programming

new wheel joint

the new wheel joint turned out really well. well, not new, just reimplemented and improved on during the transfer to the constraint api.

radio control sized cars are nice and solid with no skating at all. everything is all set up now so you can configure the keys to the joints however you want. so i can build a little car from scratch and wire it all up however i want, maybe add a crazy trailer. it all builds nice and quick. once i clean up some ui issues i think i'll be pretty happy about it.

the wheel joints have 2 axle control options. throttle based and velocity based. there is one piece still missing with the velocity implementation.

the problem is i haven't figured out how to measure the angular velocity about an arbitrary axis and location on a rigidbody. i have an idea for some sort of crazy sampling of linear velocity, but i have not implemented it yet. i am sure there is something i am just missing. right now i am just projecting the angular velocity vector onto the axis direction. that'll work if you are at the center of mass, but not in all cases. hey, maybe it is the answer in all cases and is just another one of those not so intuitive things.