Irrlicht Engine

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	f32 tireMass; 
	f32 tireSuspensionShock;
	f32 tireSuspensionSpring; 
	f32 tireSuspensionLength;


	// set tire values
	tireMass = 2.0f; 
	tireSuspensionShock = 160.0f;
	tireSuspensionSpring = 7500.0f; 
	tireSuspensionLength = 0.02f;

	// create the tyre's position (these coords were passed to us from assembleCarPhysics)
    matrix4 tyrepos;
    tyrepos.setTranslation(vector3df(xpos, ypos, zpos));

    // the tire will spin around the lateral axis of the same tire space
	vector3df tirePin (0.0, 0.0, 1.0f);
    
	// add the tire and set this as the user data
    // nb NULL should be the parent vehicle joint

	NewtonVehicleAddTire (vehicle, &tyrepos.M[0], vecToArray(tirePin), tireMass, width, radius, tireSuspensionShock, tireSuspensionSpring, tireSuspensionLength, wheelpointer, tyreid);

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    printf("in wheel callback\n");
    void *wheelid = 0;
    for(wheelid = NewtonVehicleGetFirstTireID(vehicle); wheelid; wheelid = NewtonVehicleGetNextTireID(vehicle, wheelid))
    {
        CPhysicsCarWheel *wheel = (CPhysicsCarWheel *)NewtonVehicleGetTireUserData(vehicle, wheelid);
        wheel->setTirePhysics(vehicle, wheelid);
    }

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	f32 omega;
	f32 speed;
	f32 brakeAcceleration;


	dFloat currSteerAngle;

	currSteerAngle = NewtonVehicleGetTireSteerAngle (vehicle, id);
	NewtonVehicleSetTireSteerAngle (vehicle, id, currSteerAngle +  (steerangle - currSteerAngle) * 0.25f);


    // this is pretty much all from the newton vehicle demo - not quite sure what it's all doing i'm afraid

	// get the tire angular velocity
    // NULL should be the parent's vehicle joint
	omega = NewtonVehicleGetTireOmega (vehicle, id);

    
	// add some viscuos damp to the tire torque (this prevent out of control spin
    printf("torque = %f\n", torque);
	NewtonVehicleSetTireTorque (vehicle, id, torque - 0.1f * omega);

	// calculate the tire speed at the contact
	// set the max side slip speed as a fraction of the tire spm
	speed = radius * omega;
	NewtonVehicleSetTireMaxSideSleepSpeed (vehicle, id, speed * 0.1f);

	// The side slip is usually propostinal to the tire longitudilnal speed, and tire load
	NewtonVehicleSetTireSideSleepCoeficient (vehicle, id, speed * 0.05f);

    
	// if brake are applyed ....
	if (brakes > 0.0f) {
		// ask Newton for the precise acceleration needed to stop the tire
		brakeAcceleration = NewtonVehicleTireCalculateMaxBrakeAcceleration (vehicle, id);

		// tell Newton you want this tire stoped but only if the trque need it is less than 
		// the brakes pad can withstand (assume max brake pad torque is 500 newton * meter)
		NewtonVehicleTireSetBrakeAcceleration (vehicle, id, brakeAcceleration, 500.0f * brakes);

		// set some side slipe as funtion of the linear speed 
		speed = NewtonVehicleGetTireLongitudinalSpeed (vehicle, id);
		NewtonVehicleSetTireMaxSideSleepSpeed (vehicle, id, speed * 0.1f);
	}
	// Reset the brakes
	brakes = 0.0f;

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void driveCar(CComponentBus *bus)
void driveCar(CComponentBus *bus)
{
    if(bus->physics->PLAYER_MOVE_FORWARDS)
    {
        bus->physics->car->wheel_RL->torque = 25.0f;
        bus->physics->car->wheel_RR->torque = 25.0f;
        bus->physics->car->wheel_FL->torque = 25.0f;
        bus->physics->car->wheel_FR->torque = 25.0f;
    }
    else if(bus->physics->PLAYER_MOVE_BACKWARDS)
    {
        bus->physics->car->wheel_RL->torque = -25.0f;
        bus->physics->car->wheel_RR->torque = -25.0f;
        bus->physics->car->wheel_FL->torque = -25.0f;
        bus->physics->car->wheel_FR->torque = -25.0f;
    }
    else if(!bus->physics->PLAYER_MOVE_BACKWARDS && !bus->physics->PLAYER_MOVE_FORWARDS)
    {
        bus->physics->car->wheel_RL->torque = 0.0f;
        bus->physics->car->wheel_RR->torque = 0.0f;
        bus->physics->car->wheel_FL->torque = 0.0f;
        bus->physics->car->wheel_FR->torque = 0.0f;
    }

    if(bus->physics->PLAYER_STRAFE_LEFT)
    {
        bus->physics->car->wheel_FL->setSteer(-0.5f);
        bus->physics->car->wheel_FR->setSteer(-0.5f);
    }
    else if(bus->physics->PLAYER_STRAFE_RIGHT)
    {
        bus->physics->car->wheel_FL->setSteer(0.5f);
        bus->physics->car->wheel_FR->setSteer(0.5f);
    }
    else if(!bus->physics->PLAYER_STRAFE_LEFT && !bus->physics->PLAYER_STRAFE_RIGHT)
    {
        bus->physics->car->wheel_FL->setSteer(0.0f);
        bus->physics->car->wheel_FR->setSteer(0.0f);
    }
}