema:register(XMLValueType.STRING, key .. "#configId" , "Wheel config id" , "default" )

        WheelPhysics.registerXMLPaths(schema, key)
        WheelSteering.registerXMLPaths(schema, key)
        WheelDestruction.registerXMLPaths(schema, key)
        WheelEffects.registerXMLPaths(schema, key)

        WheelVisual.registerXMLPaths(schema, key)

        local additionalWheelKey = key .. ".additionalWheel(?)"
        schema:register(XMLValueType.STRING, additionalWheelKey .. "#filename" , "Filename" )
        schema:registerAutoCompletionDataSource(additionalWheelKey .. "#filename" , "data/shared/wheels/wheels.xml" , "wheels.wheel#filename" )
        schema:register(XMLValueType.BOOL, additionalWheelKey .. "#isLeft" , "Is left" , "Same value as parent wheel" )
        schema:register(XMLValueType.STRING, additionalWheelKey .. "#configId" , "Wheel config id" , "default" )
        schema:register(XMLValueType.FLOAT, additionalWheelKey .. "#offset" , "X Offset of additional wheel" )
        WheelVisual.registerXMLPaths(schema, additionalWheelKey)
        WheelPhysics.registerAdditionalWheelXMLPaths(schema, additionalWheelKey)

        WheelChock.registerXMLPaths(schema, key .. ".wheelChock(?)" )
    end

removeFromPhysics​

Description

Definition

removeFromPhysics()

Code

function Wheel:removeFromPhysics()
    self.physics:removeFromPhysics()
end

setBrakePedal​

Description

Definition

setBrakePedal()

Arguments

anybrakePedal

Code

function Wheel:setBrakePedal(brakePedal)
    self.brakePedal = brakePedal

    self.physics:updatePhysics( self.vehicle:getBrakeForce() * self.brakePedal)
end

setIsCareWheel​

Description

Definition

setIsCareWheel()

Arguments

anyisCareWheel

Code

function Wheel:setIsCareWheel(isCareWheel)
    self.destruction:setIsCareWheel(isCareWheel)
end

setSteeringValues​

Description

Definition

setSteeringValues()

Arguments

anyrotMin
anyrotMax
anyrotSpeed
anyrotSpeedNeg
anyinverted

Code

function Wheel:setSteeringValues(rotMin, rotMax, rotSpeed, rotSpeedNeg, inverted)
    self.physics:setSteeringValues(rotMin, rotMax, rotSpeed, rotSpeedNeg, inverted)
    self.steering:setSteeringValues(rotMin, rotMax, rotSpeed, rotSpeedNeg, inverted)
end

update​

Description

Definition

update()

Arguments

anydt
anycurrentUpdateIndex
anygroundWetness

Code

function Wheel:update(dt, currentUpdateIndex, groundWetness)
    if self.vehicle.isServer then
        if self.vehicle.isAddedToPhysics then
            --#profile RemoteProfiler.zoneBeginN("Wheel-update-server")
            self.physics:serverUpdate(dt, currentUpdateIndex, groundWetness)
            --#profile RemoteProfiler.zoneEnd()
        end
    else
            --#profile RemoteProfiler.zoneBeginN("Wheel-update-client")
            self.physics:clientUpdate(dt, currentUpdateIndex, groundWetness)
            --#profile RemoteProfiler.zoneEnd()
        end

        if self.vehicle.currentUpdateDistance < Wheel.VISUAL_WHEEL_UPDATE_DISTANCE then
            --#profile RemoteProfiler.zoneBeginN("Wheel-update-getVisuals")
            local x, y, z, xDrive, suspensionLength, steeringAngle = self.physics:getVisualInfo()
            --#profile RemoteProfiler.zoneEnd()

            --#profile RemoteProfiler.zoneBeginN("Wheel-update-visuals")
            local changed = false

            if math.abs(steeringAngle - self.lastSteeringAngle) > Wheel.STEERING_ANGLE_THRESHOLD then
                setRotation( self.repr, 0 , steeringAngle, 0 )
                self.lastSteeringAngle = steeringAngle
                changed = true
            end

            if math.abs(xDrive - self.lastXDrive) > Wheel.STEERING_ANGLE_THRESHOLD then
                setRotation( self.driveNode, xDrive, 0 , 0 )
                self.lastXDrive = xDrive
                changed = true
            end

            local initialSuspensionLength = suspensionLength
            for _, visualWheel in ipairs( self.visualWheels) do
                changed, suspensionLength = visualWheel:update(x, y, z, xDrive, initialSuspensionLength, steeringAngle, changed)
            end
            local wheelRadiusOffset = suspensionLength - initialSuspensionLength

            if math.abs( self.lastSuspensionLength - suspensionLength) > Wheel.SUSPENSION_THRESHOLD then
                local dirX, dirY, dirZ = localDirectionToLocal( self.repr, getParent( self.repr), 0 , - 1 , 0 )
                local movement = suspensionLength * self.transRatio
                setTranslation( self.repr, self.startPositionX + dirX * movement, self.startPositionY + dirY * movement, self.startPositionZ + dirZ * movement)

                if self.transRatio < 1 then
                    movement = suspensionLength * ( 1 - self.transRatio)
                    setTranslation( self.driveNode, self.driveNodeStartPosX + dirX * movement, self.driveNodeStartPosY + dirY * movement, self.driveNodeStartPosZ + dirZ * movement)
                end

                self.lastSuspensionLength = suspensionLength
                changed = true
            end
            --#profile RemoteProfiler.zoneEnd()

            --#profile RemoteProfiler.zoneBeginN("Wheel-update-steering")
            self.steering:update(x, y, z, xDrive, suspensionLength, steeringAngle, changed)
            --#profile RemoteProfiler.zoneEnd()

            --#profile RemoteProfiler.zoneBeginN("Wheel-update-chocks")
            if changed then
                for _, wheelChock in ipairs( self.wheelChocks) do
                    if not wheelChock.isInParkingPosition then
                        wheelChock.wheelRadiusOffset = wheelRadiusOffset
                        wheelChock:update()
                    end
                end
            end
            --#profile RemoteProfiler.zoneEnd()

            --#profile RemoteProfiler.zoneBeginN("Wheel-update-effects")
            self.effects:update(dt, groundWetness, currentUpdateIndex)
            --#profile RemoteProfiler.zoneEnd()
        end
    end

updateInterpolation​

Description

Definition

updateInterpolation()

Arguments

anydt
anyinterpolationAlpha

Code

function Wheel:updateInterpolation(dt, interpolationAlpha)
    self.physics:updateInterpolation(dt, interpolationAlpha)
end

updatePhysics​

Description

Definition

updatePhysics()

Arguments

anybrakeForce

Code

function Wheel:updatePhysics(brakeForce)
    self.physics:updatePhysics(brakeForce)
end

updateTick​

Description

Definition

updateTick()

Arguments

anydt
anygroundWetness
anycurrentUpdateDistance

Code

function Wheel:updateTick(dt, groundWetness, currentUpdateDistance)
    self.physics:updateTick(dt, groundWetness, currentUpdateDistance)
    self.effects:updateTick(dt, groundWetness, currentUpdateDistance)
end

writeStream​

Description

Definition

writeStream()

Arguments

anystreamId

Code

function Wheel:writeStream(streamId)
    self.physics:writeStream(streamId)
end