Some corrections to the manual concerning PH_WHEEL:
- axis 1 is specified relative to the first entity's frame
- axis 2 is specified relative to the second entity's frame
- only axis 1 can have a limit set on its turning range
What this means is that you should model your tires in the same direction that your car frame has been modeled. For setting up the constraint use the illustration provided in the manual with axis 1 pointing up. Ignore the angle limit for axis 2. Here's a sample:
code:
FR_wheel_ID=phcon_add(PH_WHEEL,car_frame, wheel);
phcon_setparams1(FR_wheel_ID,wheel.x,vector(0,0,1),vector(0,1,0));
phcon_setparams2(FR_wheel_ID,vector(-40,40,0),nullvector,nullvector);
This expects the wheel's axle to be aligned with the y axis and allows a steering angle of +/-40 degrees.
