WheelCSGPhysicsManager.java

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package com.neuronrobotics.bowlerstudio.physics;
 
import java.util.ArrayList;
 
import com.bulletphysics.dynamics.vehicle.RaycastVehicle;
import com.bulletphysics.dynamics.vehicle.WheelInfo;
import com.bulletphysics.linearmath.Transform;
//import com.neuronrobotics.bowlerstudio.BowlerStudio;
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
import com.neuronrobotics.sdk.common.IClosedLoopController;
import com.neuronrobotics.sdk.util.ThreadUtil;
 
import eu.mihosoft.vrl.v3d.CSG;
 
public class WheelCSGPhysicsManager extends CSGPhysicsManager {
 
  private IClosedLoopController controller = null;
  private double target = 0;
  private static float muscleStrength = (float) 1000;
  boolean flagBroken = false;
  private double velocity;
  private RaycastVehicle vehicle;
  private final int wheelIndex;
 
  public WheelCSGPhysicsManager(ArrayList<CSG> baseCSG, Transform pose, double mass, PhysicsCore c,
      RaycastVehicle v, int wheelIndex) {
    super(baseCSG, pose, mass, false, c);
    this.vehicle = v;
    this.wheelIndex = wheelIndex;
  }
 
  @Override
  public void update(float timeStep) {
    //cut out the falling body update
    if (getUpdateManager() != null) {
      try {
        getUpdateManager().update(timeStep);
      } catch (Exception e) {
        //BowlerStudio.printStackTrace(e);
        throw e;
      }
    }
    if (getController() != null) {
      velocity = getController().compute(getWheelInfo().rotation, getTarget(), timeStep);
 
    }
    vehicle.updateWheelTransform(getWheelIndex(), true);
    TransformNR trans = TransformFactory
        .bulletToNr(vehicle.getWheelInfo(getWheelIndex()).worldTransform);
    //copy in the current wheel location
    TransformFactory.nrToBullet(trans, getUpdateTransform());
  }
 
  public double getTarget() {
    return target;
  }
 
  public void setTarget(double target) {
    this.target = target;
  }
 
  public static float getMotorStrength() {
    return muscleStrength;
  }
 
  public static void setMuscleStrength(float ms) {
    muscleStrength = ms;
  }
 
  public void setMuscleStrength(double muscleStrength) {
    setMuscleStrength((float) muscleStrength);
  }
 
  public IClosedLoopController getController() {
    return controller;
  }
 
  public void setController(IClosedLoopController controller) {
    this.controller = controller;
  }
 
  public WheelInfo getWheelInfo() {
    return vehicle.getWheelInfo(getWheelIndex());
  }
 
  public int getWheelIndex() {
    return wheelIndex;
  }
 
 
}