Exposed another glut method (the demos really require cleanup soon!)

First steps for a raycast-vehicle demo (far from finished)

Bullet/CollisionShapes/CylinderShape.h

@@ -71,6 +71,11 @@ public:
 		return 1;
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getX();
+	}
+
 	//debugging
 	virtual char*	GetName()const
 	{
@@ -98,6 +103,11 @@ public:
 		return "CylinderX";
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getY();
+	}
+
 };
 
 class CylinderShapeZ : public CylinderShape
@@ -118,6 +128,11 @@ public:
 		return "CylinderZ";
 	}
 
+	virtual float GetRadius() const
+	{
+		return GetHalfExtents().getX();
+	}
+
 };
 
 

BulletDynamics/Vehicle/RaycastVehicle.cpp

@@ -76,6 +76,7 @@ WheelInfo&	RaycastVehicle::AddWheel( const SimdVector3& connectionPointCS, const
 	WheelInfo& wheel = m_wheelInfo[GetNumWheels()-1];
 	
 	UpdateWheelTransformsWS( wheel );
+	UpdateWheelTransform(GetNumWheels()-1);
 	return wheel;
 }
 
@@ -344,17 +345,9 @@ SimdScalar	RaycastVehicle::GetSteeringValue(int wheel) const
 
 void	RaycastVehicle::ApplyEngineForce(SimdScalar force, int wheel)
 {
-	for (int i=0;i<GetNumWheels();i++)
-	{
-		WheelInfo& wheelInfo = GetWheelInfo(i);
-
-		bool applyOnFrontWheel = !wheel;
-
-		if (applyOnFrontWheel == wheelInfo.m_bIsFrontWheel)
-		{
-			wheelInfo.m_engineForce = force;
-		}
-	}
+	assert(wheel>=0 && wheel < GetNumWheels());
+	WheelInfo& wheelInfo = GetWheelInfo(wheel);
+	wheelInfo.m_engineForce = force;
 }
 
 

BulletDynamics/Vehicle/RaycastVehicle.h

@@ -143,6 +143,13 @@ public:
 		return m_indexForwardAxis;
 	}
 
+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_indexRightAxis = rightIndex;
+		m_indexUpAxis = upIndex;
+		m_indexForwardAxis = forwardIndex;
+	}
+
 	virtual void	BuildJacobian()
 	{
 		//not yet

Demos/BspDemo/BspDemo.cpp

@@ -668,6 +668,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 

Demos/CcdPhysicsDemo/CcdPhysicsDemo.cpp

@@ -851,6 +851,13 @@ void clientKeyboard(unsigned char key, int x, int y)
 	defaultKeyboard(key, x, y);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
+
 int gPickingConstraintId = 0;
 SimdVector3 gOldPickingPos;
 float gOldPickingDist  = 0.f;

Demos/ColladaDemo/ColladaDemo.cpp

@@ -1399,6 +1399,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 

Demos/CollisionDemo/CollisionDemo.cpp

@@ -197,6 +197,12 @@ void clientResetScene()
 {
 
 }
+
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/CollisionInterfaceDemo/CollisionInterfaceDemo.cpp

@@ -193,6 +193,11 @@ void clientResetScene()
 	objects[1].m_worldTransform.setOrigin(SimdVector3(0.0f,9.f,0.f));
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/ConcaveDemo/ConcavePhysicsDemo.cpp

@@ -484,6 +484,12 @@ void clientResetScene()
 {
 
 }
+
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/ConstraintDemo/ConstraintDemo.cpp

@@ -381,6 +381,12 @@ void clientResetScene()
 	}
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/ContinuousConvexCollision/ContinuousConvexCollisionDemo.cpp

@@ -303,6 +303,12 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/ConvexDecompositionDemo/ConvexDecompositionDemo.cpp

@@ -918,6 +918,11 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 

Demos/GjkConvexCastDemo/LinearConvexCastDemo.cpp

@@ -243,6 +243,11 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/OpenGL/GL_ShapeDrawer.cpp

@@ -192,21 +192,23 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 					int upAxis = cylinder->GetUpAxis();
 					
 					GLUquadricObj *quadObj = gluNewQuadric();
-					
+					float radius = cylinder->GetRadius();
+					float halfHeight = cylinder->GetHalfExtents()[upAxis];
+
 					glPushMatrix();
 					switch (upAxis)
 					{
 					case 0:
 						glRotatef(-90.0, 0.0, 1.0, 0.0);
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					case 1:
 						glRotatef(-90.0, 1.0, 0.0, 0.0);
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					case 2:
 						
-						glTranslatef(0.0, 0.0, -1.0);
+						glTranslatef(0.0, 0.0, -halfHeight);
 						break;
 					default:
 						{
@@ -221,9 +223,9 @@ void GL_ShapeDrawer::DrawOpenGL(float* m, const CollisionShape* shape, const Sim
 					
 					gluQuadricDrawStyle(quadObj, (GLenum)GLU_FILL);
 					gluQuadricNormals(quadObj, (GLenum)GLU_SMOOTH);
-					float radius = cylinder->GetHalfExtents().getX();
-					float height = 2.f*cylinder->GetHalfExtents().getY();
-					gluCylinder(quadObj, radius, radius, height, 15, 10);
+					
+					
+					gluCylinder(quadObj, radius, radius, 2.f*halfHeight, 15, 10);
 					glPopMatrix();
 					glEndList();
 

Demos/OpenGL/GlutStuff.cpp

@@ -136,6 +136,10 @@ void setCamera() {
 	eyePos[gForwardAxis] = -DISTANCE;
 
 	SimdVector3 forward(eyePos[0],eyePos[1],eyePos[2]);
+	if (forward.length2() < SIMD_EPSILON)
+	{
+		forward.setValue(1.f,0.f,0.f);
+	}
 	SimdVector3 right = gCameraUp.cross(forward);
 	SimdQuaternion roll(right,-rele);
 
@@ -289,7 +293,8 @@ void defaultKeyboard(unsigned char key, int x, int y)
 }
 
 
-void mySpecial(int key, int x, int y)
+
+void defaultSpecialKeyboard(int key, int x, int y)
 {
     switch (key) 
     {
@@ -372,7 +377,7 @@ int glutmain(int argc, char **argv,int width,int height,const char* title) {
 	
     myinit();
     glutKeyboardFunc(clientKeyboard);
-    glutSpecialFunc(mySpecial);
+    glutSpecialFunc(clientSpecialKeyboard);
     glutReshapeFunc(myReshape);
     //createMenu();
 	glutIdleFunc(clientMoveAndDisplay);

Demos/OpenGL/GlutStuff.h

@@ -30,6 +30,9 @@ void	setDebugMode(int mode);
 void defaultKeyboard(unsigned char key, int x, int y);
 void clientKeyboard(unsigned char key, int x, int y);
 
+void defaultSpecialKeyboard(int key, int x, int y);
+void clientSpecialKeyboard(int key, int x, int y);
+
 void clientMouseFunc(int button, int state, int x, int y);
 void	clientMotionFunc(int x,int y);
 #endif //GLUT_STUFF_H

Demos/Raytracer/Raytracer.cpp

@@ -405,6 +405,11 @@ void clientResetScene()
 {
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/SimplexDemo/SimplexDemo.cpp

@@ -126,6 +126,11 @@ void clientResetScene()
 
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	defaultSpecialKeyboard(key,x,y);
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 	defaultKeyboard(key, x, y);

Demos/VehicleDemo/VehicleDemo.cpp

@@ -13,14 +13,19 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
+//Ignore this USE_PARALLEL_DISPATCHER define, it is for future optimizations
 //#define USE_PARALLEL_DISPATCHER 1
 
 
+/// September 2006: VehicleDemo is work in progress, this file is mostly just a placeholder
+/// This VehicleDemo file is very early in development, please check it later
+
+
+
 #include "CcdPhysicsEnvironment.h"
 #include "ParallelPhysicsEnvironment.h"
 
 #include "CcdPhysicsController.h"
-#include "MyMotionState.h"
 //#include "GL_LineSegmentShape.h"
 #include "CollisionShapes/BoxShape.h"
 #include "CollisionShapes/SphereShape.h"
@@ -29,12 +34,17 @@ subject to the following restrictions:
 #include "CollisionShapes/CompoundShape.h"
 #include "CollisionShapes/Simplex1to4Shape.h"
 #include "CollisionShapes/EmptyShape.h"
+#include "CollisionShapes/CylinderShape.h"
+
 #include "CollisionShapes/TriangleMeshShape.h"
 #include "CollisionShapes/TriangleIndexVertexArray.h"
 #include "CollisionShapes/BvhTriangleMeshShape.h"
 #include "CollisionShapes/TriangleMesh.h"
 
 #include "Dynamics/RigidBody.h"
+#include "Vehicle/RaycastVehicle.h"
+#include "PHY_IVehicle.h"
+
 #include "CollisionDispatch/CollisionDispatcher.h"
 
 #include "ParallelIslandDispatcher.h"
@@ -94,21 +104,45 @@ const int maxProxies = 32766;
 const int maxOverlap = 65535;
 
 bool createConstraint = true;//false;
-bool useCompound = true;//false;
+bool useCompound = false;//true;//false;
 
 
 #ifdef _DEBUG
-const int numObjects = 50;
+const int numObjects = 2;
 #else
-const int numObjects = 120;
+const int numObjects = 2;
 #endif
-
 const int maxNumObjects = 32760;
-
-MyMotionState ms[maxNumObjects];
+DefaultMotionState ms[maxNumObjects];
 CcdPhysicsController* physObjects[maxNumObjects] = {0,0,0,0};
 int	shapeIndex[maxNumObjects];
 
+
+
+DefaultMotionState wheelMotionState[4];
+
+///PHY_IVehicle is the interface behind the constraint that implements the raycast vehicle (WrapperVehicle which holds a RaycastVehicle)
+///notice that for higher-quality slow-moving vehicles, another approach might be better
+///implementing explicit hinged-wheel constraints with cylinder collision, rather then raycasts
+PHY_IVehicle* gVehicleConstraint=0;
+float	gEngineForce = 0.f;
+float	maxEngineForce = 1.f;
+float	gVehicleSteering = 0.f;
+float steeringIncrement = 0.1f;
+float	steeringClamp = 0.3f;
+float	wheelRadius = 0.5f;
+float	wheelWidth = 0.2f;
+float wheelFriction = 100.f;
+float suspensionStiffness = 10.f;
+float suspensionDamping = 1.3f;
+float suspensionCompression = 2.4f;
+float rollInfluence = 0.1f;
+SimdVector3 wheelDirectionCS0(0,-1,0);
+SimdVector3 wheelAxleCS(1,0,0);
+SimdScalar suspensionRestLength(0.6);
+
+
+
 #ifdef USE_PARALLEL_DISPATCHER
 ParallelPhysicsEnvironment* physicsEnvironmentPtr = 0;
 #else
@@ -134,7 +168,7 @@ CollisionShape* shapePtr[numShapes] =
 	new BoxShape (SimdVector3(50,10,50)),
 #endif
 		
-		new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS)),
+		new BoxShape (SimdVector3(CUBE_HALF_EXTENTS,0.5f*CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS)),
 		new SphereShape (CUBE_HALF_EXTENTS- 0.05f),
 
 		//new ConeShape(CUBE_HALF_EXTENTS,2.f*CUBE_HALF_EXTENTS),
@@ -180,7 +214,7 @@ int main(int argc,char** argv)
 	physicsEnvironmentPtr->setGravity(0,-10,0);//0,0);//-10,0);
 	int i;
 
-//#define  USE_TRIMESH_GROUND 1
+#define  USE_TRIMESH_GROUND 1
 #ifdef USE_TRIMESH_GROUND
 
 
@@ -205,7 +239,7 @@ const float TRIANGLE_SIZE=20.f;
 	{
 		for (int j=0;j<NUM_VERTS_Y;j++)
 		{
-			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j),(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
+			gVertices[i+j*NUM_VERTS_X].setValue((i-NUM_VERTS_X*0.5f)*TRIANGLE_SIZE,2.f*sinf((float)i)*cosf((float)j)+10.f,(j-NUM_VERTS_Y*0.5f)*TRIANGLE_SIZE);
 		}
 	}
 
@@ -249,7 +283,7 @@ const float TRIANGLE_SIZE=20.f;
 	shapeProps.m_inertia = 1.f;
 	shapeProps.m_lin_drag = 0.2f;
 	shapeProps.m_ang_drag = 0.1f;
-	shapeProps.m_mass = 10.0f;
+	shapeProps.m_mass = 800.0f;
 
 	PHY_MaterialProps materialProps;
 	materialProps.m_friction = 10.5f;
@@ -281,7 +315,7 @@ const float TRIANGLE_SIZE=20.f;
 		ident.setIdentity();
 		ident.setOrigin(SimdVector3(0,0,0));	
 		compoundShape->AddChildShape(ident,oldShape);//
-		ident.setOrigin(SimdVector3(0,0,2));	
+		ident.setOrigin(SimdVector3(0,1,-1));	
 		compoundShape->AddChildShape(ident,new SphereShape(0.9));//
 	}
 
@@ -422,15 +456,70 @@ const float TRIANGLE_SIZE=20.f;
 
 
 		constraintId =physicsEnvironmentPtr->createConstraint(
-		physObjects[1],
-		//0,
-		physObjects[2],
-			////PHY_POINT2POINT_CONSTRAINT,
-			PHY_GENERIC_6DOF_CONSTRAINT,//can leave any of the 6 degree of freedom 'free' or 'locked'
-			//PHY_LINEHINGE_CONSTRAINT,
-			pivotX,pivotY,pivotZ,
-			axisX,axisY,axisZ
-			);
+		physObjects[1],0,
+			PHY_VEHICLE_CONSTRAINT,
+			0,0,0,
+			0,0,0);
+
+		///never deactivate the vehicle
+		physObjects[1]->GetRigidBody()->SetActivationState(DISABLE_DEACTIVATION);
+		
+		gVehicleConstraint = physicsEnvironmentPtr->getVehicleConstraint(constraintId);
+
+		SimdVector3 connectionPointCS0(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
+		RaycastVehicle::VehicleTuning tuning;
+		bool isFrontWheel=true;
+		int rightIndex = 0;
+		int upIndex = 1;
+		int forwardIndex = 2;
+
+		gVehicleConstraint->SetCoordinateSystem(rightIndex,upIndex,forwardIndex);
+
+		gVehicleConstraint->AddWheel(&wheelMotionState[0],
+			(PHY__Vector3&)connectionPointCS0,
+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
+
+		connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,2*CUBE_HALF_EXTENTS-wheelRadius);
+		gVehicleConstraint->AddWheel(&wheelMotionState[1],
+			(PHY__Vector3&)connectionPointCS0,
+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
+
+		connectionPointCS0 = SimdVector3(-CUBE_HALF_EXTENTS+(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
+		isFrontWheel = false;
+		gVehicleConstraint->AddWheel(&wheelMotionState[2],
+			(PHY__Vector3&)connectionPointCS0,
+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
+		
+		connectionPointCS0 = SimdVector3(CUBE_HALF_EXTENTS-(0.3*wheelWidth),0,-2*CUBE_HALF_EXTENTS+wheelRadius);
+		gVehicleConstraint->AddWheel(&wheelMotionState[3],
+			(PHY__Vector3&)connectionPointCS0,
+			(PHY__Vector3&)wheelDirectionCS0,(PHY__Vector3&)wheelAxleCS,suspensionRestLength,wheelRadius,isFrontWheel);
+		
+	
+
+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,0);
+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,1);
+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,2);
+		gVehicleConstraint->SetSuspensionStiffness(suspensionStiffness,3);
+		
+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,0);
+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,1);
+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,2);
+		gVehicleConstraint->SetSuspensionDamping(suspensionDamping,3);
+		
+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,0);
+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,1);
+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,2);
+		gVehicleConstraint->SetSuspensionCompression(suspensionCompression,3);
+
+		gVehicleConstraint->SetWheelFriction(wheelFriction,0);
+		gVehicleConstraint->SetWheelFriction(wheelFriction,1);
+		gVehicleConstraint->SetWheelFriction(wheelFriction,2);
+		gVehicleConstraint->SetWheelFriction(wheelFriction,3);
+
+		
+
+
 
 	}
 
@@ -440,29 +529,28 @@ const float TRIANGLE_SIZE=20.f;
 	return glutmain(argc, argv,640,480,"Bullet Vehicle Demo. http://www.continuousphysics.com/Bullet/phpBB2/");
 }
 
+
 //to be implemented by the demo
 void renderme()
 {
 	debugDrawer.SetDebugMode(getDebugMode());
-
-	//render the hinge axis
-	if (createConstraint)
-	{
-		SimdVector3 color(1,0,0);
-		SimdVector3 dirLocal(0,1,0);
-		SimdVector3 pivotInA(CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
-		SimdVector3 pivotInB(-CUBE_HALF_EXTENTS,-CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS);
-		SimdVector3 from = physObjects[1]->GetRigidBody()->getCenterOfMassTransform()(pivotInA);
-		SimdVector3 fromB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform()(pivotInB);
-		SimdVector3 dirWorldA = physObjects[1]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
-		SimdVector3 dirWorldB = physObjects[2]->GetRigidBody()->getCenterOfMassTransform().getBasis() * dirLocal ;
-		debugDrawer.DrawLine(from,from+dirWorldA,color);
-		debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
-	}
-
 	float m[16];
 	int i;
 
+	CylinderShapeX wheelShape(SimdVector3(wheelWidth,wheelRadius,wheelRadius));
+	SimdVector3 wheelColor(1,0,0);
+
+	for (i=0;i<4;i++)
+	{
+		//draw wheels (cylinders)
+		wheelMotionState[i].m_worldTransform.getOpenGLMatrix(m);
+		GL_ShapeDrawer::DrawOpenGL(m,&wheelShape,wheelColor,getDebugMode());
+	//	debugDrawer.DrawLine(from,from+dirWorldA,color);
+	//	debugDrawer.DrawLine(fromB,fromB+dirWorldB,color);
+	}
+
+	
+
 
 	if (getDebugMode() & IDebugDraw::DBG_DisableBulletLCP)
 	{
@@ -581,13 +669,13 @@ void renderme()
 		SimdTransform ident;
 		ident.setIdentity();
 		ident.getOpenGLMatrix(vec);
-		glPushMatrix(); 
+		//glPushMatrix(); 
 	  
-		glLoadMatrixf(vec);
+		//glLoadMatrixf(vec);
 
 		GL_ShapeDrawer::DrawOpenGL(m,physObjects[i]->GetRigidBody()->GetCollisionShape(),wireColor,getDebugMode());
 
-		glPopMatrix(); 
+		//glPopMatrix(); 
 
 		///this block is just experimental code to show some internal issues with replacing shapes on the fly.
 		if (getDebugMode()!=0 && (i>0))
@@ -725,13 +813,29 @@ void clientMoveAndDisplay()
 	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); 
 
 
+{			
+		int steerWheelIndex = 2;
+		gVehicleConstraint->ApplyEngineForce(gEngineForce,steerWheelIndex);
+		steerWheelIndex = 3;
+		gVehicleConstraint->ApplyEngineForce(gEngineForce,steerWheelIndex);
+
+		steerWheelIndex = 0;
+		gVehicleConstraint->SetSteeringValue(gVehicleSteering,steerWheelIndex);
+		steerWheelIndex = 1;
+		gVehicleConstraint->SetSteeringValue(gVehicleSteering,steerWheelIndex);
+
+	}
 
 	physicsEnvironmentPtr->proceedDeltaTime(0.f,deltaTime);
 
+	
+
+
 #ifdef USE_QUICKPROF 
         Profiler::beginBlock("render"); 
 #endif //USE_QUICKPROF 
-	
+
+
 	renderme(); 
 
 #ifdef USE_QUICKPROF 
@@ -769,6 +873,9 @@ void clientDisplay(void) {
 void clientResetScene()
 {
 
+	gEngineForce = 0.f;
+	gVehicleSteering = 0.f;
+
 	int i;
 	for (i=0;i<numObjects;i++)
 	{
@@ -828,9 +935,51 @@ void	shootBox(const SimdVector3& destination)
 	physObjects[i]->SetAngularVelocity(0,0,0,false);
 }
 
+void clientSpecialKeyboard(int key, int x, int y)
+{
+	printf("key = %i x=%i y=%i\n",key,x,y);
+
+    switch (key) 
+    {
+    case GLUT_KEY_LEFT : 
+		{
+			gVehicleSteering += steeringIncrement;
+			if (	gVehicleSteering > steeringClamp)
+					gVehicleSteering = steeringClamp;
+
+		break;
+		}
+    case GLUT_KEY_RIGHT : 
+		{
+			gVehicleSteering -= steeringIncrement;
+			if (	gVehicleSteering < -steeringClamp)
+					gVehicleSteering = -steeringClamp;
+
+		break;
+		}
+    case GLUT_KEY_UP :
+		{
+			gEngineForce = -maxEngineForce;
+		break;
+		}
+	case GLUT_KEY_DOWN :
+		{			
+			gEngineForce = maxEngineForce;
+		break;
+		}
+	default:
+			defaultSpecialKeyboard(key,x,y);
+        break;
+    }
+
+//	glutPostRedisplay();
+
+}
+
 void clientKeyboard(unsigned char key, int x, int y)
 {
 
+
 	if (key == '.')
 	{
 		shootBox(SimdVector3(0,0,0));

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.cpp

@@ -278,6 +278,11 @@ public:
 		}
 	}
 
+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex)
+	{
+		m_vehicle->SetCoordinateSystem(rightIndex,upIndex,forwardIndex);
+	}
+
 
 
 };

Extras/PhysicsInterface/CcdPhysics/CcdPhysicsEnvironment.h

@@ -43,7 +43,7 @@ class OverlappingPairCache;
 class IDebugDraw;
 class PHY_IVehicle;
 
-/// CcdPhysicsEnvironment is experimental mainloop for physics simulation using optional continuous collision detection.
+/// CcdPhysicsEnvironment is an experimental mainloop for physics simulation using optional continuous collision detection.
 /// Physics Environment takes care of stepping the simulation and is a container for physics entities.
 /// It stores rigidbodies,constraints, materials etc.
 /// A derived class may be able to 'construct' entities by loading and/or converting

Extras/PhysicsInterface/Common/PHY_IVehicle.h

@@ -13,7 +13,6 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-
 #ifndef PHY_IVEHICLE_H
 #define PHY_IVEHICLE_H
 
@@ -56,6 +55,18 @@ public:
 
 	virtual	void	ApplyBraking(float braking,int wheelIndex) = 0;
 
+	virtual	void	SetWheelFriction(float friction,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionStiffness(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionDamping(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetSuspensionCompression(float suspensionStiffness,int wheelIndex) = 0;
+	
+	virtual	void	SetRollInfluence(float rollInfluence,int wheelIndex) = 0;
+
+	virtual void	SetCoordinateSystem(int rightIndex,int upIndex,int forwardIndex) =0;
+
 };
 
 #endif //PHY_IVEHICLE_H